+ python -m lidar_slam --no-model /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 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 0.002320588 Adjusted end_distance from 9.223372036854776e+18 to 360.702320588 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [0, True] SLAMing on 0.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:0.00 [[ 9.99924631e-01 1.22773494e-02 0.00000000e+00 3.10685191e-02] [-1.22773494e-02 9.99924631e-01 0.00000000e+00 1.20837063e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45191132e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062320587999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:0.00 [[ 9.99929411e-01 1.18816289e-02 0.00000000e+00 6.02412855e-02] [-1.18816289e-02 9.99929411e-01 0.00000000e+00 9.92921844e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45191132e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.09, Y:0.01, Z:0.00 [[ 0.99983416 0.01821145 0. 0.08884586] [-0.01821145 0.99983416 0. 0.00904905] [ 0. 0. 1. 0.00255303] [ 0. 0. 0. 1. ]] SLAMing on 0.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:0.01 [[ 0.99966389 0.02592498 0. 0.11777919] [-0.02592498 0.99966389 0. 0.00801675] [ 0. 0. 1. 0.00595738] [ 0. 0. 0. 1. ]] SLAMing on 0.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.15, Y:0.01, Z:0.01 [[ 0.99938113 0.03517605 0. 0.14652974] [-0.03517605 0.99938113 0. 0.00567525] [ 0. 0. 1. 0.00682018] [ 0. 0. 0. 1. ]] SLAMing on 0.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.17, Y:0.00, Z:0.01 [[ 0.99906136 0.04331746 0. 0.17476886] [-0.04331746 0.99906136 0. 0.00160193] [ 0. 0. 1. 0.0052876 ] [ 0. 0. 0. 1. ]] SLAMing on 0.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.00, Z:0.00 [[ 0.99872553 0.05047087 0. 0.20197719] [-0.05047087 0.99872553 0. -0.00339627] [ 0. 0. 1. 0.00439872] [ 0. 0. 0. 1. ]] SLAMing on 0.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.01, Z:0.00 [[ 0.99875106 0.04996313 0. 0.23030994] [-0.04996313 0.99875106 0. -0.0054594 ] [ 0. 0. 1. 0.00439872] [ 0. 0. 0. 1. ]] SLAMing on 0.27232058800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.01, Z:0.00 [[ 0.99845686 0.05553285 0. 0.25764323] [-0.05553285 0.99845686 0. -0.00973259] [ 0. 0. 1. 0.00464615] [ 0. 0. 0. 1. ]] SLAMing on 0.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.01, Z:0.00 [[ 0.99830447 0.05820805 0. 0.28523759] [-0.05820805 0.99830447 0. -0.01392559] [ 0. 0. 1. 0.00475432] [ 0. 0. 0. 1. ]] SLAMing on 0.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.02, Z:0.01 [[ 0.99824428 0.0592314 0. 0.31344836] [-0.0592314 0.99824428 0. -0.01820001] [ 0. 0. 1. 0.00587125] [ 0. 0. 0. 1. ]] SLAMing on 0.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.02, Z:0.01 [[ 0.99826901 0.05881317 0. 0.34215383] [-0.05881317 0.99826901 0. -0.02340008] [ 0. 0. 1. 0.00644035] [ 0. 0. 0. 1. ]] SLAMing on 0.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.03, Z:0.01 [[ 0.99829918 0.05829886 0. 0.3704923 ] [-0.05829886 0.99829918 0. -0.02539762] [ 0. 0. 1. 0.00644035] [ 0. 0. 0. 1. ]] SLAMing on 0.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.03, Z:0.01 [[ 0.99838828 0.05675243 0. 0.39906975] [-0.05675243 0.99838828 0. -0.02964719] [ 0. 0. 1. 0.00738061] [ 0. 0. 0. 1. ]] SLAMing on 0.45232058799999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.03, Z:0.01 [[ 0.99848082 0.05510034 0. 0.42757393] [-0.05510034 0.99848082 0. -0.03252916] [ 0. 0. 1. 0.00661198] [ 0. 0. 0. 1. ]] SLAMing on 0.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.03, Z:0.00 [[ 0.99860993 0.05270872 0. 0.45644112] [-0.05270872 0.99860993 0. -0.03423382] [ 0. 0. 1. 0.00483176] [ 0. 0. 0. 1. ]] SLAMing on 0.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.04, Z:0.00 [[ 0.99875583 0.04986769 0. 0.48532692] [-0.04986769 0.99875583 0. -0.03663275] [ 0. 0. 1. 0.00226536] [ 0. 0. 0. 1. ]] SLAMing on 0.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.04, Z:0.00 [[ 0.9987807 0.04936722 0. 0.51366792] [-0.04936722 0.9987807 0. -0.03856084] [ 0. 0. 1. 0.00226536] [ 0. 0. 0. 1. ]] SLAMing on 0.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.04, Z:0.00 [[ 9.98928070e-01 4.62894351e-02 0.00000000e+00 5.40976440e-01] [-4.62894351e-02 9.98928070e-01 0.00000000e+00 -4.31309090e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96414441e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.05, Z:-0.00 [[ 9.99059463e-01 4.33611561e-02 0.00000000e+00 5.68184893e-01] [-4.33611561e-02 9.99059463e-01 0.00000000e+00 -4.88682027e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16368036e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.05, Z:-0.00 [[ 9.99155617e-01 4.10859180e-02 0.00000000e+00 5.96158016e-01] [-4.10859180e-02 9.99155617e-01 0.00000000e+00 -5.42297168e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47539187e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6623205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.06, Z:-0.00 [[ 9.99175744e-01 4.05935006e-02 0.00000000e+00 6.24508349e-01] [-4.05935006e-02 9.99175744e-01 0.00000000e+00 -5.61008769e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47539187e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.06, Z:0.00 [[ 9.99251796e-01 3.86761943e-02 0.00000000e+00 6.53170538e-01] [-3.86761943e-02 9.99251796e-01 0.00000000e+00 -5.90284651e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42549310e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.06, Z:0.00 [[ 9.99327635e-01 3.66643880e-02 0.00000000e+00 6.80751152e-01] [-3.66643880e-02 9.99327635e-01 0.00000000e+00 -6.10329163e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53477667e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.06, Z:0.00 [[ 9.99414200e-01 3.42236389e-02 0.00000000e+00 7.09281725e-01] [-3.42236389e-02 9.99414200e-01 0.00000000e+00 -6.39344186e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23946155e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.07, Z:-0.00 [[ 0.99951358 0.03118644 0. 0.73775075] [-0.03118644 0.99951358 0. -0.06848866] [ 0. 0. 1. -0.00177862] [ 0. 0. 0. 1. ]] SLAMing on 0.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.07, Z:-0.00 [[ 0.99952875 0.03069657 0. 0.76610858] [-0.03069657 0.99952875 0. -0.07029115] [ 0. 0. 1. -0.00177862] [ 0. 0. 0. 1. ]] SLAMing on 0.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.07, Z:-0.00 [[ 0.99954367 0.0302067 0. 0.79446729] [-0.0302067 0.99954367 0. -0.07207975] [ 0. 0. 1. -0.00177862] [ 0. 0. 0. 1. ]] SLAMing on 0.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.08, Z:-0.00 [[ 0.9996268 0.02731762 0. 0.82348142] [-0.02731762 0.9996268 0. -0.07694105] [ 0. 0. 1. -0.00273683] [ 0. 0. 0. 1. ]] SLAMing on 0.9023205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.08, Z:-0.00 [[ 0.9996627 0.02597072 0. 0.8516696 ] [-0.02597072 0.9996627 0. -0.08034344] [ 0. 0. 1. -0.00281666] [ 0. 0. 0. 1. ]] SLAMing on 0.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.08, Z:-0.00 [[ 9.99675251e-01 2.54831814e-02 0.00000000e+00 8.79689388e-01] [-2.54831814e-02 9.99675251e-01 0.00000000e+00 -8.22038798e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71098198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.08, Z:-0.00 [[ 9.99687484e-01 2.49986989e-02 0.00000000e+00 9.08055726e-01] [-2.49986989e-02 9.99687484e-01 0.00000000e+00 -8.39468214e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71098198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.992320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.09, Z:0.00 [[ 9.99676500e-01 2.54341260e-02 0.00000000e+00 9.36404750e-01] [-2.54341260e-02 9.99676500e-01 0.00000000e+00 -8.53844432e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55660305e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.09, Z:0.00 [[ 0.99961464 0.02775927 0. 0.9653542 ] [-0.02775927 0.99961464 0. -0.08743456] [ 0. 0. 1. 0.00268846] [ 0. 0. 0. 1. ]] SLAMing on 1.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.09, Z:0.00 [[ 0.99953092 0.03062575 0. 0.99381685] [-0.03062575 0.99953092 0. -0.09074624] [ 0. 0. 1. 0.00222255] [ 0. 0. 0. 1. ]] SLAMing on 1.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.09, Z:0.00 [[ 9.99435801e-01 3.35869069e-02 0.00000000e+00 1.02254477e+00] [-3.35869069e-02 9.99435801e-01 0.00000000e+00 -9.48649308e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52939706e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1123205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.10, Z:0.00 [[ 9.99452577e-01 3.30839160e-02 0.00000000e+00 1.05091943e+00] [-3.30839160e-02 9.99452577e-01 0.00000000e+00 -9.65493920e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52939706e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1423205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.10, Z:-0.00 [[ 0.99938505 0.03506447 0. 1.07995577] [-0.03506447 0.99938505 0. -0.10049255] [ 0. 0. 1. -0.00166553] [ 0. 0. 0. 1. ]] SLAMing on 1.1723205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.10, Z:-0.00 [[ 0.99931608 0.03697811 0. 1.1087752 ] [-0.03697811 0.99931608 0. -0.10443716] [ 0. 0. 1. -0.0022653 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2023205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.11, Z:-0.00 [[ 0.99925074 0.03870354 0. 1.13719662] [-0.03870354 0.99925074 0. -0.10758348] [ 0. 0. 1. -0.00148536] [ 0. 0. 0. 1. ]] SLAMing on 1.2323205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.11, Z:0.00 [[ 9.99187289e-01 4.03083310e-02 0.00000000e+00 1.16655320e+00] [-4.03083310e-02 9.99187289e-01 0.00000000e+00 -1.10422375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64770343e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.11, Z:0.00 [[ 0.99912695 0.04177727 0. 1.195066 ] [-0.04177727 0.99912695 0. -0.11256152] [ 0. 0. 1. 0.00353496] [ 0. 0. 0. 1. ]] SLAMing on 1.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.11, Z:0.01 [[ 0.99910959 0.04219043 0. 1.22419091] [-0.04219043 0.99910959 0. -0.11413477] [ 0. 0. 1. 0.0058602 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3223205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.19, Z:-0.00 [[ 0.99894637 0.04589272 0. 1.25076464] [-0.04589272 0.99894637 0. -0.19135811] [ 0. 0. 1. -0.00130515] [ 0. 0. 0. 1. ]] SLAMing on 1.3523205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.19, Z:0.00 [[ 9.98923588e-01 4.63860464e-02 0.00000000e+00 1.28034672e+00] [-4.63860464e-02 9.98923588e-01 0.00000000e+00 -1.92869724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96705904e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3823205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.19, Z:0.00 [[ 9.98926674e-01 4.63195342e-02 0.00000000e+00 1.31047664e+00] [-4.63195342e-02 9.98926674e-01 0.00000000e+00 -1.94272441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96705904e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4123205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.20, Z:0.00 [[ 0.99888221 0.04726871 0. 1.34033197] [-0.04726871 0.99888221 0. -0.19697013] [ 0. 0. 1. 0.00309288] [ 0. 0. 0. 1. ]] SLAMing on 1.4423205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.20, Z:0.00 [[ 0.99888538 0.04720173 0. 1.37046164] [-0.04720173 0.99888538 0. -0.19836826] [ 0. 0. 1. 0.00309288] [ 0. 0. 0. 1. ]] SLAMing on 1.4723205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.20, Z:0.00 [[ 0.99892547 0.04634543 0. 1.4000639 ] [-0.04634543 0.99892547 0. -0.20104049] [ 0. 0. 1. 0.00394746] [ 0. 0. 0. 1. ]] SLAMing on 1.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.20, Z:0.00 [[ 0.99898171 0.04511708 0. 1.42956338] [-0.04511708 0.99898171 0. -0.20400633] [ 0. 0. 1. 0.00397386] [ 0. 0. 0. 1. ]] SLAMing on 1.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.21, Z:0.00 [[ 0.99907217 0.04306745 0. 1.45929347] [-0.04306745 0.99907217 0. -0.20791727] [ 0. 0. 1. 0.00297074] [ 0. 0. 0. 1. ]] SLAMing on 1.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.21, Z:0.00 [[ 0.99916096 0.04095586 0. 1.48872355] [-0.04095586 0.99916096 0. -0.21217661] [ 0. 0. 1. 0.00235007] [ 0. 0. 0. 1. ]] SLAMing on 1.5923205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.21, Z:0.00 [[ 0.99916366 0.04088982 0. 1.51885094] [-0.04088982 0.99916366 0. -0.21356532] [ 0. 0. 1. 0.00235007] [ 0. 0. 0. 1. ]] SLAMing on 1.6223205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.22, Z:0.00 [[ 9.99245390e-01 3.88413404e-02 0.00000000e+00 1.54943407e+00] [-3.88413404e-02 9.99245390e-01 0.00000000e+00 -2.18644552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17747257e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6523205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.22, Z:-0.00 [[ 9.99302899e-01 3.73325097e-02 0.00000000e+00 1.57985763e+00] [-3.73325097e-02 9.99302899e-01 0.00000000e+00 -2.23205272e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86286715e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6823205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.23, Z:-0.00 [[ 9.99305621e-01 3.72595715e-02 0.00000000e+00 1.60980227e+00] [-3.72595715e-02 9.99305621e-01 0.00000000e+00 -2.26176667e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.39682937e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7123205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.23, Z:-0.00 [[ 9.99305621e-01 3.72595715e-02 0.00000000e+00 1.64076250e+00] [-3.72595715e-02 9.99305621e-01 0.00000000e+00 -2.27584611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.39682937e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.23, Z:-0.00 [[ 9.99283535e-01 3.78472708e-02 0.00000000e+00 1.67155663e+00] [-3.78472708e-02 9.99283535e-01 0.00000000e+00 -2.29409963e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.38900589e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.23, Z:-0.00 [[ 9.99229487e-01 3.92483495e-02 0.00000000e+00 1.70179085e+00] [-3.92483495e-02 9.99229487e-01 0.00000000e+00 -2.30900295e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12870232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8023205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.23, Z:-0.00 [[ 0.99916614 0.04082931 0. 1.73264855] [-0.04082931 0.99916614 0. -0.23300558] [ 0. 0. 1. -0.00209046] [ 0. 0. 0. 1. ]] SLAMing on 1.8323205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.24, Z:-0.00 [[ 0.99907592 0.0429804 0. 1.76342666] [-0.0429804 0.99907592 0. -0.23572309] [ 0. 0. 1. -0.00198039] [ 0. 0. 0. 1. ]] SLAMing on 1.8623205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.24, Z:-0.00 [[ 0.99907592 0.0429804 0. 1.79438828] [-0.0429804 0.99907592 0. -0.2371311 ] [ 0. 0. 1. -0.00198039] [ 0. 0. 0. 1. ]] SLAMing on 1.8923205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.24, Z:-0.00 [[ 9.98995201e-01 4.48172761e-02 0.00000000e+00 1.82444403e+00] [-4.48172761e-02 9.98995201e-01 0.00000000e+00 -2.40153903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45399383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9223205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.24, Z:-0.00 [[ 9.98916039e-01 4.65483366e-02 0.00000000e+00 1.85495353e+00] [-4.65483366e-02 9.98916039e-01 0.00000000e+00 -2.42783436e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10832921e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9523205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.25, Z:0.00 [[ 9.98851196e-01 4.79196108e-02 0.00000000e+00 1.88562609e+00] [-4.79196108e-02 9.98851196e-01 0.00000000e+00 -2.45122570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34769288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9823205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.25, Z:0.00 [[ 9.98851196e-01 4.79196108e-02 0.00000000e+00 1.91659136e+00] [-4.79196108e-02 9.98851196e-01 0.00000000e+00 -2.46530744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34769288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0123205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.25, Z:0.00 [[ 9.98835174e-01 4.82524209e-02 0.00000000e+00 1.94735951e+00] [-4.82524209e-02 9.98835174e-01 0.00000000e+00 -2.47390497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12612258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.25, Z:0.00 [[ 9.98810481e-01 4.87608773e-02 0.00000000e+00 1.97783665e+00] [-4.87608773e-02 9.98810481e-01 0.00000000e+00 -2.47887959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44978056e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0723205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.25, Z:0.00 [[ 9.98792203e-01 4.91338492e-02 0.00000000e+00 2.00784431e+00] [-4.91338492e-02 9.98792203e-01 0.00000000e+00 -2.48933724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31901671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.25, Z:0.00 [[ 9.98743074e-01 5.01225722e-02 0.00000000e+00 2.03862361e+00] [-5.01225722e-02 9.98743074e-01 0.00000000e+00 -2.51395855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74523873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.25, Z:0.00 [[ 9.98743074e-01 5.01225722e-02 0.00000000e+00 2.06959059e+00] [-5.01225722e-02 9.98743074e-01 0.00000000e+00 -2.52804106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74523873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.26, Z:0.00 [[ 0.99868525 0.05126179 0. 2.10031233] [-0.05126179 0.99868525 0. -0.25566345] [ 0. 0. 1. 0.00333037] [ 0. 0. 0. 1. ]] SLAMing on 2.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.26, Z:0.00 [[ 0.99861002 0.05270697 0. 2.13097771] [-0.05270697 0.99861002 0. -0.25709382] [ 0. 0. 1. 0.00490137] [ 0. 0. 0. 1. ]] SLAMing on 2.2223205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.26, Z:0.01 [[ 0.99847423 0.05521965 0. 2.16148114] [-0.05521965 0.99847423 0. -0.2573341 ] [ 0. 0. 1. 0.00552582] [ 0. 0. 0. 1. ]] SLAMing on 2.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.26, Z:0.01 [[ 0.99847423 0.05521965 0. 2.19244299] [-0.05521965 0.99847423 0. -0.25874211] [ 0. 0. 1. 0.00552582] [ 0. 0. 0. 1. ]] SLAMing on 2.2823205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.26, Z:0.00 [[ 0.9982792 0.05863991 0. 2.22348523] [-0.05863991 0.9982792 0. -0.25943623] [ 0. 0. 1. 0.00460082] [ 0. 0. 0. 1. ]] SLAMing on 2.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.26, Z:0.00 [[ 0.99805932 0.0622704 0. 2.2541924 ] [-0.0622704 0.99805932 0. -0.26080516] [ 0. 0. 1. 0.00386654] [ 0. 0. 0. 1. ]] SLAMing on 2.3423205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.26, Z:0.00 [[ 0.99777414 0.06668412 0. 2.28382604] [-0.06668412 0.99777414 0. -0.26152253] [ 0. 0. 1. 0.00231314] [ 0. 0. 0. 1. ]] SLAMing on 2.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.26, Z:0.00 [[ 0.99732593 0.07308207 0. 2.31388361] [-0.07308207 0.99732593 0. -0.25971134] [ 0. 0. 1. 0.00283452] [ 0. 0. 0. 1. ]] SLAMing on 2.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.26, Z:0.00 [[ 0.99732593 0.07308207 0. 2.34483807] [-0.07308207 0.99732593 0. -0.26111604] [ 0. 0. 1. 0.00283452] [ 0. 0. 0. 1. ]] SLAMing on 2.4323205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.26, Z:0.00 [[ 0.99678321 0.08014508 0. 2.37515136] [-0.08014508 0.99678321 0. -0.25585817] [ 0. 0. 1. 0.0031221 ] [ 0. 0. 0. 1. ]] SLAMing on 2.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.25, Z:0.00 [[ 0.9961355 0.08782976 0. 2.40426835] [-0.08782976 0.9961355 0. -0.2497145 ] [ 0. 0. 1. 0.00261761] [ 0. 0. 0. 1. ]] SLAMing on 2.4923205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.24, Z:0.00 [[ 9.95495954e-01 9.48040407e-02 0.00000000e+00 2.43311197e+00] [-9.48040407e-02 9.95495954e-01 0.00000000e+00 -2.44515185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62520941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.25, Z:0.00 [[ 9.95536496e-01 9.43773567e-02 0.00000000e+00 2.46236569e+00] [-9.43773567e-02 9.95536496e-01 0.00000000e+00 -2.46071985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62520941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5523205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.24, Z:0.00 [[ 9.94874799e-01 1.01114457e-01 0.00000000e+00 2.49088150e+00] [-1.01114457e-01 9.94874799e-01 0.00000000e+00 -2.42140833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52291382e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.24, Z:0.00 [[ 9.94261017e-01 1.06981447e-01 0.00000000e+00 2.52002726e+00] [-1.06981447e-01 9.94261017e-01 0.00000000e+00 -2.37937181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98596666e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6123205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.23, Z:0.00 [[ 9.93770034e-01 1.11450076e-01 0.00000000e+00 2.54925187e+00] [-1.11450076e-01 9.93770034e-01 0.00000000e+00 -2.32077366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32213909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6423205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.22, Z:0.00 [[ 9.93386529e-01 1.14818136e-01 0.00000000e+00 2.57816958e+00] [-1.14818136e-01 9.93386529e-01 0.00000000e+00 -2.24731145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61638910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.23, Z:0.00 [[ 9.93440296e-01 1.14351991e-01 0.00000000e+00 2.60658515e+00] [-1.14351991e-01 9.93440296e-01 0.00000000e+00 -2.26204770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61638910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7023205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.23, Z:0.00 [[ 9.93493845e-01 1.13885820e-01 0.00000000e+00 2.63500141e+00] [-1.13885820e-01 9.93493845e-01 0.00000000e+00 -2.27665061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61638910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.22, Z:0.00 [[ 0.99323059 0.11615933 0. 2.66398783] [-0.11615933 0.99323059 0. -0.21957254] [ 0. 0. 1. 0.0027889 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7623205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.21, Z:0.00 [[ 0.99318109 0.11658183 0. 2.6931391 ] [-0.11658183 0.99318109 0. -0.21184745] [ 0. 0. 1. 0.00414468] [ 0. 0. 0. 1. ]] SLAMing on 2.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.20, Z:0.01 [[ 0.99309611 0.11730354 0. 2.72222681] [-0.11730354 0.99309611 0. -0.20294435] [ 0. 0. 1. 0.00585241] [ 0. 0. 0. 1. ]] SLAMing on 2.8223205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.20, Z:0.01 [[ 0.99315096 0.11683819 0. 2.75063436] [-0.11683819 0.99315096 0. -0.20435169] [ 0. 0. 1. 0.00585241] [ 0. 0. 0. 1. ]] SLAMing on 2.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.20, Z:0.01 [[ 0.99321038 0.116332 0. 2.78004591] [-0.116332 0.99321038 0. -0.1950434 ] [ 0. 0. 1. 0.00670337] [ 0. 0. 0. 1. ]] SLAMing on 2.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.19, Z:0.01 [[ 0.9932933 0.11562191 0. 2.80899627] [-0.11562191 0.9932933 0. -0.18600589] [ 0. 0. 1. 0.00775043] [ 0. 0. 0. 1. ]] SLAMing on 2.9123205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.18, Z:0.01 [[ 0.99343244 0.1144202 0. 2.83809805] [-0.1144202 0.99343244 0. -0.17866513] [ 0. 0. 1. 0.0071501 ] [ 0. 0. 0. 1. ]] SLAMing on 2.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.17, Z:0.01 [[ 0.9936914 0.11214897 0. 2.86735772] [-0.11214897 0.9936914 0. -0.17296533] [ 0. 0. 1. 0.00620212] [ 0. 0. 0. 1. ]] SLAMing on 2.9723205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.17, Z:0.01 [[ 0.99374458 0.11167681 0. 2.89574693] [-0.11167681 0.99374458 0. -0.17430688] [ 0. 0. 1. 0.00620212] [ 0. 0. 0. 1. ]] SLAMing on 3.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.17, Z:0.01 [[ 0.99487754 0.10108746 0. 2.92476282] [-0.10108746 0.99487754 0. -0.16519402] [ 0. 0. 1. 0.00638186] [ 0. 0. 0. 1. ]] SLAMing on 3.0323205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.17, Z:0.01 [[ 0.99492628 0.10060661 0. 2.95314435] [-0.10060661 0.99492628 0. -0.16651684] [ 0. 0. 1. 0.00638186] [ 0. 0. 0. 1. ]] SLAMing on 3.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.16, Z:0.01 [[ 0.99584867 0.09102437 0. 2.98214671] [-0.09102437 0.99584867 0. -0.164269 ] [ 0. 0. 1. 0.0062286 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0923205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.16, Z:0.01 [[ 0.99676235 0.08040408 0. 3.01129564] [-0.08040408 0.99676235 0. -0.16354645] [ 0. 0. 1. 0.00604351] [ 0. 0. 0. 1. ]] SLAMing on 3.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.16, Z:0.01 [[ 0.99754892 0.06997245 0. 3.0403063 ] [-0.06997245 0.99754892 0. -0.16350544] [ 0. 0. 1. 0.00548967] [ 0. 0. 0. 1. ]] SLAMing on 3.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.16, Z:0.00 [[ 9.98156320e-01 6.06956353e-02 0.00000000e+00 3.06885960e+00] [-6.06956353e-02 9.98156320e-01 0.00000000e+00 -1.63126007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65477238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1823205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.16, Z:0.00 [[ 9.98187514e-01 6.01804520e-02 0.00000000e+00 3.09723052e+00] [-6.01804520e-02 9.98187514e-01 0.00000000e+00 -1.64404801e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65477238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.16, Z:0.00 [[ 9.98656130e-01 5.18260035e-02 0.00000000e+00 3.12631615e+00] [-5.18260035e-02 9.98656130e-01 0.00000000e+00 -1.64416541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65726147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2423205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.16, Z:0.00 [[ 9.99033672e-01 4.39513686e-02 0.00000000e+00 3.15377235e+00] [-4.39513686e-02 9.99033672e-01 0.00000000e+00 -1.64328700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12667508e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.17, Z:0.00 [[ 9.99295410e-01 3.75324244e-02 0.00000000e+00 3.18243092e+00] [-3.75324244e-02 9.99295410e-01 0.00000000e+00 -1.65987078e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21139607e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3023205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.17, Z:0.00 [[ 9.99314555e-01 3.70191860e-02 0.00000000e+00 3.21080093e+00] [-3.70191860e-02 9.99314555e-01 0.00000000e+00 -1.67236210e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21139607e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.17, Z:-0.00 [[ 9.99528636e-01 3.07002690e-02 0.00000000e+00 3.23917705e+00] [-3.07002690e-02 9.99528636e-01 0.00000000e+00 -1.70472303e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44318730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3623205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.17, Z:-0.00 [[ 9.99665232e-01 2.58732330e-02 0.00000000e+00 3.26816004e+00] [-2.58732330e-02 9.99665232e-01 0.00000000e+00 -1.74612122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01000099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3923205879999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.18, Z:-0.00 [[ 9.99787859e-01 2.05970111e-02 0.00000000e+00 3.29681455e+00] [-2.05970111e-02 9.99787859e-01 0.00000000e+00 -1.79394583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04485768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.18, Z:-0.00 [[ 0.99986411 0.0164849 0. 3.3258454 ] [-0.0164849 0.99986411 0. -0.18450959] [ 0. 0. 1. -0.00420885] [ 0. 0. 0. 1. ]] SLAMing on 3.4523205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.19, Z:-0.00 [[ 0.99987112 0.01605467 0. 3.35507118] [-0.01605467 0.99987112 0. -0.18570542] [ 0. 0. 1. -0.00420885] [ 0. 0. 0. 1. ]] SLAMing on 3.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.19, Z:-0.00 [[ 0.9999273 0.01205759 0. 3.38320443] [-0.01205759 0.9999273 0. -0.19078463] [ 0. 0. 1. -0.00438991] [ 0. 0. 0. 1. ]] SLAMing on 3.5123205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.19, Z:-0.00 [[ 0.99993241 0.01162616 0. 3.41243491] [-0.01162616 0.99993241 0. -0.19195799] [ 0. 0. 1. -0.00438991] [ 0. 0. 0. 1. ]] SLAMing on 3.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.20, Z:-0.01 [[ 0.99996683 0.00814487 0. 3.44166684] [-0.00814487 0.99996683 0. -0.19612971] [ 0. 0. 1. -0.00525458] [ 0. 0. 0. 1. ]] SLAMing on 3.5723205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.20, Z:-0.01 [[ 0.99998744 0.005012 0. 3.47092454] [-0.005012 0.99998744 0. -0.19900154] [ 0. 0. 1. -0.00517398] [ 0. 0. 0. 1. ]] SLAMing on 3.6023205879999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.20, Z:-0.00 [[ 9.99994131e-01 3.42620146e-03 0.00000000e+00 3.50055757e+00] [-3.42620146e-03 9.99994131e-01 0.00000000e+00 -1.99721134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99046380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.20, Z:-0.00 [[ 9.99997373e-01 2.29226423e-03 0.00000000e+00 3.53007857e+00] [-2.29226423e-03 9.99997373e-01 0.00000000e+00 -2.00994971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63597068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6623205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.20, Z:-0.00 [[ 9.99998464e-01 1.75277216e-03 0.00000000e+00 3.56020588e+00] [-1.75277216e-03 9.99998464e-01 0.00000000e+00 -2.03904254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92928126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.21, Z:-0.01 [[ 9.99999063e-01 1.36883476e-03 0.00000000e+00 3.59065979e+00] [-1.36883476e-03 9.99999063e-01 0.00000000e+00 -2.08013897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10992272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7223205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.21, Z:-0.01 [[ 9.99999063e-01 1.36883476e-03 0.00000000e+00 3.62164190e+00] [-1.36883476e-03 9.99999063e-01 0.00000000e+00 -2.08933908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10992272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.21, Z:-0.00 [[ 9.99997026e-01 2.43902754e-03 0.00000000e+00 3.65242505e+00] [-2.43902754e-03 9.99997026e-01 0.00000000e+00 -2.11842418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33331476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7823205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.21, Z:-0.00 [[ 9.99994367e-01 3.35635276e-03 0.00000000e+00 3.68279041e+00] [-3.35635276e-03 9.99994367e-01 0.00000000e+00 -2.11970130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04703662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.21, Z:-0.00 [[ 0.99999015 0.00443911 0. 3.7129474 ] [-0.00443911 0.99999015 0. -0.21070474] [ 0. 0. 1. -0.00393219] [ 0. 0. 0. 1. ]] SLAMing on 3.8423205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.21, Z:-0.00 [[ 0.99999041 0.00437843 0. 3.74308221] [-0.00437843 0.99999041 0. -0.21161253] [ 0. 0. 1. -0.00393219] [ 0. 0. 0. 1. ]] SLAMing on 3.8723205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.21, Z:-0.01 [[ 0.9999765 0.00685517 0. 3.77299918] [-0.00685517 0.9999765 0. -0.21085978] [ 0. 0. 1. -0.0053666 ] [ 0. 0. 0. 1. ]] SLAMing on 3.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.21, Z:-0.01 [[ 0.99995285 0.00971025 0. 3.80234782] [-0.00971025 0.99995285 0. -0.21079528] [ 0. 0. 1. -0.00728459] [ 0. 0. 0. 1. ]] SLAMing on 3.9323205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.21, Z:-0.01 [[ 0.99991182 0.01327949 0. 3.83166521] [-0.01327949 0.99991182 0. -0.21134381] [ 0. 0. 1. -0.00894474] [ 0. 0. 0. 1. ]] SLAMing on 3.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.21, Z:-0.01 [[ 0.99987093 0.01606643 0. 3.86032009] [-0.01606643 0.99987093 0. -0.21109979] [ 0. 0. 1. -0.0088898 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9923205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.21, Z:-0.01 [[ 0.99987777 0.01563468 0. 3.88954727] [-0.01563468 0.99987777 0. -0.21223304] [ 0. 0. 1. -0.0088898 ] [ 0. 0. 0. 1. ]] SLAMing on 4.0223205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.21, Z:-0.01 [[ 0.99983096 0.0183863 0. 3.91859028] [-0.0183863 0.99983096 0. -0.21128814] [ 0. 0. 1. -0.00789539] [ 0. 0. 0. 1. ]] SLAMing on 4.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.21, Z:-0.01 [[ 0.99979428 0.02028312 0. 3.94736551] [-0.02028312 0.99979428 0. -0.21005337] [ 0. 0. 1. -0.00877298] [ 0. 0. 0. 1. ]] SLAMing on 4.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.21, Z:-0.01 [[ 0.99976603 0.02163072 0. 3.97628941] [-0.02163072 0.99976603 0. -0.20977632] [ 0. 0. 1. -0.00932496] [ 0. 0. 0. 1. ]] SLAMing on 4.112320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.21, Z:-0.01 [[ 0.99977666 0.02113354 0. 4.00466335] [-0.02113354 0.99977666 0. -0.21085579] [ 0. 0. 1. -0.00932496] [ 0. 0. 0. 1. ]] SLAMing on 4.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.21, Z:-0.01 [[ 0.99977698 0.02111848 0. 4.03345583] [-0.02111848 0.99977698 0. -0.21065043] [ 0. 0. 1. -0.01039165] [ 0. 0. 0. 1. ]] SLAMing on 4.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.21, Z:-0.01 [[ 0.99980112 0.01994293 0. 4.06229057] [-0.01994293 0.99980112 0. -0.20957671] [ 0. 0. 1. -0.01126618] [ 0. 0. 0. 1. ]] SLAMing on 4.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.21, Z:-0.01 [[ 0.99982522 0.0186955 0. 4.09139842] [-0.0186955 0.99982522 0. -0.20789549] [ 0. 0. 1. -0.01236329] [ 0. 0. 0. 1. ]] SLAMing on 4.232320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.21, Z:-0.01 [[ 0.99984864 0.01739812 0. 4.12044764] [-0.01739812 0.99984864 0. -0.20615942] [ 0. 0. 1. -0.01259098] [ 0. 0. 0. 1. ]] SLAMing on 4.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.21, Z:-0.01 [[ 0.9998561 0.01696434 0. 4.14966635] [-0.01696434 0.9998561 0. -0.20717809] [ 0. 0. 1. -0.01259098] [ 0. 0. 0. 1. ]] SLAMing on 4.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.21, Z:-0.01 [[ 0.99988041 0.01546477 0. 4.17853871] [-0.01546477 0.99988041 0. -0.20695237] [ 0. 0. 1. -0.01363501] [ 0. 0. 0. 1. ]] SLAMing on 4.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.21, Z:-0.01 [[ 0.99988311 0.01528929 0. 4.20690526] [-0.01528929 0.99988311 0. -0.20753769] [ 0. 0. 1. -0.01436982] [ 0. 0. 0. 1. ]] SLAMing on 4.3523205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.21, Z:-0.01 [[ 0.99987736 0.01566105 0. 4.23550063] [-0.01566105 0.99987736 0. -0.20758192] [ 0. 0. 1. -0.01476344] [ 0. 0. 0. 1. ]] SLAMing on 4.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.21, Z:-0.01 [[ 0.9998841 0.01522484 0. 4.26472221] [-0.01522484 0.9998841 0. -0.20854873] [ 0. 0. 1. -0.01476344] [ 0. 0. 0. 1. ]] SLAMing on 4.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.21, Z:-0.01 [[ 0.99986658 0.01633458 0. 4.29354943] [-0.01633458 0.99986658 0. -0.20722202] [ 0. 0. 1. -0.01469564] [ 0. 0. 0. 1. ]] SLAMing on 4.442320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.21, Z:-0.02 [[ 0.99984414 0.01765492 0. 4.32275876] [-0.01765492 0.99984414 0. -0.20584014] [ 0. 0. 1. -0.01501244] [ 0. 0. 0. 1. ]] SLAMing on 4.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.21, Z:-0.02 [[ 0.99981726 0.01911666 0. 4.35166781] [-0.01911666 0.99981726 0. -0.2056193 ] [ 0. 0. 1. -0.01625548] [ 0. 0. 0. 1. ]] SLAMing on 4.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.21, Z:-0.02 [[ 0.99981261 0.01935847 0. 4.3803177 ] [-0.01935847 0.99981261 0. -0.2073776 ] [ 0. 0. 1. -0.01701234] [ 0. 0. 0. 1. ]] SLAMing on 4.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.21, Z:-0.02 [[ 0.99982227 0.01885286 0. 4.40870327] [-0.01885286 0.99982227 0. -0.20828753] [ 0. 0. 1. -0.01701234] [ 0. 0. 0. 1. ]] SLAMing on 4.5623205879999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.21, Z:-0.02 [[ 0.99982116 0.01891148 0. 4.43704058] [-0.01891148 0.99982116 0. -0.2102107 ] [ 0. 0. 1. -0.01744967] [ 0. 0. 0. 1. ]] SLAMing on 4.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.21, Z:-0.02 [[ 0.99985589 0.01697651 0. 4.46581871] [-0.01697651 0.99985589 0. -0.21144297] [ 0. 0. 1. -0.01684611] [ 0. 0. 0. 1. ]] SLAMing on 4.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.21, Z:-0.02 [[ 0.99986329 0.01653488 0. 4.49505083] [-0.01653488 0.99986329 0. -0.21231094] [ 0. 0. 1. -0.01684611] [ 0. 0. 0. 1. ]] SLAMing on 4.652320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.21, Z:-0.02 [[ 0.99989821 0.01426767 0. 4.52353096] [-0.01426767 0.99989821 0. -0.21263688] [ 0. 0. 1. -0.0166885 ] [ 0. 0. 0. 1. ]] SLAMing on 4.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.21, Z:-0.02 [[ 0.99990444 0.01382406 0. 4.55276339] [-0.01382406 0.99990444 0. -0.21347525] [ 0. 0. 1. -0.0166885 ] [ 0. 0. 0. 1. ]] SLAMing on 4.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.21, Z:-0.02 [[ 0.99994145 0.0108208 0. 4.5818223 ] [-0.0108208 0.99994145 0. -0.21457026] [ 0. 0. 1. -0.01885801] [ 0. 0. 0. 1. ]] SLAMing on 4.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.22, Z:-0.02 [[ 0.99996676 0.00815403 0. 4.6104336 ] [-0.00815403 0.99996676 0. -0.21701079] [ 0. 0. 1. -0.01935285] [ 0. 0. 0. 1. ]] SLAMing on 4.7723205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.22, Z:-0.02 [[ 0.99998145 0.00609075 0. 4.63975689] [-0.00609075 0.99998145 0. -0.21974194] [ 0. 0. 1. -0.01985884] [ 0. 0. 0. 1. ]] SLAMing on 4.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.22, Z:-0.02 [[ 0.9999869 0.00511836 0. 4.66946833] [-0.00511836 0.9999869 0. -0.22107167] [ 0. 0. 1. -0.02003684] [ 0. 0. 0. 1. ]] SLAMing on 4.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.22, Z:-0.02 [[ 0.99998717 0.00506554 0. 4.69972235] [-0.00506554 0.99998717 0. -0.21997136] [ 0. 0. 1. -0.02028781] [ 0. 0. 0. 1. ]] SLAMing on 4.862320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.22, Z:-0.02 [[ 0.99998747 0.005005 0. 4.72984463] [-0.005005 0.99998747 0. -0.22050814] [ 0. 0. 1. -0.02028781] [ 0. 0. 0. 1. ]] SLAMing on 4.892320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.22, Z:-0.02 [[ 0.99997928 0.00643756 0. 4.75982489] [-0.00643756 0.99997928 0. -0.21795828] [ 0. 0. 1. -0.01991233] [ 0. 0. 0. 1. ]] SLAMing on 4.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.22, Z:-0.02 [[ 0.99996838 0.00795207 0. 4.78976515] [-0.00795207 0.99996838 0. -0.21676709] [ 0. 0. 1. -0.02031139] [ 0. 0. 0. 1. ]] SLAMing on 4.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.22, Z:-0.02 [[ 0.99996887 0.00789083 0. 4.81988121] [-0.00789083 0.99996887 0. -0.21729797] [ 0. 0. 1. -0.02031139] [ 0. 0. 0. 1. ]] SLAMing on 4.982320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.22, Z:-0.02 [[ 0.99995482 0.00950543 0. 4.84984375] [-0.00950543 0.99995482 0. -0.2193686 ] [ 0. 0. 1. -0.02110978] [ 0. 0. 0. 1. ]] SLAMing on 5.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.22, Z:-0.02 [[ 0.99995024 0.00997598 0. 4.87971427] [-0.00997598 0.99995024 0. -0.22483647] [ 0. 0. 1. -0.02460058] [ 0. 0. 0. 1. ]] SLAMing on 5.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.23, Z:-0.03 [[ 0.99997308 0.00733707 0. 4.90866568] [-0.00733707 0.99997308 0. -0.23188722] [ 0. 0. 1. -0.02586137] [ 0. 0. 0. 1. ]] SLAMing on 5.072320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.24, Z:-0.03 [[ 9.99994965e-01 3.17332228e-03 0.00000000e+00 4.93836422e+00] [-3.17332228e-03 9.99994965e-01 0.00000000e+00 -2.37611148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70019691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1023205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.24, Z:-0.03 [[ 9.99996018e-01 -2.82205000e-03 0.00000000e+00 4.96842173e+00] [ 2.82205000e-03 9.99996018e-01 0.00000000e+00 -2.40875061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68555360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.24, Z:-0.03 [[ 0.9999583 -0.00913219 0. 4.9992356 ] [ 0.00913219 0.9999583 0. -0.24323633] [ 0. 0. 1. -0.02647877] [ 0. 0. 0. 1. ]] SLAMing on 5.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.24, Z:-0.03 [[ 0.99995884 -0.00907332 0. 5.03104153] [ 0.00907332 0.99995884 0. -0.24374943] [ 0. 0. 1. -0.02647877] [ 0. 0. 0. 1. ]] SLAMing on 5.192320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.25, Z:-0.03 [[ 0.99989392 -0.01456515 0. 5.0621238 ] [ 0.01456515 0.99989392 0. -0.24763851] [ 0. 0. 1. -0.02836297] [ 0. 0. 0. 1. ]] SLAMing on 5.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.25, Z:-0.03 [[ 0.99981455 -0.01925761 0. 5.09369217] [ 0.01925761 0.99981455 0. -0.25341475] [ 0. 0. 1. -0.02910375] [ 0. 0. 0. 1. ]] SLAMing on 5.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.26, Z:-0.03 [[ 0.99969429 -0.02472496 0. 5.12274366] [ 0.02472496 0.99969429 0. -0.26082443] [ 0. 0. 1. -0.02607522] [ 0. 0. 0. 1. ]] SLAMing on 5.282320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.27, Z:-0.03 [[ 0.99965608 -0.02622437 0. 5.15551146] [ 0.02622437 0.99965608 0. -0.26890091] [ 0. 0. 1. -0.03034028] [ 0. 0. 0. 1. ]] SLAMing on 5.3123205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.27, Z:-0.03 [[ 0.99966804 -0.02576452 0. 5.18904973] [ 0.02576452 0.99966804 0. -0.26919953] [ 0. 0. 1. -0.03034028] [ 0. 0. 0. 1. ]] SLAMing on 5.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.28, Z:-0.03 [[ 0.99959437 -0.0284799 0. 5.22152454] [ 0.0284799 0.99959437 0. -0.27728202] [ 0. 0. 1. -0.02993981] [ 0. 0. 0. 1. ]] SLAMing on 5.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.29, Z:-0.03 [[ 0.99956553 -0.02947461 0. 5.25365268] [ 0.02947461 0.99956553 0. -0.28690384] [ 0. 0. 1. -0.03080748] [ 0. 0. 0. 1. ]] SLAMing on 5.402320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.30, Z:-0.03 [[ 0.99953276 -0.03056584 0. 5.28544914] [ 0.03056584 0.99953276 0. -0.29761259] [ 0. 0. 1. -0.03228252] [ 0. 0. 0. 1. ]] SLAMing on 5.432320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.30, Z:-0.03 [[ 0.99954654 -0.03011177 0. 5.31897688] [ 0.03011177 0.99954654 0. -0.2979703 ] [ 0. 0. 1. -0.03228252] [ 0. 0. 0. 1. ]] SLAMing on 5.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.31, Z:-0.03 [[ 0.99954281 -0.03023531 0. 5.3511446 ] [ 0.03023531 0.99954281 0. -0.30848664] [ 0. 0. 1. -0.03263376] [ 0. 0. 0. 1. ]] SLAMing on 5.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.32, Z:-0.03 [[ 0.99957589 -0.02912098 0. 5.38329064] [ 0.02912098 0.99957589 0. -0.31689376] [ 0. 0. 1. -0.03230537] [ 0. 0. 0. 1. ]] SLAMing on 5.5223205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.32, Z:-0.03 [[ 0.99965252 -0.02635993 0. 5.4153374 ] [ 0.02635993 0.99965252 0. -0.32310764] [ 0. 0. 1. -0.03086852] [ 0. 0. 0. 1. ]] SLAMing on 5.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.33, Z:-0.03 [[ 0.99973356 -0.02308254 0. 5.44422828] [ 0.02308254 0.99973356 0. -0.32785333] [ 0. 0. 1. -0.02928709] [ 0. 0. 0. 1. ]] SLAMing on 5.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.33, Z:-0.03 [[ 0.99987617 -0.01573678 0. 5.47581739] [ 0.01573678 0.99987617 0. -0.3309822 ] [ 0. 0. 1. -0.02911314] [ 0. 0. 0. 1. ]] SLAMing on 5.612320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.33, Z:-0.03 [[ 0.99995892 -0.00906374 0. 5.50694476] [ 0.00906374 0.99995892 0. -0.33362749] [ 0. 0. 1. -0.03034857] [ 0. 0. 0. 1. ]] SLAMing on 5.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.33, Z:-0.03 [[ 0.99995892 -0.00906374 0. 5.53790784] [ 0.00906374 0.99995892 0. -0.3342816 ] [ 0. 0. 1. -0.03034857] [ 0. 0. 0. 1. ]] SLAMing on 5.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.34, Z:-0.03 [[ 9.99997337e-01 -2.30786277e-03 0.00000000e+00 5.56862036e+00] [ 2.30786277e-03 9.99997337e-01 0.00000000e+00 -3.36495859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33540720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.34, Z:-0.04 [[ 9.99989920e-01 4.48998687e-03 0.00000000e+00 5.59887254e+00] [-4.48998687e-03 9.99989920e-01 0.00000000e+00 -3.38303247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50677603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.34, Z:-0.03 [[ 9.99985041e-01 -5.46968230e-03 0.00000000e+00 5.62907530e+00] [ 5.46968230e-03 9.99985041e-01 0.00000000e+00 -3.35221314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28355586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.34, Z:-0.03 [[ 0.99998249 -0.00591738 0. 5.65941026] [ 0.00591738 0.99998249 0. -0.33909544] [ 0. 0. 1. -0.03235627] [ 0. 0. 0. 1. ]] SLAMing on 5.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.35, Z:-0.03 [[ 0.99997382 -0.0072354 0. 5.68959293] [ 0.0072354 0.99997382 0. -0.34708349] [ 0. 0. 1. -0.03273 ] [ 0. 0. 0. 1. ]] SLAMing on 5.822320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.35, Z:-0.03 [[ 0.99997382 -0.0072354 0. 5.720573 ] [ 0.0072354 0.99997382 0. -0.34773891] [ 0. 0. 1. -0.03273 ] [ 0. 0. 0. 1. ]] SLAMing on 5.8523205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.36, Z:-0.03 [[ 0.99995806 -0.00915818 0. 5.75060205] [ 0.00915818 0.99995806 0. -0.36275403] [ 0. 0. 1. -0.03175788] [ 0. 0. 0. 1. ]] SLAMing on 5.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.36, Z:-0.03 [[ 0.99995806 -0.00915818 0. 5.78158416] [ 0.00915818 0.99995806 0. -0.36340949] [ 0. 0. 1. -0.03175788] [ 0. 0. 0. 1. ]] SLAMing on 5.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.37, Z:-0.03 [[ 0.99995134 -0.00986452 0. 5.81191742] [ 0.00986452 0.99995134 0. -0.36712805] [ 0. 0. 1. -0.03154273] [ 0. 0. 0. 1. ]] SLAMing on 5.942320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.37, Z:-0.03 [[ 0.99993812 -0.01112495 0. 5.842167 ] [ 0.01112495 0.99993812 0. -0.37028776] [ 0. 0. 1. -0.03245588] [ 0. 0. 0. 1. ]] SLAMing on 5.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.38, Z:-0.03 [[ 0.99993721 -0.01120588 0. 5.87245034] [ 0.01120588 0.99993721 0. -0.37583053] [ 0. 0. 1. -0.03283562] [ 0. 0. 0. 1. ]] SLAMing on 6.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.38, Z:-0.03 [[ 0.99993721 -0.01120588 0. 5.90343198] [ 0.01120588 0.99993721 0. -0.37648598] [ 0. 0. 1. -0.03283562] [ 0. 0. 0. 1. ]] SLAMing on 6.032320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.38, Z:-0.03 [[ 0.99992725 -0.01206213 0. 5.93423839] [ 0.01206213 0.99992725 0. -0.38390995] [ 0. 0. 1. -0.0317937 ] [ 0. 0. 0. 1. ]] SLAMing on 6.0623205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.39, Z:-0.03 [[ 0.99993483 -0.01141639 0. 5.96488641] [ 0.01141639 0.99993483 0. -0.39047504] [ 0. 0. 1. -0.03226763] [ 0. 0. 0. 1. ]] SLAMing on 6.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.39, Z:-0.03 [[ 0.9999539 -0.00960148 0. 5.99478909] [ 0.00960148 0.9999539 0. -0.3945723 ] [ 0. 0. 1. -0.03103358] [ 0. 0. 0. 1. ]] SLAMing on 6.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.40, Z:-0.03 [[ 0.99997396 -0.00721725 0. 6.02542537] [ 0.00721725 0.99997396 0. -0.3973929 ] [ 0. 0. 1. -0.03264643] [ 0. 0. 0. 1. ]] SLAMing on 6.152320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.40, Z:-0.03 [[ 9.99989233e-01 -4.64047859e-03 0.00000000e+00 6.05554472e+00] [ 4.64047859e-03 9.99989233e-01 0.00000000e+00 -4.01000530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28102196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.40, Z:-0.03 [[ 9.99989233e-01 -4.64047859e-03 0.00000000e+00 6.08653555e+00] [ 4.64047859e-03 9.99989233e-01 0.00000000e+00 -4.01656176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28102196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.41, Z:-0.03 [[ 9.99998108e-01 -1.94538718e-03 0.00000000e+00 6.11654970e+00] [ 1.94538718e-03 9.99998108e-01 0.00000000e+00 -4.06215757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38976135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.41, Z:-0.03 [[ 9.99999821e-01 -5.98517694e-04 0.00000000e+00 6.14701731e+00] [ 5.98517694e-04 9.99999821e-01 0.00000000e+00 -4.11665304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29459013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2723205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.42, Z:-0.03 [[ 9.99999311e-01 1.17397521e-03 0.00000000e+00 6.17757743e+00] [-1.17397521e-03 9.99999311e-01 0.00000000e+00 -4.16422901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15260914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.42, Z:-0.03 [[ 9.99998549e-01 1.70369015e-03 0.00000000e+00 6.20833866e+00] [-1.70369015e-03 9.99998549e-01 0.00000000e+00 -4.19724641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04636744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.42, Z:-0.03 [[ 9.99998549e-01 1.70369015e-03 0.00000000e+00 6.23932762e+00] [-1.70369015e-03 9.99998549e-01 0.00000000e+00 -4.20380248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04636744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.42, Z:-0.03 [[ 9.99993606e-01 3.57598715e-03 0.00000000e+00 6.26986403e+00] [-3.57598715e-03 9.99993606e-01 0.00000000e+00 -4.22523126e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94806588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.42, Z:-0.02 [[ 9.99987436e-01 5.01270835e-03 0.00000000e+00 6.30078981e+00] [-5.01270835e-03 9.99987436e-01 0.00000000e+00 -4.24496172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10025366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.43, Z:-0.03 [[ 0.99996832 0.00796039 0. 6.33189438] [-0.00796039 0.99996832 0. -0.42734037] [ 0. 0. 1. -0.03088244] [ 0. 0. 0. 1. ]] SLAMing on 6.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.43, Z:-0.03 [[ 0.99996832 0.00796039 0. 6.36288196] [-0.00796039 0.99996832 0. -0.42799006] [ 0. 0. 1. -0.03088244] [ 0. 0. 0. 1. ]] SLAMing on 6.482320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.43, Z:-0.03 [[ 0.99994145 0.01082103 0. 6.39316265] [-0.01082103 0.99994145 0. -0.43083544] [ 0. 0. 1. -0.03265602] [ 0. 0. 0. 1. ]] SLAMing on 6.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.43, Z:-0.03 [[ 0.99994145 0.01082103 0. 6.42415115] [-0.01082103 0.99994145 0. -0.43148514] [ 0. 0. 1. -0.03265602] [ 0. 0. 0. 1. ]] SLAMing on 6.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.43, Z:-0.03 [[ 0.99991198 0.01326767 0. 6.45459809] [-0.01326767 0.99991198 0. -0.43442224] [ 0. 0. 1. -0.03458823] [ 0. 0. 0. 1. ]] SLAMing on 6.572320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.44, Z:-0.04 [[ 0.99986879 0.01619884 0. 6.48502129] [-0.01619884 0.99986879 0. -0.43653764] [ 0. 0. 1. -0.03515055] [ 0. 0. 0. 1. ]] SLAMing on 6.6023205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.44, Z:-0.04 [[ 0.99980851 0.01956896 0. 6.51613662] [-0.01956896 0.99980851 0. -0.43837028] [ 0. 0. 1. -0.03616262] [ 0. 0. 0. 1. ]] SLAMing on 6.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.44, Z:-0.03 [[ 0.99975548 0.02211272 0. 6.5462109 ] [-0.02211272 0.99975548 0. -0.44039214] [ 0. 0. 1. -0.02972279] [ 0. 0. 0. 1. ]] SLAMing on 6.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.44, Z:-0.03 [[ 0.99965734 0.02617639 0. 6.5776358 ] [-0.02617639 0.99965734 0. -0.44363425] [ 0. 0. 1. -0.03372353] [ 0. 0. 0. 1. ]] SLAMing on 6.692320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.44, Z:-0.03 [[ 0.99965558 0.02624336 0. 6.60945824] [-0.02624336 0.99965558 0. -0.44428409] [ 0. 0. 1. -0.03372353] [ 0. 0. 0. 1. ]] SLAMing on 6.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.45, Z:-0.03 [[ 0.99958567 0.02878339 0. 6.64051853] [-0.02878339 0.99958567 0. -0.44819624] [ 0. 0. 1. -0.03171196] [ 0. 0. 0. 1. ]] SLAMing on 6.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.45, Z:-0.03 [[ 0.99952098 0.03094866 0. 6.6719588 ] [-0.03094866 0.99952098 0. -0.4511707 ] [ 0. 0. 1. -0.03082192] [ 0. 0. 0. 1. ]] SLAMing on 6.782320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.45, Z:-0.03 [[ 0.99942059 0.03403646 0. 6.7037033 ] [-0.03403646 0.99942059 0. -0.45093351] [ 0. 0. 1. -0.03016595] [ 0. 0. 0. 1. ]] SLAMing on 6.8123205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.45, Z:-0.03 [[ 0.99929091 0.03765199 0. 6.73462793] [-0.03765199 0.99929091 0. -0.44832978] [ 0. 0. 1. -0.03185634] [ 0. 0. 0. 1. ]] SLAMing on 6.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.45, Z:-0.03 [[ 0.99928845 0.03771727 0. 6.7664484 ] [-0.03771727 0.99928845 0. -0.44899088] [ 0. 0. 1. -0.03185634] [ 0. 0. 0. 1. ]] SLAMing on 6.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.45, Z:-0.03 [[ 0.99912205 0.04189431 0. 6.79742591] [-0.04189431 0.99912205 0. -0.44526219] [ 0. 0. 1. -0.03427504] [ 0. 0. 0. 1. ]] SLAMing on 6.902320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.44, Z:-0.03 [[ 0.99889425 0.04701364 0. 6.82879216] [-0.04701364 0.99889425 0. -0.44258987] [ 0. 0. 1. -0.03471847] [ 0. 0. 0. 1. ]] SLAMing on 6.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.44, Z:-0.03 [[ 0.99859082 0.05306951 0. 6.8603311 ] [-0.05306951 0.99859082 0. -0.44054331] [ 0. 0. 1. -0.03393456] [ 0. 0. 0. 1. ]] SLAMing on 6.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.44, Z:-0.03 [[ 0.99825747 0.05900874 0. 6.89156815] [-0.05900874 0.99825747 0. -0.4375043 ] [ 0. 0. 1. -0.03314667] [ 0. 0. 0. 1. ]] SLAMing on 6.992320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.43, Z:-0.03 [[ 0.99798929 0.06338285 0. 6.92277857] [-0.06338285 0.99798929 0. -0.43401557] [ 0. 0. 1. -0.03091265] [ 0. 0. 0. 1. ]] SLAMing on 7.0223205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.43, Z:-0.03 [[ 0.99798141 0.06350667 0. 6.95543802] [-0.06350667 0.99798141 0. -0.43469291] [ 0. 0. 1. -0.03091265] [ 0. 0. 0. 1. ]] SLAMing on 7.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.43, Z:-0.03 [[ 0.99781788 0.06602634 0. 6.98659526] [-0.06602634 0.99781788 0. -0.43125687] [ 0. 0. 1. -0.03019026] [ 0. 0. 0. 1. ]] SLAMing on 7.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.43, Z:-0.03 [[ 0.99780991 0.06614662 0. 7.01806881] [-0.06614662 0.99780991 0. -0.4300243 ] [ 0. 0. 1. -0.03075511] [ 0. 0. 0. 1. ]] SLAMing on 7.112320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.43, Z:-0.03 [[ 0.99797283 0.0636414 0. 7.04931484] [-0.0636414 0.99797283 0. -0.43144244] [ 0. 0. 1. -0.03146162] [ 0. 0. 0. 1. ]] SLAMing on 7.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.43, Z:-0.03 [[ 0.99817514 0.06038538 0. 7.08070877] [-0.06038538 0.99817514 0. -0.43301527] [ 0. 0. 1. -0.03184212] [ 0. 0. 0. 1. ]] SLAMing on 7.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.43, Z:-0.03 [[ 0.99817138 0.0604475 0. 7.11253484] [-0.0604475 0.99817138 0. -0.43370133] [ 0. 0. 1. -0.03184212] [ 0. 0. 0. 1. ]] SLAMing on 7.202320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.43, Z:-0.03 [[ 0.99833907 0.05761158 0. 7.1439519 ] [-0.05761158 0.99833907 0. -0.43288033] [ 0. 0. 1. -0.03281154] [ 0. 0. 0. 1. ]] SLAMing on 7.232320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.43, Z:-0.03 [[ 0.99845312 0.05559998 0. 7.17531033] [-0.05559998 0.99845312 0. -0.4292295 ] [ 0. 0. 1. -0.03266684] [ 0. 0. 0. 1. ]] SLAMing on 7.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.43, Z:-0.03 [[ 0.99848183 0.05508204 0. 7.20615815] [-0.05508204 0.99848183 0. -0.42532166] [ 0. 0. 1. -0.03196557] [ 0. 0. 0. 1. ]] SLAMing on 7.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.43, Z:-0.03 [[ 0.99848183 0.05508204 0. 7.23714931] [-0.05508204 0.99848183 0. -0.42600963] [ 0. 0. 1. -0.03196557] [ 0. 0. 0. 1. ]] SLAMing on 7.322320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.42, Z:-0.03 [[ 0.99839866 0.05656952 0. 7.26766937] [-0.05656952 0.99839866 0. -0.42423794] [ 0. 0. 1. -0.03191331] [ 0. 0. 0. 1. ]] SLAMing on 7.3523205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.42, Z:-0.03 [[ 0.99825028 0.05913022 0. 7.29813215] [-0.05913022 0.99825028 0. -0.42395204] [ 0. 0. 1. -0.03155734] [ 0. 0. 0. 1. ]] SLAMing on 7.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.42, Z:-0.03 [[ 0.9980649 0.06218088 0. 7.32839283] [-0.06218088 0.9980649 0. -0.42239175] [ 0. 0. 1. -0.0310499 ] [ 0. 0. 0. 1. ]] SLAMing on 7.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.42, Z:-0.03 [[ 0.99790231 0.06473777 0. 7.35867242] [-0.06473777 0.99790231 0. -0.41942558] [ 0. 0. 1. -0.03022048] [ 0. 0. 0. 1. ]] SLAMing on 7.442320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.42, Z:-0.03 [[ 0.99778368 0.06654111 0. 7.38934117] [-0.06654111 0.99778368 0. -0.41679021] [ 0. 0. 1. -0.0292525 ] [ 0. 0. 0. 1. ]] SLAMing on 7.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.42, Z:-0.03 [[ 0.99778368 0.06654111 0. 7.42033123] [-0.06654111 0.99778368 0. -0.41747815] [ 0. 0. 1. -0.0292525 ] [ 0. 0. 0. 1. ]] SLAMing on 7.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.42, Z:-0.03 [[ 0.99774627 0.06709983 0. 7.45103537] [-0.06709983 0.99774627 0. -0.41700625] [ 0. 0. 1. -0.02839772] [ 0. 0. 0. 1. ]] SLAMing on 7.532320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.42, Z:-0.03 [[ 0.99784066 0.06568117 0. 7.48143029] [-0.06568117 0.99784066 0. -0.41891807] [ 0. 0. 1. -0.02691986] [ 0. 0. 0. 1. ]] SLAMing on 7.5623205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.42, Z:-0.03 [[ 0.99802128 0.06287707 0. 7.51238377] [-0.06287707 0.99802128 0. -0.42065537] [ 0. 0. 1. -0.02574 ] [ 0. 0. 0. 1. ]] SLAMing on 7.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.42, Z:-0.03 [[ 0.99823391 0.05940583 0. 7.54339821] [-0.05940583 0.99823391 0. -0.42013484] [ 0. 0. 1. -0.02551524] [ 0. 0. 0. 1. ]] SLAMing on 7.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.42, Z:-0.03 [[ 0.99823391 0.05940583 0. 7.57438576] [-0.05940583 0.99823391 0. -0.42082464] [ 0. 0. 1. -0.02551524] [ 0. 0. 0. 1. ]] SLAMing on 7.652320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.42, Z:-0.03 [[ 0.99842406 0.05611954 0. 7.60513581] [-0.05611954 0.99842406 0. -0.4174389 ] [ 0. 0. 1. -0.02534786] [ 0. 0. 0. 1. ]] SLAMing on 7.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.41, Z:-0.03 [[ 0.99857816 0.05330727 0. 7.63563026] [-0.05330727 0.99857816 0. -0.41213315] [ 0. 0. 1. -0.02514613] [ 0. 0. 0. 1. ]] SLAMing on 7.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.41, Z:-0.02 [[ 0.99865925 0.05176593 0. 7.66595957] [-0.05176593 0.99865925 0. -0.40526956] [ 0. 0. 1. -0.02395054] [ 0. 0. 0. 1. ]] SLAMing on 7.742320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.40, Z:-0.02 [[ 0.99866392 0.05167576 0. 7.69536864] [-0.05167576 0.99866392 0. -0.39855705] [ 0. 0. 1. -0.02426464] [ 0. 0. 0. 1. ]] SLAMing on 7.7723205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.40, Z:-0.02 [[ 0.99866719 0.05161247 0. 7.7255157 ] [-0.05161247 0.99866719 0. -0.39924051] [ 0. 0. 1. -0.02426464] [ 0. 0. 0. 1. ]] SLAMing on 7.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.39, Z:-0.03 [[ 0.99859136 0.05305934 0. 7.75570151] [-0.05305934 0.99859136 0. -0.39267025] [ 0. 0. 1. -0.02521089] [ 0. 0. 0. 1. ]] SLAMing on 7.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.39, Z:-0.03 [[ 0.99852584 0.05427833 0. 7.78499368] [-0.05427833 0.99852584 0. -0.38611904] [ 0. 0. 1. -0.0265461 ] [ 0. 0. 0. 1. ]] SLAMing on 7.862320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.38, Z:-0.03 [[ 0.99846865 0.05532051 0. 7.81361535] [-0.05532051 0.99846865 0. -0.38077459] [ 0. 0. 1. -0.02808774] [ 0. 0. 0. 1. ]] SLAMing on 7.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.38, Z:-0.03 [[ 0.9984681 0.05533048 0. 7.84214667] [-0.05533048 0.9984681 0. -0.37597181] [ 0. 0. 1. -0.02920916] [ 0. 0. 0. 1. ]] SLAMing on 7.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.37, Z:-0.03 [[ 0.99855356 0.05376601 0. 7.87132751] [-0.05376601 0.99855356 0. -0.37118442] [ 0. 0. 1. -0.02960329] [ 0. 0. 0. 1. ]] SLAMing on 7.952320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.37, Z:-0.03 [[ 0.99857768 0.05331628 0. 7.90060577] [-0.05331628 0.99857768 0. -0.37204999] [ 0. 0. 1. -0.02960329] [ 0. 0. 0. 1. ]] SLAMing on 7.982320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.37, Z:-0.03 [[ 0.99876207 0.04974262 0. 7.92901239] [-0.04974262 0.99876207 0. -0.36741859] [ 0. 0. 1. -0.02960996] [ 0. 0. 0. 1. ]] SLAMing on 8.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.36, Z:-0.03 [[ 0.99901671 0.04433523 0. 7.95830632] [-0.04433523 0.99901671 0. -0.36341897] [ 0. 0. 1. -0.02995907] [ 0. 0. 0. 1. ]] SLAMing on 8.042320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.36, Z:-0.03 [[ 0.99930657 0.03723408 0. 7.98669145] [-0.03723408 0.99930657 0. -0.35985557] [ 0. 0. 1. -0.03130748] [ 0. 0. 0. 1. ]] SLAMing on 8.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.36, Z:-0.03 [[ 0.9995792 0.02900737 0. 8.01464441] [-0.02900737 0.9995792 0. -0.3567523 ] [ 0. 0. 1. -0.03182379] [ 0. 0. 0. 1. ]] SLAMing on 8.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.36, Z:-0.03 [[ 0.9995925 0.02854526 0. 8.04391745] [-0.02854526 0.9995925 0. -0.35758395] [ 0. 0. 1. -0.03182379] [ 0. 0. 0. 1. ]] SLAMing on 8.132320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.36, Z:-0.03 [[ 0.99976593 0.02163528 0. 8.07305499] [-0.02163528 0.99976593 0. -0.35504144] [ 0. 0. 1. -0.03211684] [ 0. 0. 0. 1. ]] SLAMing on 8.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.35, Z:-0.03 [[ 0.999885 0.01516563 0. 8.10197471] [-0.01516563 0.999885 0. -0.35353642] [ 0. 0. 1. -0.03124144] [ 0. 0. 0. 1. ]] SLAMing on 8.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.35, Z:-0.02 [[ 0.99996315 0.00858501 0. 8.13142756] [-0.00858501 0.99996315 0. -0.35402126] [ 0. 0. 1. -0.0247487 ] [ 0. 0. 0. 1. ]] SLAMing on 8.222320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.36, Z:-0.03 [[ 9.99987448e-01 5.01029882e-03 0.00000000e+00 8.16179321e+00] [-5.01029882e-03 9.99987448e-01 0.00000000e+00 -3.55579665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06146406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.36, Z:-0.03 [[ 9.99999922e-01 3.95083898e-04 0.00000000e+00 8.19201470e+00] [-3.95083898e-04 9.99999922e-01 0.00000000e+00 -3.58572706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21453991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.36, Z:-0.03 [[ 9.99994189e-01 -3.40919868e-03 0.00000000e+00 8.22279273e+00] [ 3.40919868e-03 9.99994189e-01 0.00000000e+00 -3.63257961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21918222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.36, Z:-0.03 [[ 9.99994189e-01 -3.40919868e-03 0.00000000e+00 8.25378688e+00] [ 3.40919868e-03 9.99994189e-01 0.00000000e+00 -3.63803629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21918222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.37, Z:-0.03 [[ 9.99981013e-01 -6.16227211e-03 0.00000000e+00 8.28453539e+00] [ 6.16227211e-03 9.99981013e-01 0.00000000e+00 -3.69056936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22177264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.37, Z:-0.03 [[ 9.99969628e-01 -7.79374342e-03 0.00000000e+00 8.31491247e+00] [ 7.79374342e-03 9.99969628e-01 0.00000000e+00 -3.72010670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06286443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.37, Z:-0.03 [[ 9.99970111e-01 -7.73162672e-03 0.00000000e+00 8.34674449e+00] [ 7.73162672e-03 9.99970111e-01 0.00000000e+00 -3.72554766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06286443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.37, Z:-0.03 [[ 9.99970589e-01 -7.66950998e-03 0.00000000e+00 8.37857649e+00] [ 7.66950998e-03 9.99970589e-01 0.00000000e+00 -3.73100839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06286443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.37, Z:-0.03 [[ 9.99971457e-01 -7.55544538e-03 0.00000000e+00 8.40963016e+00] [ 7.55544538e-03 9.99971457e-01 0.00000000e+00 -3.73072409e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92597061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.37, Z:-0.03 [[ 9.99983760e-01 -5.69912372e-03 0.00000000e+00 8.44094047e+00] [ 5.69912372e-03 9.99983760e-01 0.00000000e+00 -3.71534949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70793726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.37, Z:-0.03 [[ 9.99996544e-01 -2.62925039e-03 0.00000000e+00 8.47162090e+00] [ 2.62925039e-03 9.99996544e-01 0.00000000e+00 -3.70419233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75739154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.37, Z:-0.03 [[ 9.99999246e-01 1.22767970e-03 0.00000000e+00 8.50164174e+00] [-1.22767970e-03 9.99999246e-01 0.00000000e+00 -3.71684216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78052787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.37, Z:-0.02 [[ 9.99993431e-01 3.62460138e-03 0.00000000e+00 8.53052465e+00] [-3.62460138e-03 9.99993431e-01 0.00000000e+00 -3.74453117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06302754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.37, Z:-0.02 [[ 9.99992330e-01 3.91674573e-03 0.00000000e+00 8.56054217e+00] [-3.91674573e-03 9.99992330e-01 0.00000000e+00 -3.74876606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06302754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.38, Z:-0.03 [[ 0.99995969 0.008979 0. 8.5921556 ] [-0.008979 0.99995969 0. -0.3764868 ] [ 0. 0. 1. -0.02782951] [ 0. 0. 0. 1. ]] SLAMing on 8.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.38, Z:-0.03 [[ 0.9999378 0.01115342 0. 8.62214966] [-0.01115342 0.9999378 0. -0.37614781] [ 0. 0. 1. -0.02734718] [ 0. 0. 0. 1. ]] SLAMing on 8.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.38, Z:-0.03 [[ 0.99992615 0.01215305 0. 8.65197141] [-0.01215305 0.99992615 0. -0.37586366] [ 0. 0. 1. -0.02739425] [ 0. 0. 0. 1. ]] SLAMing on 8.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.38, Z:-0.03 [[ 0.99990713 0.01362808 0. 8.68158953] [-0.01362808 0.99990713 0. -0.376797 ] [ 0. 0. 1. -0.02755447] [ 0. 0. 0. 1. ]] SLAMing on 8.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.38, Z:-0.03 [[ 0.99990801 0.01356369 0. 8.71173953] [-0.01356369 0.99990801 0. -0.37735706] [ 0. 0. 1. -0.02755447] [ 0. 0. 0. 1. ]] SLAMing on 8.792320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.38, Z:-0.03 [[ 0.99990325 0.01390993 0. 8.74158797] [-0.01390993 0.99990325 0. -0.37912714] [ 0. 0. 1. -0.02829843] [ 0. 0. 0. 1. ]] SLAMing on 8.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.38, Z:-0.03 [[ 0.99987447 0.01584424 0. 8.7715994 ] [-0.01584424 0.99987447 0. -0.37805608] [ 0. 0. 1. -0.02884295] [ 0. 0. 0. 1. ]] SLAMing on 8.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.37, Z:-0.03 [[ 0.99981021 0.01948169 0. 8.80176637] [-0.01948169 0.99981021 0. -0.3740482 ] [ 0. 0. 1. -0.02753267] [ 0. 0. 0. 1. ]] SLAMing on 8.882320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.37, Z:-0.02 [[ 0.99976614 0.02162569 0. 8.83078791] [-0.02162569 0.99976614 0. -0.36926621] [ 0. 0. 1. -0.02007179] [ 0. 0. 0. 1. ]] SLAMing on 8.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.37, Z:-0.02 [[ 0.99976339 0.02175238 0. 8.85995779] [-0.02175238 0.99976339 0. -0.36973809] [ 0. 0. 1. -0.02007179] [ 0. 0. 0. 1. ]] SLAMing on 8.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.37, Z:-0.02 [[ 0.99968468 0.02511055 0. 8.88852558] [-0.02511055 0.99968468 0. -0.36667821] [ 0. 0. 1. -0.01939521] [ 0. 0. 0. 1. ]] SLAMing on 8.972320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.37, Z:-0.02 [[ 0.9995631 0.02955675 0. 8.9169788 ] [-0.02955675 0.9995631 0. -0.3666654 ] [ 0. 0. 1. -0.01915005] [ 0. 0. 0. 1. ]] SLAMing on 9.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.37, Z:-0.02 [[ 0.9994026 0.03456061 0. 8.94762785] [-0.03456061 0.9994026 0. -0.36771752] [ 0. 0. 1. -0.0245644 ] [ 0. 0. 0. 1. ]] SLAMing on 9.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.37, Z:-0.02 [[ 0.99942088 0.03402796 0. 8.97605913] [-0.03402796 0.99942088 0. -0.36850802] [ 0. 0. 1. -0.0245644 ] [ 0. 0. 0. 1. ]] SLAMing on 9.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.36, Z:-0.02 [[ 0.9993496 0.03606079 0. 9.00391863] [-0.03606079 0.9993496 0. -0.36190828] [ 0. 0. 1. -0.02307203] [ 0. 0. 0. 1. ]] SLAMing on 9.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.36, Z:-0.02 [[ 0.99936933 0.03550977 0. 9.03152385] [-0.03550977 0.99936933 0. -0.35624018] [ 0. 0. 1. -0.02332086] [ 0. 0. 0. 1. ]] SLAMing on 9.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.36, Z:-0.02 [[ 0.99938801 0.03498009 0. 9.05994932] [-0.03498009 0.99938801 0. -0.35698366] [ 0. 0. 1. -0.02332086] [ 0. 0. 0. 1. ]] SLAMing on 9.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.35, Z:-0.02 [[ 0.99942026 0.03404608 0. 9.08747372] [-0.03404608 0.99942026 0. -0.35351568] [ 0. 0. 1. -0.02404038] [ 0. 0. 0. 1. ]] SLAMing on 9.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.35, Z:-0.02 [[ 0.99944328 0.03336363 0. 9.1153164 ] [-0.03336363 0.99944328 0. -0.35274004] [ 0. 0. 1. -0.02424606] [ 0. 0. 0. 1. ]] SLAMing on 9.212320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.35, Z:-0.02 [[ 0.99949962 0.03163074 0. 9.14363035] [-0.03163074 0.99949962 0. -0.35274679] [ 0. 0. 1. -0.02352197] [ 0. 0. 0. 1. ]] SLAMing on 9.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.35, Z:-0.02 [[ 0.99951625 0.03110098 0. 9.17205369] [-0.03110098 0.99951625 0. -0.35343194] [ 0. 0. 1. -0.02352197] [ 0. 0. 0. 1. ]] SLAMing on 9.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.35, Z:-0.02 [[ 0.99955153 0.02994564 0. 9.20075584] [-0.02994564 0.99955153 0. -0.35102855] [ 0. 0. 1. -0.02267357] [ 0. 0. 0. 1. ]] SLAMing on 9.302320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.35, Z:-0.02 [[ 0.99957425 0.02917722 0. 9.22913617] [-0.02917722 0.99957425 0. -0.34632327] [ 0. 0. 1. -0.02061443] [ 0. 0. 0. 1. ]] SLAMing on 9.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.34, Z:-0.02 [[ 0.99959746 0.02837119 0. 9.25788036] [-0.02837119 0.99959746 0. -0.34107005] [ 0. 0. 1. -0.02065894] [ 0. 0. 0. 1. ]] SLAMing on 9.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.34, Z:-0.02 [[ 0.99961366 0.02779437 0. 9.28713484] [-0.02779437 0.99961366 0. -0.33789858] [ 0. 0. 1. -0.02296156] [ 0. 0. 0. 1. ]] SLAMing on 9.392320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.34, Z:-0.03 [[ 0.99966317 0.02595264 0. 9.31459478] [-0.02595264 0.99966317 0. -0.33708065] [ 0. 0. 1. -0.02551286] [ 0. 0. 0. 1. ]] SLAMing on 9.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.34, Z:-0.02 [[ 0.99973038 0.02322018 0. 9.3431464 ] [-0.02322018 0.99973038 0. -0.33624914] [ 0. 0. 1. -0.02231236] [ 0. 0. 0. 1. ]] SLAMing on 9.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.34, Z:-0.02 [[ 0.99974114 0.0227518 0. 9.37156977] [-0.0227518 0.99974114 0. -0.33680873] [ 0. 0. 1. -0.02231236] [ 0. 0. 0. 1. ]] SLAMing on 9.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.33, Z:-0.03 [[ 0.99981108 0.01943706 0. 9.4003025 ] [-0.01943706 0.99981108 0. -0.33416275] [ 0. 0. 1. -0.02730083] [ 0. 0. 0. 1. ]] SLAMing on 9.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.33, Z:-0.03 [[ 0.99988478 0.01517996 0. 9.42902834] [-0.01517996 0.99988478 0. -0.33156394] [ 0. 0. 1. -0.0256294 ] [ 0. 0. 0. 1. ]] SLAMing on 9.542320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.33, Z:-0.03 [[ 0.99989158 0.01472516 0. 9.45828009] [-0.01472516 0.99989158 0. -0.33212842] [ 0. 0. 1. -0.0256294 ] [ 0. 0. 0. 1. ]] SLAMing on 9.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.33, Z:-0.02 [[ 0.99994279 0.01069677 0. 9.48708584] [-0.01069677 0.99994279 0. -0.33153868] [ 0. 0. 1. -0.0234659 ] [ 0. 0. 0. 1. ]] SLAMing on 9.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.33, Z:-0.02 [[ 9.99978189e-01 6.60468992e-03 0.00000000e+00 9.51685301e+00] [-6.60468992e-03 9.99978189e-01 0.00000000e+00 -3.32243517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34542478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.33, Z:-0.02 [[ 9.99997621e-01 2.18145537e-03 0.00000000e+00 9.54644307e+00] [-2.18145537e-03 9.99997621e-01 0.00000000e+00 -3.34176960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34585156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.33, Z:-0.02 [[ 9.99997857e-01 -2.07019930e-03 0.00000000e+00 9.57731652e+00] [ 2.07019930e-03 9.99997857e-01 0.00000000e+00 -3.34660579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47314343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.33, Z:-0.03 [[ 9.99986288e-01 -5.23679310e-03 0.00000000e+00 9.60737687e+00] [ 5.23679310e-03 9.99986288e-01 0.00000000e+00 -3.34575119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57860582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.34, Z:-0.03 [[ 9.99970061e-01 -7.73807325e-03 0.00000000e+00 9.63877346e+00] [ 7.73807325e-03 9.99970061e-01 0.00000000e+00 -3.35379171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77393644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.34, Z:-0.03 [[ 9.99970539e-01 -7.67595652e-03 0.00000000e+00 9.67060915e+00] [ 7.67595652e-03 9.99970539e-01 0.00000000e+00 -3.35633375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77393644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.34, Z:-0.03 [[ 9.99958140e-01 -9.14973628e-03 0.00000000e+00 9.70166014e+00] [ 9.14973628e-03 9.99958140e-01 0.00000000e+00 -3.37937353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01449024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.34, Z:-0.03 [[ 9.99955251e-01 -9.46024665e-03 0.00000000e+00 9.73288222e+00] [ 9.46024665e-03 9.99955251e-01 0.00000000e+00 -3.40843874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99544884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.34, Z:-0.03 [[ 9.99967340e-01 -8.08201510e-03 0.00000000e+00 9.76454098e+00] [ 8.08201510e-03 9.99967340e-01 0.00000000e+00 -3.42152680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81306555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.34, Z:-0.03 [[ 9.99979832e-01 -6.35102224e-03 0.00000000e+00 9.79550981e+00] [ 6.35102224e-03 9.99979832e-01 0.00000000e+00 -3.42181356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60416503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.34, Z:-0.02 [[ 9.99988148e-01 -4.86863826e-03 0.00000000e+00 9.82734007e+00] [ 4.86863826e-03 9.99988148e-01 0.00000000e+00 -3.41535937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43864702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.34, Z:-0.02 [[ 9.99994365e-01 -3.35716327e-03 0.00000000e+00 9.85859973e+00] [ 3.35716327e-03 9.99994365e-01 0.00000000e+00 -3.41941804e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33327946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.34, Z:-0.02 [[ 9.99999538e-01 -9.61455984e-04 0.00000000e+00 9.88902311e+00] [ 9.61455984e-04 9.99999538e-01 0.00000000e+00 -3.41902007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32046451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.34, Z:-0.02 [[ 9.99999538e-01 -9.61455984e-04 0.00000000e+00 9.92002183e+00] [ 9.61455984e-04 9.99999538e-01 0.00000000e+00 -3.42180320e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32046451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.34, Z:-0.02 [[ 9.99996302e-01 2.71969987e-03 0.00000000e+00 9.95027823e+00] [-2.71969987e-03 9.99996302e-01 0.00000000e+00 -3.40210533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26157812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.34, Z:-0.02 [[ 9.99979723e-01 6.36813280e-03 0.00000000e+00 9.97989980e+00] [-6.36813280e-03 9.99979723e-01 0.00000000e+00 -3.37600255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29804934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.34, Z:-0.02 [[ 0.9999393 0.01101786 0. 10.00958031] [-0.01101786 0.9999393 0. -0.335459 ] [ 0. 0. 1. -0.02252721] [ 0. 0. 0. 1. ]] SLAMing on 10.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.33, Z:-0.02 [[ 0.99989925 0.01419438 0. 10.03961952] [-0.01419438 0.99989925 0. -0.33453564] [ 0. 0. 1. -0.02235764] [ 0. 0. 0. 1. ]] SLAMing on 10.142320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.33, Z:-0.02 [[ 0.99986773 0.01626414 0. 10.06811335] [-0.01626414 0.99986773 0. -0.33433034] [ 0. 0. 1. -0.02197137] [ 0. 0. 0. 1. ]] SLAMing on 10.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.33, Z:-0.02 [[ 0.9998521 0.01719837 0. 10.09801767] [-0.01719837 0.9998521 0. -0.33382432] [ 0. 0. 1. -0.01845508] [ 0. 0. 0. 1. ]] SLAMing on 10.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.33, Z:-0.02 [[ 0.99986471 0.01644876 0. 10.12660333] [-0.01644876 0.99986471 0. -0.33237462] [ 0. 0. 1. -0.02296361] [ 0. 0. 0. 1. ]] SLAMing on 10.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.33, Z:-0.02 [[ 0.99986739 0.01628474 0. 10.15520093] [-0.01628474 0.99986739 0. -0.33081 ] [ 0. 0. 1. -0.02184102] [ 0. 0. 0. 1. ]] SLAMing on 10.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.33, Z:-0.02 [[ 0.99988174 0.01537888 0. 10.18381847] [-0.01537888 0.99988174 0. -0.32943958] [ 0. 0. 1. -0.0205982 ] [ 0. 0. 0. 1. ]] SLAMing on 10.292320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.33, Z:-0.02 [[ 0.99988645 0.01506931 0. 10.2127652 ] [-0.01506931 0.99988645 0. -0.32799483] [ 0. 0. 1. -0.01962907] [ 0. 0. 0. 1. ]] SLAMing on 10.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.33, Z:-0.02 [[ 0.99989326 0.01461053 0. 10.24201484] [-0.01461053 0.99989326 0. -0.32846568] [ 0. 0. 1. -0.01962907] [ 0. 0. 0. 1. ]] SLAMing on 10.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.33, Z:-0.02 [[ 0.9998962 0.01440815 0. 10.27096471] [-0.01440815 0.9998962 0. -0.32686604] [ 0. 0. 1. -0.01918636] [ 0. 0. 0. 1. ]] SLAMing on 10.382320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.33, Z:-0.02 [[ 0.99988835 0.01494305 0. 10.29966318] [-0.01494305 0.99988835 0. -0.32534231] [ 0. 0. 1. -0.01956131] [ 0. 0. 0. 1. ]] SLAMing on 10.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.32, Z:-0.02 [[ 0.99986769 0.01626676 0. 10.32832499] [-0.01626676 0.99986769 0. -0.32403778] [ 0. 0. 1. -0.01953652] [ 0. 0. 0. 1. ]] SLAMing on 10.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.32, Z:-0.02 [[ 0.99982031 0.01895636 0. 10.35740468] [-0.01895636 0.99982031 0. -0.32259479] [ 0. 0. 1. -0.01924716] [ 0. 0. 0. 1. ]] SLAMing on 10.472320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.32, Z:-0.02 [[ 0.99972984 0.02324339 0. 10.3866073 ] [-0.02324339 0.99972984 0. -0.31964044] [ 0. 0. 1. -0.01842437] [ 0. 0. 0. 1. ]] SLAMing on 10.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.32, Z:-0.02 [[ 0.99961895 0.0276034 0. 10.41494964] [-0.0276034 0.99961895 0. -0.31636154] [ 0. 0. 1. -0.01708039] [ 0. 0. 0. 1. ]] SLAMing on 10.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.31, Z:-0.02 [[ 0.99946899 0.03258437 0. 10.44334473] [-0.03258437 0.99946899 0. -0.31247571] [ 0. 0. 1. -0.01554088] [ 0. 0. 0. 1. ]] SLAMing on 10.562320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.31, Z:-0.02 [[ 0.9993407 0.03630645 0. 10.47159141] [-0.03630645 0.9993407 0. -0.30873168] [ 0. 0. 1. -0.01581895] [ 0. 0. 0. 1. ]] SLAMing on 10.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.31, Z:-0.02 [[ 0.99924948 0.0387361 0. 10.49996197] [-0.0387361 0.99924948 0. -0.30535372] [ 0. 0. 1. -0.01602227] [ 0. 0. 0. 1. ]] SLAMing on 10.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.30, Z:-0.02 [[ 0.99915714 0.04104896 0. 10.52828994] [-0.04104896 0.99915714 0. -0.30220686] [ 0. 0. 1. -0.01542223] [ 0. 0. 0. 1. ]] SLAMing on 10.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.29, Z:-0.01 [[ 0.99891726 0.04652219 0. 10.55716668] [-0.04652219 0.99891726 0. -0.29242709] [ 0. 0. 1. -0.0141483 ] [ 0. 0. 0. 1. ]] SLAMing on 10.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.29, Z:-0.01 [[ 0.9987527 0.04993045 0. 10.58526985] [-0.04993045 0.9987527 0. -0.28591759] [ 0. 0. 1. -0.01234344] [ 0. 0. 0. 1. ]] SLAMing on 10.712320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.28, Z:-0.01 [[ 0.99856887 0.05348088 0. 10.61287791] [-0.05348088 0.99856887 0. -0.27843328] [ 0. 0. 1. -0.01222541] [ 0. 0. 0. 1. ]] SLAMing on 10.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.27, Z:-0.01 [[ 0.99841176 0.05633794 0. 10.64102517] [-0.05633794 0.99841176 0. -0.26991251] [ 0. 0. 1. -0.01193758] [ 0. 0. 0. 1. ]] SLAMing on 10.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.26, Z:-0.01 [[ 0.99838406 0.05682664 0. 10.66896367] [-0.05682664 0.99838406 0. -0.26152315] [ 0. 0. 1. -0.01154886] [ 0. 0. 0. 1. ]] SLAMing on 10.802320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.25, Z:-0.01 [[ 0.99839919 0.05656027 0. 10.69813347] [-0.05656027 0.99839919 0. -0.25416601] [ 0. 0. 1. -0.01145007] [ 0. 0. 0. 1. ]] SLAMing on 10.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.24, Z:-0.01 [[ 9.98619798e-01 5.25214191e-02 0.00000000e+00 1.07264800e+01] [-5.25214191e-02 9.98619798e-01 0.00000000e+00 -2.42223708e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05280483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.24, Z:-0.01 [[ 9.98850648e-01 4.79310321e-02 0.00000000e+00 1.07538780e+01] [-4.79310321e-02 9.98850648e-01 0.00000000e+00 -2.38664508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03506916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.24, Z:-0.01 [[ 0.99912219 0.04189101 0. 10.78202926] [-0.04189101 0.99912219 0. -0.23623049] [ 0. 0. 1. -0.01097349] [ 0. 0. 0. 1. ]] SLAMing on 10.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.23, Z:-0.01 [[ 9.99425660e-01 3.38873172e-02 0.00000000e+00 1.08094408e+01] [-3.38873172e-02 9.99425660e-01 0.00000000e+00 -2.34481612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03929519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.23, Z:-0.01 [[ 0.9996454 0.02662845 0. 10.83748189] [-0.02662845 0.9996454 0. -0.23224931] [ 0. 0. 1. -0.01115845] [ 0. 0. 0. 1. ]] SLAMing on 10.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.23, Z:-0.01 [[ 9.99813298e-01 1.93227465e-02 0.00000000e+00 1.08657543e+01] [-1.93227465e-02 9.99813298e-01 0.00000000e+00 -2.29509898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.91597848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.23, Z:-0.01 [[ 9.99941533e-01 1.08134214e-02 0.00000000e+00 1.08945793e+01] [-1.08134214e-02 9.99941533e-01 0.00000000e+00 -2.25856188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16937438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.23, Z:-0.01 [[ 9.99968969e-01 7.87786562e-03 0.00000000e+00 1.09229075e+01] [-7.87786562e-03 9.99968969e-01 0.00000000e+00 -2.25006935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24573440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.22, Z:-0.01 [[ 9.99990676e-01 4.31829823e-03 0.00000000e+00 1.09519960e+01] [-4.31829823e-03 9.99990676e-01 0.00000000e+00 -2.22955200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21979011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.22, Z:-0.01 [[ 9.99999997e-01 -8.17594889e-05 0.00000000e+00 1.09814428e+01] [ 8.17594889e-05 9.99999997e-01 0.00000000e+00 -2.20589861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20805631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.22, Z:-0.01 [[ 9.99985826e-01 -5.32424912e-03 0.00000000e+00 1.10116930e+01] [ 5.32424912e-03 9.99985826e-01 0.00000000e+00 -2.19975964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20377429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.22, Z:-0.01 [[ 9.99950743e-01 -9.92526410e-03 0.00000000e+00 1.10433514e+01] [ 9.92526410e-03 9.99950743e-01 0.00000000e+00 -2.23296753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24780953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.24, Z:-0.01 [[ 0.99984361 -0.01768492 0. 11.07614874] [ 0.01768492 0.99984361 0. -0.23784807] [ 0. 0. 1. -0.01471543] [ 0. 0. 0. 1. ]] SLAMing on 11.222320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.24, Z:-0.02 [[ 0.99978042 -0.02095506 0. 11.10977601] [ 0.02095506 0.99978042 0. -0.24208938] [ 0. 0. 1. -0.01603748] [ 0. 0. 0. 1. ]] SLAMing on 11.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.24, Z:-0.02 [[ 0.99971243 -0.02398029 0. 11.14312845] [ 0.02398029 0.99971243 0. -0.2428704 ] [ 0. 0. 1. -0.01583691] [ 0. 0. 0. 1. ]] SLAMing on 11.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.24, Z:-0.02 [[ 0.99963867 -0.02687981 0. 11.17587186] [ 0.02687981 0.99963867 0. -0.2432432 ] [ 0. 0. 1. -0.01753314] [ 0. 0. 0. 1. ]] SLAMing on 11.312320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.25, Z:-0.02 [[ 0.99957628 -0.02910771 0. 11.2079497 ] [ 0.02910771 0.99957628 0. -0.24607774] [ 0. 0. 1. -0.0180176 ] [ 0. 0. 0. 1. ]] SLAMing on 11.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.26, Z:-0.02 [[ 0.99945138 -0.03312013 0. 11.24018688] [ 0.03312013 0.99945138 0. -0.26000572] [ 0. 0. 1. -0.01904931] [ 0. 0. 0. 1. ]] SLAMing on 11.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.27, Z:-0.02 [[ 0.99940862 -0.03438629 0. 11.27377038] [ 0.03438629 0.99940862 0. -0.26685815] [ 0. 0. 1. -0.01793487] [ 0. 0. 0. 1. ]] SLAMing on 11.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.27, Z:-0.02 [[ 0.99937239 -0.03542351 0. 11.30727702] [ 0.03542351 0.99937239 0. -0.27190252] [ 0. 0. 1. -0.01673468] [ 0. 0. 0. 1. ]] SLAMing on 11.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.28, Z:-0.02 [[ 0.99936753 -0.03556024 0. 11.34086087] [ 0.03556024 0.99936753 0. -0.27678362] [ 0. 0. 1. -0.01662405] [ 0. 0. 0. 1. ]] SLAMing on 11.462320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.28, Z:-0.02 [[ 0.99941092 -0.03431923 0. 11.37414245] [ 0.03431923 0.99941092 0. -0.28159674] [ 0. 0. 1. -0.01814131] [ 0. 0. 0. 1. ]] SLAMing on 11.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.29, Z:-0.02 [[ 0.99945428 -0.03303255 0. 11.4076552 ] [ 0.03303255 0.99945428 0. -0.28689102] [ 0. 0. 1. -0.01857749] [ 0. 0. 0. 1. ]] SLAMing on 11.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.29, Z:-0.02 [[ 0.99954719 -0.0300901 0. 11.4403231 ] [ 0.0300901 0.99954719 0. -0.29155708] [ 0. 0. 1. -0.01906782] [ 0. 0. 0. 1. ]] SLAMing on 11.552320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.30, Z:-0.02 [[ 0.99969777 -0.0245838 0. 11.47293596] [ 0.0245838 0.99969777 0. -0.30019782] [ 0. 0. 1. -0.01787331] [ 0. 0. 0. 1. ]] SLAMing on 11.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.31, Z:-0.02 [[ 0.99973997 -0.02280314 0. 11.50593778] [ 0.02280314 0.99973997 0. -0.30577337] [ 0. 0. 1. -0.01783983] [ 0. 0. 0. 1. ]] SLAMing on 11.612320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.31, Z:-0.02 [[ 0.99978205 -0.02087712 0. 11.53869668] [ 0.02087712 0.99978205 0. -0.31179994] [ 0. 0. 1. -0.01781934] [ 0. 0. 0. 1. ]] SLAMing on 11.642320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.32, Z:-0.02 [[ 0.99981481 -0.01924449 0. 11.57189313] [ 0.01924449 0.99981481 0. -0.31695864] [ 0. 0. 1. -0.01771004] [ 0. 0. 0. 1. ]] SLAMing on 11.672320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.32, Z:-0.02 [[ 0.99984119 -0.01782136 0. 11.60408707] [ 0.01782136 0.99984119 0. -0.31920088] [ 0. 0. 1. -0.01899938] [ 0. 0. 0. 1. ]] SLAMing on 11.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.32, Z:-0.02 [[ 0.99990845 -0.01353133 0. 11.63642462] [ 0.01353133 0.99990845 0. -0.32176114] [ 0. 0. 1. -0.01927951] [ 0. 0. 0. 1. ]] SLAMing on 11.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.32, Z:-0.02 [[ 9.99949065e-01 -1.00929472e-02 0.00000000e+00 1.16683141e+01] [ 1.00929472e-02 9.99949065e-01 0.00000000e+00 -3.24648459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87375724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.33, Z:-0.02 [[ 9.99989869e-01 -4.50125163e-03 0.00000000e+00 1.17001180e+01] [ 4.50125163e-03 9.99989869e-01 0.00000000e+00 -3.27736543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72426449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.33, Z:-0.02 [[ 9.99997534e-01 2.22092469e-03 0.00000000e+00 1.17301476e+01] [-2.22092469e-03 9.99997534e-01 0.00000000e+00 -3.28594713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60569346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.33, Z:-0.02 [[ 9.99955053e-01 9.48118128e-03 0.00000000e+00 1.17602685e+01] [-9.48118128e-03 9.99955053e-01 0.00000000e+00 -3.26763819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50900337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.32, Z:-0.02 [[ 0.99986159 0.01663743 0. 11.78997718] [-0.01663743 0.99986159 0. -0.32270258] [ 0. 0. 1. -0.01546981] [ 0. 0. 0. 1. ]] SLAMing on 11.882320587999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.32, Z:-0.01 [[ 0.99958332 0.02886495 0. 11.81889483] [-0.02886495 0.99958332 0. -0.31554049] [ 0. 0. 1. -0.01397401] [ 0. 0. 0. 1. ]] SLAMing on 11.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.31, Z:-0.01 [[ 0.99946915 0.03257928 0. 11.84713826] [-0.03257928 0.99946915 0. -0.31386995] [ 0. 0. 1. -0.01297558] [ 0. 0. 0. 1. ]] SLAMing on 11.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.31, Z:-0.01 [[ 9.99442132e-01 3.33979786e-02 0.00000000e+00 1.18750569e+01] [-3.33979786e-02 9.99442132e-01 0.00000000e+00 -3.12317316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13862152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.31, Z:-0.01 [[ 9.99498471e-01 3.16671063e-02 0.00000000e+00 1.19037513e+01] [-3.16671063e-02 9.99498471e-01 0.00000000e+00 -3.11046731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00711530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.31, Z:-0.01 [[ 9.99612442e-01 2.78382190e-02 0.00000000e+00 1.19321636e+01] [-2.78382190e-02 9.99612442e-01 0.00000000e+00 -3.10846467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01912165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.31, Z:-0.01 [[ 9.99847569e-01 1.74596488e-02 0.00000000e+00 1.19606258e+01] [-1.74596488e-02 9.99847569e-01 0.00000000e+00 -3.10364657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19246111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.31, Z:-0.01 [[ 0.99992651 0.01212368 0. 11.98850956] [-0.01212368 0.99992651 0. -0.3106282 ] [ 0. 0. 1. -0.01299558] [ 0. 0. 0. 1. ]] SLAMing on 12.092320588 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.31, Z:-0.01 [[ 9.99975181e-01 7.04535807e-03 0.00000000e+00 1.20177555e+01] [-7.04535807e-03 9.99975181e-01 0.00000000e+00 -3.12325242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34832170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.32, Z:-0.01 [[ 9.99996709e-01 2.56548207e-03 0.00000000e+00 1.20476872e+01] [-2.56548207e-03 9.99996709e-01 0.00000000e+00 -3.15558506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32240356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.32, Z:-0.01 [[ 9.99999153e-01 -1.30126863e-03 0.00000000e+00 1.20786490e+01] [ 1.30126863e-03 9.99999153e-01 0.00000000e+00 -3.19182128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37060290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.32, Z:-0.01 [[ 9.99991580e-01 -4.10371507e-03 0.00000000e+00 1.21090781e+01] [ 4.10371507e-03 9.99991580e-01 0.00000000e+00 -3.21672112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21372995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.212320587999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.32, Z:-0.01 [[ 9.99972167e-01 -7.46094609e-03 0.00000000e+00 1.21402678e+01] [ 7.46094609e-03 9.99972167e-01 0.00000000e+00 -3.24970371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01773501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.32, Z:-0.01 [[ 9.99972643e-01 -7.39690040e-03 0.00000000e+00 1.21721120e+01] [ 7.39690040e-03 9.99972643e-01 0.00000000e+00 -3.24947261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01773501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.32, Z:-0.01 [[ 9.99973114e-01 -7.33285469e-03 0.00000000e+00 1.22039562e+01] [ 7.33285469e-03 9.99973114e-01 0.00000000e+00 -3.24926190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01773501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302320587999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.33, Z:-0.01 [[ 9.99965135e-01 -8.35032166e-03 0.00000000e+00 1.22353505e+01] [ 8.35032166e-03 9.99965135e-01 0.00000000e+00 -3.30611219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12669553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.33, Z:-0.01 [[ 9.99964351e-01 -8.44374865e-03 0.00000000e+00 1.22668300e+01] [ 8.44374865e-03 9.99964351e-01 0.00000000e+00 -3.33467028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03600363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.34, Z:-0.01 [[ 9.99964241e-01 -8.45670042e-03 0.00000000e+00 1.22982260e+01] [ 8.45670042e-03 9.99964241e-01 0.00000000e+00 -3.36010948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05221450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.392320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.34, Z:-0.01 [[ 9.99964404e-01 -8.43742502e-03 0.00000000e+00 1.23295511e+01] [ 8.43742502e-03 9.99964404e-01 0.00000000e+00 -3.37977650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20849840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.34, Z:-0.01 [[ 9.99958372e-01 -9.12437309e-03 0.00000000e+00 1.23605042e+01] [ 9.12437309e-03 9.99958372e-01 0.00000000e+00 -3.40975974e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27140139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.35, Z:-0.01 [[ 9.99940873e-01 -1.08742948e-02 0.00000000e+00 1.23918495e+01] [ 1.08742948e-02 9.99940873e-01 0.00000000e+00 -3.45326884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39337505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.36, Z:-0.01 [[ 0.99984953 -0.01734695 0. 12.42351886] [ 0.01734695 0.99984953 0. -0.35837105] [ 0. 0. 1. -0.01452243] [ 0. 0. 0. 1. ]] SLAMing on 12.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.36, Z:-0.01 [[ 0.99979284 -0.02035385 0. 12.45556439] [ 0.02035385 0.99979284 0. -0.36409179] [ 0. 0. 1. -0.01341808] [ 0. 0. 0. 1. ]] SLAMing on 12.542320587999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.37, Z:-0.01 [[ 9.99717394e-01 -2.37724885e-02 0.00000000e+00 1.24880751e+01] [ 2.37724885e-02 9.99717394e-01 0.00000000e+00 -3.68376625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21914164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.572320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.37, Z:-0.01 [[ 9.99640977e-01 -2.67939927e-02 0.00000000e+00 1.25203224e+01] [ 2.67939927e-02 9.99640977e-01 0.00000000e+00 -3.71841647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80682181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.38, Z:-0.01 [[ 0.99951113 -0.03126487 0. 12.55167458] [ 0.03126487 0.99951113 0. -0.37512916] [ 0. 0. 1. -0.01269562] [ 0. 0. 0. 1. ]] SLAMing on 12.632320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.38, Z:-0.02 [[ 0.99943933 -0.03348181 0. 12.58355341] [ 0.03348181 0.99943933 0. -0.38025795] [ 0. 0. 1. -0.01583105] [ 0. 0. 0. 1. ]] SLAMing on 12.662320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.39, Z:-0.01 [[ 0.99920932 -0.03975855 0. 12.61367635] [ 0.03975855 0.99920932 0. -0.39411984] [ 0. 0. 1. -0.01408427] [ 0. 0. 0. 1. ]] SLAMing on 12.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.40, Z:-0.02 [[ 0.99925278 -0.03865079 0. 12.64713111] [ 0.03865079 0.99925278 0. -0.39959715] [ 0. 0. 1. -0.01644625] [ 0. 0. 0. 1. ]] SLAMing on 12.722320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.40, Z:-0.01 [[ 0.99930553 -0.03726214 0. 12.68013218] [ 0.03726214 0.99930553 0. -0.40498309] [ 0. 0. 1. -0.01483889] [ 0. 0. 0. 1. ]] SLAMing on 12.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.41, Z:-0.01 [[ 9.99346396e-01 -3.61494159e-02 0.00000000e+00 1.27119747e+01] [ 3.61494159e-02 9.99346396e-01 0.00000000e+00 -4.11320823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19936722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.42, Z:-0.01 [[ 9.99410772e-01 -3.43235980e-02 0.00000000e+00 1.27441907e+01] [ 3.43235980e-02 9.99410772e-01 0.00000000e+00 -4.18200003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09733667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.42, Z:-0.01 [[ 9.99503094e-01 -3.15208785e-02 0.00000000e+00 1.27762916e+01] [ 3.15208785e-02 9.99503094e-01 0.00000000e+00 -4.24591117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07537120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.43, Z:-0.01 [[ 9.99716511e-01 -2.38096062e-02 0.00000000e+00 1.28079713e+01] [ 2.38096062e-02 9.99716511e-01 0.00000000e+00 -4.34133491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22271801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.44, Z:-0.01 [[ 9.99864344e-01 -1.64710198e-02 0.00000000e+00 1.28383174e+01] [ 1.64710198e-02 9.99864344e-01 0.00000000e+00 -4.37639951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.85633247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.44, Z:-0.01 [[ 9.99942585e-01 -1.07156766e-02 0.00000000e+00 1.28689608e+01] [ 1.07156766e-02 9.99942585e-01 0.00000000e+00 -4.41015719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23322414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.44, Z:-0.01 [[ 9.99994000e-01 -3.46419892e-03 0.00000000e+00 1.28995573e+01] [ 3.46419892e-03 9.99994000e-01 0.00000000e+00 -4.44021317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14358351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.45, Z:-0.01 [[ 9.99994098e-01 3.43575544e-03 0.00000000e+00 1.29295984e+01] [-3.43575544e-03 9.99994098e-01 0.00000000e+00 -4.45412393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48844438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.44, Z:-0.00 [[ 9.99959831e-01 8.96306638e-03 0.00000000e+00 1.29601405e+01] [-8.96306638e-03 9.99959831e-01 0.00000000e+00 -4.44549030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28594646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.44, Z:-0.01 [[ 9.99776513e-01 2.11405865e-02 0.00000000e+00 1.29907628e+01] [-2.11405865e-02 9.99776513e-01 0.00000000e+00 -4.37508782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69318302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.052320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.43, Z:-0.01 [[ 9.99671026e-01 2.56483955e-02 0.00000000e+00 1.30203295e+01] [-2.56483955e-02 9.99671026e-01 0.00000000e+00 -4.34811627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32647068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.43, Z:-0.01 [[ 9.99546093e-01 3.01265190e-02 0.00000000e+00 1.30501343e+01] [-3.01265190e-02 9.99546093e-01 0.00000000e+00 -4.32512218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.36860030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.43, Z:-0.01 [[ 9.99375837e-01 3.53261461e-02 0.00000000e+00 1.30795831e+01] [-3.53261461e-02 9.99375837e-01 0.00000000e+00 -4.29562704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78067735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.43, Z:-0.01 [[ 9.99220608e-01 3.94737573e-02 0.00000000e+00 1.31090351e+01] [-3.94737573e-02 9.99220608e-01 0.00000000e+00 -4.25938065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88644884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.42, Z:-0.01 [[ 9.99133513e-01 4.16199775e-02 0.00000000e+00 1.31379755e+01] [-4.16199775e-02 9.99133513e-01 0.00000000e+00 -4.22385161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07903748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.42, Z:-0.01 [[ 9.99159630e-01 4.09882161e-02 0.00000000e+00 1.31666646e+01] [-4.09882161e-02 9.99159630e-01 0.00000000e+00 -4.18481837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13149417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.232320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.42, Z:-0.01 [[ 9.99235330e-01 3.90993093e-02 0.00000000e+00 1.31955318e+01] [-3.90993093e-02 9.99235330e-01 0.00000000e+00 -4.16253864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03010262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.41, Z:-0.01 [[ 9.99317395e-01 3.69424484e-02 0.00000000e+00 1.32239728e+01] [-3.69424484e-02 9.99317395e-01 0.00000000e+00 -4.12250820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.40041691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.41, Z:-0.01 [[ 9.99428586e-01 3.38009033e-02 0.00000000e+00 1.32530892e+01] [-3.38009033e-02 9.99428586e-01 0.00000000e+00 -4.07331098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60943630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.40, Z:-0.01 [[ 9.99521964e-01 3.09167131e-02 0.00000000e+00 1.32816247e+01] [-3.09167131e-02 9.99521964e-01 0.00000000e+00 -4.04653354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97256364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.41, Z:-0.01 [[ 9.99608273e-01 2.79875023e-02 0.00000000e+00 1.33107063e+01] [-2.79875023e-02 9.99608273e-01 0.00000000e+00 -4.06369816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.04883669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.41, Z:-0.01 [[ 9.99728303e-01 2.33092102e-02 0.00000000e+00 1.33394052e+01] [-2.33092102e-02 9.99728303e-01 0.00000000e+00 -4.11680042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.54327812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.42, Z:-0.01 [[ 9.99821632e-01 1.88865942e-02 0.00000000e+00 1.33689674e+01] [-1.88865942e-02 9.99821632e-01 0.00000000e+00 -4.15939517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.88934194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.42, Z:-0.01 [[ 9.99947692e-01 1.02280826e-02 0.00000000e+00 1.33984157e+01] [-1.02280826e-02 9.99947692e-01 0.00000000e+00 -4.15587675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79597847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.42, Z:-0.01 [[ 9.99974007e-01 7.21009260e-03 0.00000000e+00 1.34279780e+01] [-7.21009260e-03 9.99974007e-01 0.00000000e+00 -4.16264332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79529005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.42, Z:-0.01 [[ 9.99991599e-01 4.09896911e-03 0.00000000e+00 1.34581817e+01] [-4.09896911e-03 9.99991599e-01 0.00000000e+00 -4.20863463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62105264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.43, Z:-0.01 [[ 9.99996427e-01 2.67310671e-03 0.00000000e+00 1.34889367e+01] [-2.67310671e-03 9.99996427e-01 0.00000000e+00 -4.27084239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92962798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.43, Z:-0.01 [[ 9.99998711e-01 1.60559075e-03 0.00000000e+00 1.35193158e+01] [-1.60559075e-03 9.99998711e-01 0.00000000e+00 -4.32113355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62188943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.43, Z:-0.01 [[ 9.99997510e-01 2.23161247e-03 0.00000000e+00 1.35502230e+01] [-2.23161247e-03 9.99997510e-01 0.00000000e+00 -4.32691199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95544830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.43, Z:-0.01 [[ 9.99997510e-01 2.23161247e-03 0.00000000e+00 1.35812230e+01] [-2.23161247e-03 9.99997510e-01 0.00000000e+00 -4.32696744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95544830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.44, Z:-0.01 [[ 9.99994016e-01 3.45943033e-03 0.00000000e+00 1.36113849e+01] [-3.45943033e-03 9.99994016e-01 0.00000000e+00 -4.35426128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09395737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.44, Z:-0.01 [[ 9.99995489e-01 3.00367218e-03 0.00000000e+00 1.36420363e+01] [-3.00367218e-03 9.99995489e-01 0.00000000e+00 -4.39231356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.73479524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.44, Z:-0.01 [[ 9.99996527e-01 2.63541232e-03 0.00000000e+00 1.36727947e+01] [-2.63541232e-03 9.99996527e-01 0.00000000e+00 -4.41321377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96613499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.44, Z:-0.01 [[ 9.99999250e-01 1.22496088e-03 0.00000000e+00 1.37028870e+01] [-1.22496088e-03 9.99999250e-01 0.00000000e+00 -4.40748013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53591693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.44, Z:-0.01 [[ 9.99999214e-01 -1.25398951e-03 0.00000000e+00 1.37330616e+01] [ 1.25398951e-03 9.99999214e-01 0.00000000e+00 -4.40346600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00523277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.45, Z:-0.01 [[ 9.99963876e-01 -8.49980606e-03 0.00000000e+00 1.37636444e+01] [ 8.49980606e-03 9.99963876e-01 0.00000000e+00 -4.48055492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.83112055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.46, Z:-0.01 [[ 9.99839948e-01 -1.78907367e-02 0.00000000e+00 1.37940014e+01] [ 1.78907367e-02 9.99839948e-01 0.00000000e+00 -4.56904801e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21533983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.46, Z:-0.01 [[ 9.99732514e-01 -2.31279170e-02 0.00000000e+00 1.38243388e+01] [ 2.31279170e-02 9.99732514e-01 0.00000000e+00 -4.61271309e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49284284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.892320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.46, Z:-0.00 [[ 9.99713041e-01 -2.39548836e-02 0.00000000e+00 1.38543047e+01] [ 2.39548836e-02 9.99713041e-01 0.00000000e+00 -4.64842366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39621153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.46, Z:-0.00 [[ 9.99719058e-01 -2.37024389e-02 0.00000000e+00 1.38851464e+01] [ 2.37024389e-02 9.99719058e-01 0.00000000e+00 -4.64727750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39621153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.47, Z:-0.01 [[ 9.99705233e-01 -2.42785486e-02 0.00000000e+00 1.39156563e+01] [ 2.42785486e-02 9.99705233e-01 0.00000000e+00 -4.68696724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28712006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.47, Z:-0.01 [[ 9.99705233e-01 -2.42785486e-02 0.00000000e+00 1.39466556e+01] [ 2.42785486e-02 9.99705233e-01 0.00000000e+00 -4.68712297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28712006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.47, Z:-0.00 [[ 9.99728600e-01 -2.32964811e-02 0.00000000e+00 1.39776804e+01] [ 2.32964811e-02 9.99728600e-01 0.00000000e+00 -4.71782858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96151083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.47, Z:-0.00 [[ 9.99761559e-01 -2.18363491e-02 0.00000000e+00 1.40080208e+01] [ 2.18363491e-02 9.99761559e-01 0.00000000e+00 -4.72525393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54918171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.47, Z:-0.00 [[ 9.99797021e-01 -2.01473868e-02 0.00000000e+00 1.40383333e+01] [ 2.01473868e-02 9.99797021e-01 0.00000000e+00 -4.74064116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85510735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.48, Z:-0.01 [[ 9.99830664e-01 -1.84022416e-02 0.00000000e+00 1.40688494e+01] [ 1.84022416e-02 9.99830664e-01 0.00000000e+00 -4.76606601e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32003729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.48, Z:-0.01 [[ 9.99830664e-01 -1.84022416e-02 0.00000000e+00 1.40998474e+01] [ 1.84022416e-02 9.99830664e-01 0.00000000e+00 -4.76623147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32003729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.48, Z:-0.01 [[ 9.99881849e-01 -1.53716958e-02 0.00000000e+00 1.41303564e+01] [ 1.53716958e-02 9.99881849e-01 0.00000000e+00 -4.78484896e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99642224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.48, Z:-0.01 [[ 9.99936633e-01 -1.12574789e-02 0.00000000e+00 1.41610015e+01] [ 1.12574789e-02 9.99936633e-01 0.00000000e+00 -4.77836934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01521951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.48, Z:-0.01 [[ 9.99982922e-01 -5.84432089e-03 0.00000000e+00 1.41917315e+01] [ 5.84432089e-03 9.99982922e-01 0.00000000e+00 -4.75127559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84927834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.47, Z:-0.01 [[ 9.99999975e-01 2.24194659e-04 0.00000000e+00 1.42227196e+01] [-2.24194659e-04 9.99999975e-01 0.00000000e+00 -4.71749017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41679692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.47, Z:-0.00 [[ 9.99920840e-01 1.25822912e-02 0.00000000e+00 1.42526507e+01] [-1.25822912e-02 9.99920840e-01 0.00000000e+00 -4.65067714e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42707996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.312320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.46, Z:-0.01 [[ 9.99846082e-01 1.75445614e-02 0.00000000e+00 1.42834083e+01] [-1.75445614e-02 9.99846082e-01 0.00000000e+00 -4.61318841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67540048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.46, Z:-0.01 [[ 9.99768115e-01 2.15340942e-02 0.00000000e+00 1.43143481e+01] [-2.15340942e-02 9.99768115e-01 0.00000000e+00 -4.57035386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28178772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.45, Z:-0.01 [[ 9.99701898e-01 2.44154865e-02 0.00000000e+00 1.43444303e+01] [-2.44154865e-02 9.99701898e-01 0.00000000e+00 -4.51842153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.44626567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.45, Z:-0.01 [[ 9.99673124e-01 2.55664803e-02 0.00000000e+00 1.43738449e+01] [-2.55664803e-02 9.99673124e-01 0.00000000e+00 -4.46701368e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01279664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.44, Z:-0.01 [[ 9.99696810e-01 2.46229061e-02 0.00000000e+00 1.44039369e+01] [-2.46229061e-02 9.99696810e-01 0.00000000e+00 -4.42883096e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42331094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.44, Z:-0.00 [[ 9.99753548e-01 2.22000686e-02 0.00000000e+00 1.44331650e+01] [-2.22000686e-02 9.99753548e-01 0.00000000e+00 -4.40129399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59266826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.44, Z:-0.00 [[ 9.99829135e-01 1.84851660e-02 0.00000000e+00 1.44631347e+01] [-1.84851660e-02 9.99829135e-01 0.00000000e+00 -4.38424595e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81987877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.44, Z:-0.00 [[ 9.99901331e-01 1.40473663e-02 0.00000000e+00 1.44926787e+01] [-1.40473663e-02 9.99901331e-01 0.00000000e+00 -4.37451894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35112728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.44, Z:-0.00 [[ 9.99988172e-01 4.86374566e-03 0.00000000e+00 1.45224515e+01] [-4.86374566e-03 9.99988172e-01 0.00000000e+00 -4.37527493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09110907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.44, Z:-0.00 [[ 9.99999990e-01 1.43958797e-04 0.00000000e+00 1.45532363e+01] [-1.43958797e-04 9.99999990e-01 0.00000000e+00 -4.37900009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76556368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.44, Z:-0.01 [[ 9.99992165e-01 -3.95856572e-03 0.00000000e+00 1.45837753e+01] [ 3.95856572e-03 9.99992165e-01 0.00000000e+00 -4.37533619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85424354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.44, Z:-0.01 [[ 9.99967399e-01 -8.07466051e-03 0.00000000e+00 1.46139559e+01] [ 8.07466051e-03 9.99967399e-01 0.00000000e+00 -4.38242356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23230059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.44, Z:-0.01 [[ 9.99936287e-01 -1.12881186e-02 0.00000000e+00 1.46448980e+01] [ 1.12881186e-02 9.99936287e-01 0.00000000e+00 -4.39935927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.98985276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.44, Z:-0.01 [[ 9.99903700e-01 -1.38777130e-02 0.00000000e+00 1.46758731e+01] [ 1.38777130e-02 9.99903700e-01 0.00000000e+00 -4.42734808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10622158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.45, Z:-0.01 [[ 9.99852042e-01 -1.72015926e-02 0.00000000e+00 1.47063140e+01] [ 1.72015926e-02 9.99852042e-01 0.00000000e+00 -4.46588903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30638915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.45, Z:-0.01 [[ 9.99844210e-01 -1.76509169e-02 0.00000000e+00 1.47380515e+01] [ 1.76509169e-02 9.99844210e-01 0.00000000e+00 -4.47613617e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25337292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.45, Z:-0.01 [[ 9.99848266e-01 -1.74196695e-02 0.00000000e+00 1.47682129e+01] [ 1.74196695e-02 9.99848266e-01 0.00000000e+00 -4.49639245e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41810126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.45, Z:-0.01 [[ 9.99855770e-01 -1.69834815e-02 0.00000000e+00 1.47987486e+01] [ 1.69834815e-02 9.99855770e-01 0.00000000e+00 -4.52667175e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06349133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.46, Z:-0.01 [[ 9.99866552e-01 -1.63364192e-02 0.00000000e+00 1.48292392e+01] [ 1.63364192e-02 9.99866552e-01 0.00000000e+00 -4.55771283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61430788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.46, Z:-0.01 [[ 9.99879329e-01 -1.55347213e-02 0.00000000e+00 1.48599653e+01] [ 1.55347213e-02 9.99879329e-01 0.00000000e+00 -4.57807116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76149467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.46, Z:-0.01 [[ 9.99889588e-01 -1.48597163e-02 0.00000000e+00 1.48906965e+01] [ 1.48597163e-02 9.99889588e-01 0.00000000e+00 -4.60477946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97911176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.47, Z:-0.01 [[ 9.99888290e-01 -1.49467929e-02 0.00000000e+00 1.49214360e+01] [ 1.49467929e-02 9.99888290e-01 0.00000000e+00 -4.70924866e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92825524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.48, Z:-0.01 [[ 9.99866332e-01 -1.63498725e-02 0.00000000e+00 1.49514689e+01] [ 1.63498725e-02 9.99866332e-01 0.00000000e+00 -4.75651170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46654713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.48, Z:-0.00 [[ 9.99877976e-01 -1.56215273e-02 0.00000000e+00 1.49821013e+01] [ 1.56215273e-02 9.99877976e-01 0.00000000e+00 -4.77198663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38942788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.48, Z:-0.00 [[ 9.99911573e-01 -1.32983590e-02 0.00000000e+00 1.50126466e+01] [ 1.32983590e-02 9.99911573e-01 0.00000000e+00 -4.76022290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44965470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.47, Z:-0.00 [[ 9.99961619e-01 -8.76131033e-03 0.00000000e+00 1.50436311e+01] [ 8.76131033e-03 9.99961619e-01 0.00000000e+00 -4.74698215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59056472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.48, Z:-0.00 [[ 9.99994836e-01 -3.21369405e-03 0.00000000e+00 1.50739048e+01] [ 3.21369405e-03 9.99994836e-01 0.00000000e+00 -4.75307987e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02376126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.48, Z:-0.00 [[ 9.99991184e-01 4.19900237e-03 0.00000000e+00 1.51041712e+01] [-4.19900237e-03 9.99991184e-01 0.00000000e+00 -4.76269101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52679904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.48, Z:-0.00 [[ 9.99942564e-01 1.07176758e-02 0.00000000e+00 1.51343492e+01] [-1.07176758e-02 9.99942564e-01 0.00000000e+00 -4.75855375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37877129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.47, Z:-0.00 [[ 9.99850552e-01 1.72879824e-02 0.00000000e+00 1.51650558e+01] [-1.72879824e-02 9.99850552e-01 0.00000000e+00 -4.73881576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36342152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.47, Z:-0.00 [[ 9.99668118e-01 2.57614949e-02 0.00000000e+00 1.51956750e+01] [-2.57614949e-02 9.99668118e-01 0.00000000e+00 -4.72809008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80692057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.47, Z:-0.00 [[ 9.99636858e-01 2.69472211e-02 0.00000000e+00 1.52264772e+01] [-2.69472211e-02 9.99636858e-01 0.00000000e+00 -4.74442457e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71232883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.48, Z:-0.00 [[ 9.99673069e-01 2.55686497e-02 0.00000000e+00 1.52571500e+01] [-2.55686497e-02 9.99673069e-01 0.00000000e+00 -4.75393752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03944238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.47, Z:-0.00 [[ 9.99724224e-01 2.34835184e-02 0.00000000e+00 1.52880652e+01] [-2.34835184e-02 9.99724224e-01 0.00000000e+00 -4.74441569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65739118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.47, Z:-0.00 [[ 9.99780988e-01 2.09278778e-02 0.00000000e+00 1.53185707e+01] [-2.09278778e-02 9.99780988e-01 0.00000000e+00 -4.72909141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47104856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.47, Z:-0.01 [[ 9.99824951e-01 1.87100950e-02 0.00000000e+00 1.53494771e+01] [-1.87100950e-02 9.99824951e-01 0.00000000e+00 -4.72134909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38187015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.392320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.47, Z:-0.01 [[ 9.99845166e-01 1.75967218e-02 0.00000000e+00 1.53804099e+01] [-1.75967218e-02 9.99845166e-01 0.00000000e+00 -4.72388795e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66033565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.47, Z:-0.00 [[ 9.99848053e-01 1.74319067e-02 0.00000000e+00 1.54107574e+01] [-1.74319067e-02 9.99848053e-01 0.00000000e+00 -4.72432288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58911720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.46, Z:-0.00 [[ 9.99814186e-01 1.92767655e-02 0.00000000e+00 1.54413471e+01] [-1.92767655e-02 9.99814186e-01 0.00000000e+00 -4.64895166e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01751355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.46, Z:-0.00 [[ 9.99792313e-01 2.03796507e-02 0.00000000e+00 1.54722979e+01] [-2.03796507e-02 9.99792313e-01 0.00000000e+00 -4.60186480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18871291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.46, Z:-0.00 [[ 9.99773316e-01 2.12912248e-02 0.00000000e+00 1.55032238e+01] [-2.12912248e-02 9.99773316e-01 0.00000000e+00 -4.58202589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37464116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.46, Z:-0.00 [[ 9.99792736e-01 2.03588889e-02 0.00000000e+00 1.55333593e+01] [-2.03588889e-02 9.99792736e-01 0.00000000e+00 -4.59336514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26882021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.46, Z:-0.00 [[ 9.99817463e-01 1.91060269e-02 0.00000000e+00 1.55636065e+01] [-1.91060269e-02 9.99817463e-01 0.00000000e+00 -4.60709973e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67848136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.46, Z:-0.00 [[ 9.99871335e-01 1.60410140e-02 0.00000000e+00 1.55942985e+01] [-1.60410140e-02 9.99871335e-01 0.00000000e+00 -4.60430357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39003556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.632320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.46, Z:-0.00 [[ 9.99949099e-01 1.00895368e-02 0.00000000e+00 1.56245980e+01] [-1.00895368e-02 9.99949099e-01 0.00000000e+00 -4.57866856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75501332e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.46, Z:-0.00 [[ 9.99978203e-01 6.60252838e-03 0.00000000e+00 1.56548215e+01] [-6.60252838e-03 9.99978203e-01 0.00000000e+00 -4.59155234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14360067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.46, Z:-0.00 [[ 9.99995814e-01 2.89347703e-03 0.00000000e+00 1.56855259e+01] [-2.89347703e-03 9.99995814e-01 0.00000000e+00 -4.61668121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01206404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.46, Z:-0.00 [[ 1.00000000e+00 -3.03144088e-05 0.00000000e+00 1.57158328e+01] [ 3.03144088e-05 1.00000000e+00 0.00000000e+00 -4.63305752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39477815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.46, Z:-0.00 [[ 9.99998290e-01 -1.84930827e-03 0.00000000e+00 1.57464450e+01] [ 1.84930827e-03 9.99998290e-01 0.00000000e+00 -4.64138396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74370786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.46, Z:-0.00 [[ 9.99995426e-01 -3.02456068e-03 0.00000000e+00 1.57769648e+01] [ 3.02456068e-03 9.99995426e-01 0.00000000e+00 -4.64622564e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68632830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.47, Z:-0.00 [[ 9.99995826e-01 -2.88914834e-03 0.00000000e+00 1.58076499e+01] [ 2.88914834e-03 9.99995826e-01 0.00000000e+00 -4.65423404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53094641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.46, Z:0.00 [[ 9.99999467e-01 -1.03251003e-03 0.00000000e+00 1.58381109e+01] [ 1.03251003e-03 9.99999467e-01 0.00000000e+00 -4.64138906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46989981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.46, Z:0.00 [[ 9.99998698e-01 1.61396765e-03 0.00000000e+00 1.58685756e+01] [-1.61396765e-03 9.99998698e-01 0.00000000e+00 -4.61896340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39806685e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.46, Z:0.00 [[ 9.99985859e-01 5.31809494e-03 0.00000000e+00 1.58982956e+01] [-5.31809494e-03 9.99985859e-01 0.00000000e+00 -4.60092620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24879386e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.46, Z:-0.00 [[ 9.99946587e-01 1.03355291e-02 0.00000000e+00 1.59283538e+01] [-1.03355291e-02 9.99946587e-01 0.00000000e+00 -4.59011493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.34485348e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.46, Z:-0.00 [[ 9.99902051e-01 1.39960004e-02 0.00000000e+00 1.59590402e+01] [-1.39960004e-02 9.99902051e-01 0.00000000e+00 -4.58490968e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21736738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.46, Z:-0.00 [[ 9.99872634e-01 1.59597996e-02 0.00000000e+00 1.59892459e+01] [-1.59597996e-02 9.99872634e-01 0.00000000e+00 -4.57804969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92267261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.46, Z:-0.00 [[ 9.99854931e-01 1.70328377e-02 0.00000000e+00 1.60198410e+01] [-1.70328377e-02 9.99854931e-01 0.00000000e+00 -4.56753100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95839506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.46, Z:-0.00 [[ 9.99854931e-01 1.70328377e-02 0.00000000e+00 1.60508398e+01] [-1.70328377e-02 9.99854931e-01 0.00000000e+00 -4.56758196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95839506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.45, Z:-0.00 [[ 9.99854569e-01 1.70540607e-02 0.00000000e+00 1.60814655e+01] [-1.70540607e-02 9.99854569e-01 0.00000000e+00 -4.54456578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12520525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.45, Z:0.00 [[ 9.99868206e-01 1.62348855e-02 0.00000000e+00 1.61121221e+01] [-1.62348855e-02 9.99868206e-01 0.00000000e+00 -4.51647566e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26660084e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.45, Z:0.00 [[ 9.99919256e-01 1.27075290e-02 0.00000000e+00 1.61424770e+01] [-1.27075290e-02 9.99919256e-01 0.00000000e+00 -4.47109650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09877617e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.44, Z:-0.00 [[ 9.99928232e-01 1.19804462e-02 0.00000000e+00 1.61731672e+01] [-1.19804462e-02 9.99928232e-01 0.00000000e+00 -4.44977081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81923219e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.44, Z:-0.00 [[ 9.99926747e-01 1.21037674e-02 0.00000000e+00 1.62036750e+01] [-1.21037674e-02 9.99926747e-01 0.00000000e+00 -4.42505079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80089750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.44, Z:-0.00 [[ 9.99917530e-01 1.28426284e-02 0.00000000e+00 1.62338933e+01] [-1.28426284e-02 9.99917530e-01 0.00000000e+00 -4.39364230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96500288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.44, Z:-0.00 [[ 9.99894449e-01 1.45289762e-02 0.00000000e+00 1.62647665e+01] [-1.45289762e-02 9.99894449e-01 0.00000000e+00 -4.37657336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00292127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.44, Z:-0.00 [[ 9.99883753e-01 1.52473017e-02 0.00000000e+00 1.62956069e+01] [-1.52473017e-02 9.99883753e-01 0.00000000e+00 -4.42613071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19421555e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.45, Z:-0.00 [[ 9.99900040e-01 1.41389440e-02 0.00000000e+00 1.63258712e+01] [-1.41389440e-02 9.99900040e-01 0.00000000e+00 -4.46160387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79565072e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.45, Z:-0.00 [[ 9.99912200e-01 1.32511485e-02 0.00000000e+00 1.63567451e+01] [-1.32511485e-02 9.99912200e-01 0.00000000e+00 -4.47185052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60304275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.45, Z:-0.00 [[ 9.99906182e-01 1.36976763e-02 0.00000000e+00 1.63870674e+01] [-1.36976763e-02 9.99906182e-01 0.00000000e+00 -4.45768044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97269323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.44, Z:-0.00 [[ 9.99876145e-01 1.57383054e-02 0.00000000e+00 1.64180020e+01] [-1.57383054e-02 9.99876145e-01 0.00000000e+00 -4.43786785e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28126327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.44, Z:0.00 [[ 9.99804886e-01 1.97532152e-02 0.00000000e+00 1.64488891e+01] [-1.97532152e-02 9.99804886e-01 0.00000000e+00 -4.42621394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00888338e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.44, Z:0.00 [[ 9.99610633e-01 2.79031025e-02 0.00000000e+00 1.64786011e+01] [-2.79031025e-02 9.99610633e-01 0.00000000e+00 -4.38688675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64228641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.43, Z:0.00 [[ 9.99458320e-01 3.29099675e-02 0.00000000e+00 1.65087379e+01] [-3.29099675e-02 9.99458320e-01 0.00000000e+00 -4.33766764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37680720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.43, Z:0.00 [[ 9.99460429e-01 3.28458536e-02 0.00000000e+00 1.65388973e+01] [-3.28458536e-02 9.99460429e-01 0.00000000e+00 -4.33781477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37680720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.43, Z:-0.00 [[ 9.99252308e-01 3.86629681e-02 0.00000000e+00 1.65686090e+01] [-3.86629681e-02 9.99252308e-01 0.00000000e+00 -4.28724482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82113145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.43, Z:-0.00 [[ 9.99248581e-01 3.87591676e-02 0.00000000e+00 1.65984650e+01] [-3.87591676e-02 9.99248581e-01 0.00000000e+00 -4.28880958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97793790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.43, Z:-0.00 [[ 9.99335286e-01 3.64552697e-02 0.00000000e+00 1.66270750e+01] [-3.64552697e-02 9.99335286e-01 0.00000000e+00 -4.26742818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15359881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.42, Z:-0.00 [[ 9.99463577e-01 3.27499419e-02 0.00000000e+00 1.66556061e+01] [-3.27499419e-02 9.99463577e-01 0.00000000e+00 -4.21351682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85831979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.41, Z:-0.00 [[ 9.99567896e-01 2.93942472e-02 0.00000000e+00 1.66842750e+01] [-2.93942472e-02 9.99567896e-01 0.00000000e+00 -4.14779506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07251718e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.41, Z:-0.00 [[ 9.99656971e-01 2.61904717e-02 0.00000000e+00 1.67130133e+01] [-2.61904717e-02 9.99656971e-01 0.00000000e+00 -4.10652651e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50235284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.41, Z:-0.00 [[ 9.99708722e-01 2.41344447e-02 0.00000000e+00 1.67422404e+01] [-2.41344447e-02 9.99708722e-01 0.00000000e+00 -4.07014774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18698662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.40, Z:-0.00 [[ 9.99698893e-01 2.45381909e-02 0.00000000e+00 1.67712969e+01] [-2.45381909e-02 9.99698893e-01 0.00000000e+00 -4.02406383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86176634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.39, Z:-0.00 [[ 9.99675334e-01 2.54799272e-02 0.00000000e+00 1.67996822e+01] [-2.54799272e-02 9.99675334e-01 0.00000000e+00 -3.94687379e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06633497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.39, Z:-0.00 [[ 9.99676212e-01 2.54454716e-02 0.00000000e+00 1.68286754e+01] [-2.54454716e-02 9.99676212e-01 0.00000000e+00 -3.86135813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24325906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.38, Z:-0.00 [[ 9.99679151e-01 2.53297093e-02 0.00000000e+00 1.68569972e+01] [-2.53297093e-02 9.99679151e-01 0.00000000e+00 -3.80221618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28131753e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.38, Z:-0.00 [[ 9.99780128e-01 2.09689150e-02 0.00000000e+00 1.68852839e+01] [-2.09689150e-02 9.99780128e-01 0.00000000e+00 -3.76808903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82841716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.37, Z:-0.00 [[ 9.99941919e-01 1.07776773e-02 0.00000000e+00 1.69136095e+01] [-1.07776773e-02 9.99941919e-01 0.00000000e+00 -3.73753285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88895276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.37, Z:-0.01 [[ 9.99996237e-01 -2.74326761e-03 0.00000000e+00 1.69428977e+01] [ 2.74326761e-03 9.99996237e-01 0.00000000e+00 -3.66009038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.51759380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.36, Z:-0.00 [[ 9.99872011e-01 -1.59988185e-02 0.00000000e+00 1.69737014e+01] [ 1.59988185e-02 9.99872011e-01 0.00000000e+00 -3.63738111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40950132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.37, Z:-0.00 [[ 9.99758174e-01 -2.19907567e-02 0.00000000e+00 1.70055524e+01] [ 2.19907567e-02 9.99758174e-01 0.00000000e+00 -3.73430889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72034614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.38, Z:-0.01 [[ 9.99551118e-01 -2.99593391e-02 0.00000000e+00 1.70378136e+01] [ 2.99593391e-02 9.99551118e-01 0.00000000e+00 -3.83377791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20421811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.39, Z:-0.00 [[ 9.99466396e-01 -3.26638004e-02 0.00000000e+00 1.70709907e+01] [ 3.26638004e-02 9.99466396e-01 0.00000000e+00 -3.93534993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23530554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.40, Z:-0.00 [[ 9.99605724e-01 -2.80784052e-02 0.00000000e+00 1.71031172e+01] [ 2.80784052e-02 9.99605724e-01 0.00000000e+00 -4.01717407e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54681148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.41, Z:-0.01 [[ 9.99898861e-01 -1.42220951e-02 0.00000000e+00 1.71340748e+01] [ 1.42220951e-02 9.99898861e-01 0.00000000e+00 -4.07177402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58415464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.40, Z:-0.00 [[ 9.99995888e-01 -2.86774854e-03 0.00000000e+00 1.71648491e+01] [ 2.86774854e-03 9.99995888e-01 0.00000000e+00 -4.03788102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96075063e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.40, Z:-0.01 [[ 9.99999515e-01 9.84756116e-04 0.00000000e+00 1.71952397e+01] [-9.84756116e-04 9.99999515e-01 0.00000000e+00 -4.03164573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18094655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.40, Z:-0.00 [[ 9.99992181e-01 3.95460525e-03 0.00000000e+00 1.72256620e+01] [-3.95460525e-03 9.99992181e-01 0.00000000e+00 -4.00751240e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05762592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.40, Z:-0.00 [[ 9.99939563e-01 1.09940788e-02 0.00000000e+00 1.72551305e+01] [-1.09940788e-02 9.99939563e-01 0.00000000e+00 -3.98887210e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27714855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.41, Z:-0.01 [[ 9.99957956e-01 9.16984547e-03 0.00000000e+00 1.72849057e+01] [-9.16984547e-03 9.99957956e-01 0.00000000e+00 -4.06272789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30468183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.41, Z:-0.00 [[ 9.99990566e-01 4.34380453e-03 0.00000000e+00 1.73145919e+01] [-4.34380453e-03 9.99990566e-01 0.00000000e+00 -4.06220571e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02136786e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.40, Z:-0.00 [[ 9.99984997e-01 5.47769802e-03 0.00000000e+00 1.73452382e+01] [-5.47769802e-03 9.99984997e-01 0.00000000e+00 -4.01977052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34096632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.40, Z:-0.00 [[ 9.99978488e-01 6.55925621e-03 0.00000000e+00 1.73759574e+01] [-6.55925621e-03 9.99978488e-01 0.00000000e+00 -4.01094460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91954681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.40, Z:-0.00 [[ 9.99997605e-01 -2.18873971e-03 0.00000000e+00 1.74052784e+01] [ 2.18873971e-03 9.99997605e-01 0.00000000e+00 -3.98896786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20876274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.41, Z:-0.00 [[ 9.99884186e-01 -1.52188760e-02 0.00000000e+00 1.74356531e+01] [ 1.52188760e-02 9.99884186e-01 0.00000000e+00 -4.08420778e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96019933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.41, Z:-0.00 [[ 9.99685647e-01 -2.50720368e-02 0.00000000e+00 1.74669847e+01] [ 2.50720368e-02 9.99685647e-01 0.00000000e+00 -4.10139747e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85695915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.42, Z:-0.00 [[ 9.99588266e-01 -2.86931738e-02 0.00000000e+00 1.74994273e+01] [ 2.86931738e-02 9.99588266e-01 0.00000000e+00 -4.18725050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80851508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.43, Z:-0.00 [[ 9.99743634e-01 -2.26421538e-02 0.00000000e+00 1.75312152e+01] [ 2.26421538e-02 9.99743634e-01 0.00000000e+00 -4.25676673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03583835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.43, Z:-0.00 [[ 9.99912638e-01 -1.32180062e-02 0.00000000e+00 1.75622712e+01] [ 1.32180062e-02 9.99912638e-01 0.00000000e+00 -4.27996894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52853048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.42, Z:-0.00 [[ 9.99987770e-01 -4.94572321e-03 0.00000000e+00 1.75935846e+01] [ 4.94572321e-03 9.99987770e-01 0.00000000e+00 -4.24817838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15562241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.42, Z:-0.00 [[ 9.99996786e-01 2.53522491e-03 0.00000000e+00 1.76237087e+01] [-2.53522491e-03 9.99996786e-01 0.00000000e+00 -4.20625387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83998109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.42, Z:-0.00 [[ 9.99998261e-01 1.86496708e-03 0.00000000e+00 1.76539835e+01] [-1.86496708e-03 9.99998261e-01 0.00000000e+00 -4.17158192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89831484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.42, Z:-0.00 [[ 9.99996435e-01 -2.67026027e-03 0.00000000e+00 1.76842797e+01] [ 2.67026027e-03 9.99996435e-01 0.00000000e+00 -4.17651483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94067740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.42, Z:-0.00 [[ 9.99974165e-01 -7.18809118e-03 0.00000000e+00 1.77148253e+01] [ 7.18809118e-03 9.99974165e-01 0.00000000e+00 -4.16541350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98906275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.41, Z:-0.00 [[ 9.99869365e-01 -1.61633356e-02 0.00000000e+00 1.77452952e+01] [ 1.61633356e-02 9.99869365e-01 0.00000000e+00 -4.14951416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15677852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.42, Z:-0.00 [[ 9.99712793e-01 -2.39652074e-02 0.00000000e+00 1.77769453e+01] [ 2.39652074e-02 9.99712793e-01 0.00000000e+00 -4.18793737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92199532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.42, Z:-0.00 [[ 9.99523262e-01 -3.08747166e-02 0.00000000e+00 1.78086132e+01] [ 3.08747166e-02 9.99523262e-01 0.00000000e+00 -4.22664693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49543129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.43, Z:-0.00 [[ 9.99440073e-01 -3.34595262e-02 0.00000000e+00 1.78402793e+01] [ 3.34595262e-02 9.99440073e-01 0.00000000e+00 -4.31794993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27906941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.43, Z:-0.00 [[ 9.99547768e-01 -3.00709011e-02 0.00000000e+00 1.78715796e+01] [ 3.00709011e-02 9.99547768e-01 0.00000000e+00 -4.33656289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07573670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.44, Z:-0.00 [[ 9.99612919e-01 -2.78210612e-02 0.00000000e+00 1.79025236e+01] [ 2.78210612e-02 9.99612919e-01 0.00000000e+00 -4.40487777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33422850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.45, Z:-0.01 [[ 9.99643543e-01 -2.66980701e-02 0.00000000e+00 1.79330608e+01] [ 2.66980701e-02 9.99643543e-01 0.00000000e+00 -4.50367344e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12490419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.45, Z:-0.01 [[ 9.99645227e-01 -2.66349603e-02 0.00000000e+00 1.79648970e+01] [ 2.66349603e-02 9.99645227e-01 0.00000000e+00 -4.50276374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12490419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.45, Z:-0.00 [[ 9.99756687e-01 -2.20582578e-02 0.00000000e+00 1.79967143e+01] [ 2.20582578e-02 9.99756687e-01 0.00000000e+00 -4.51063317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13897911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.45, Z:-0.00 [[ 9.99899817e-01 -1.41546841e-02 0.00000000e+00 1.80270052e+01] [ 1.41546841e-02 9.99899817e-01 0.00000000e+00 -4.52611308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52193782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.45, Z:-0.00 [[ 9.99993976e-01 -3.47092235e-03 0.00000000e+00 1.80572543e+01] [ 3.47092235e-03 9.99993976e-01 0.00000000e+00 -4.54308784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29132191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.45, Z:-0.00 [[ 9.99981779e-01 6.03665520e-03 0.00000000e+00 1.80873604e+01] [-6.03665520e-03 9.99981779e-01 0.00000000e+00 -4.52102891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45220832e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.45, Z:-0.00 [[ 9.99934051e-01 1.14844815e-02 0.00000000e+00 1.81176523e+01] [-1.14844815e-02 9.99934051e-01 0.00000000e+00 -4.51535661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72139013e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.44, Z:-0.00 [[ 9.99888784e-01 1.49137603e-02 0.00000000e+00 1.81481660e+01] [-1.49137603e-02 9.99888784e-01 0.00000000e+00 -4.44951105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79981971e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.44, Z:0.00 [[ 9.99860405e-01 1.67084214e-02 0.00000000e+00 1.81786791e+01] [-1.67084214e-02 9.99860405e-01 0.00000000e+00 -4.39842792e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13923252e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.44, Z:-0.00 [[ 9.99857423e-01 1.68859196e-02 0.00000000e+00 1.82088972e+01] [-1.68859196e-02 9.99857423e-01 0.00000000e+00 -4.39676575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57887700e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.42, Z:-0.00 [[ 9.99857390e-01 1.68878583e-02 0.00000000e+00 1.82382028e+01] [-1.68878583e-02 9.99857390e-01 0.00000000e+00 -4.23685982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09783887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.42, Z:-0.00 [[ 9.99822892e-01 1.88198107e-02 0.00000000e+00 1.82683205e+01] [-1.88198107e-02 9.99822892e-01 0.00000000e+00 -4.18808041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20600523e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.42, Z:0.00 [[ 9.99715692e-01 2.38439752e-02 0.00000000e+00 1.82979046e+01] [-2.38439752e-02 9.99715692e-01 0.00000000e+00 -4.16160090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31641784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.40, Z:-0.00 [[ 9.99540538e-01 3.03102759e-02 0.00000000e+00 1.83264013e+01] [-3.03102759e-02 9.99540538e-01 0.00000000e+00 -3.97462384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76813142e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.332320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.38, Z:-0.00 [[ 9.99448088e-01 3.32192720e-02 0.00000000e+00 1.83551737e+01] [-3.32192720e-02 9.99448088e-01 0.00000000e+00 -3.84528440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91355403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.39, Z:-0.00 [[ 9.99677551e-01 2.53927815e-02 0.00000000e+00 1.83844360e+01] [-2.53927815e-02 9.99677551e-01 0.00000000e+00 -3.92609946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46205058e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.38, Z:-0.00 [[ 9.99852554e-01 1.71717779e-02 0.00000000e+00 1.84131570e+01] [-1.71717779e-02 9.99852554e-01 0.00000000e+00 -3.83833726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31655496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.37, Z:-0.00 [[ 9.99821497e-01 1.88937385e-02 0.00000000e+00 1.84416588e+01] [-1.88937385e-02 9.99821497e-01 0.00000000e+00 -3.69639590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42395266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.37, Z:0.00 [[ 9.99721884e-01 2.35829129e-02 0.00000000e+00 1.84703427e+01] [-2.35829129e-02 9.99721884e-01 0.00000000e+00 -3.66462385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09481710e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.36, Z:0.00 [[ 9.99678844e-01 2.53418230e-02 0.00000000e+00 1.84993594e+01] [-2.53418230e-02 9.99678844e-01 0.00000000e+00 -3.63028961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75958952e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.512320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.37, Z:-0.00 [[ 9.99756269e-01 2.20771817e-02 0.00000000e+00 1.85277709e+01] [-2.20771817e-02 9.99756269e-01 0.00000000e+00 -3.66019597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06984805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.36, Z:-0.00 [[ 9.99907598e-01 1.35939206e-02 0.00000000e+00 1.85567052e+01] [-1.35939206e-02 9.99907598e-01 0.00000000e+00 -3.64778680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86988835e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.36, Z:0.00 [[ 9.99985532e-01 5.37912135e-03 0.00000000e+00 1.85850058e+01] [-5.37912135e-03 9.99985532e-01 0.00000000e+00 -3.56312513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29499071e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.36, Z:-0.00 [[ 9.99999592e-01 9.03769668e-04 0.00000000e+00 1.86150431e+01] [-9.03769668e-04 9.99999592e-01 0.00000000e+00 -3.59497732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85239768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.36, Z:-0.01 [[ 9.99990114e-01 -4.44660633e-03 0.00000000e+00 1.86456871e+01] [ 4.44660633e-03 9.99990114e-01 0.00000000e+00 -3.62528377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39137857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.36, Z:-0.00 [[ 9.99969939e-01 -7.75384006e-03 0.00000000e+00 1.86758787e+01] [ 7.75384006e-03 9.99969939e-01 0.00000000e+00 -3.62487070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78332444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.692320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.37, Z:-0.00 [[ 9.99854010e-01 -1.70868127e-02 0.00000000e+00 1.87074731e+01] [ 1.70868127e-02 9.99854010e-01 0.00000000e+00 -3.66544879e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16468290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.37, Z:-0.00 [[ 9.99729995e-01 -2.32365293e-02 0.00000000e+00 1.87399075e+01] [ 2.32365293e-02 9.99729995e-01 0.00000000e+00 -3.68429509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21488235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.37, Z:-0.01 [[ 9.99271104e-01 -3.81740798e-02 0.00000000e+00 1.87716759e+01] [ 3.81740798e-02 9.99271104e-01 0.00000000e+00 -3.74753203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24461949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.38, Z:-0.01 [[ 9.99071144e-01 -4.30911735e-02 0.00000000e+00 1.88047734e+01] [ 4.30911735e-02 9.99071144e-01 0.00000000e+00 -3.81455021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86901528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.40, Z:-0.00 [[ 9.98658030e-01 -5.17893677e-02 0.00000000e+00 1.88383323e+01] [ 5.17893677e-02 9.98658030e-01 0.00000000e+00 -3.98567660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64840090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.41, Z:-0.00 [[ 9.98461064e-01 -5.54572283e-02 0.00000000e+00 1.88709400e+01] [ 5.54572283e-02 9.98461064e-01 0.00000000e+00 -4.06580994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29715107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.90, Y:-0.42, Z:-0.00 [[ 9.98483350e-01 -5.50545078e-02 0.00000000e+00 1.89041974e+01] [ 5.50545078e-02 9.98483350e-01 0.00000000e+00 -4.24063249e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35378031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.44, Z:-0.00 [[ 9.98397699e-01 -5.65865192e-02 0.00000000e+00 1.89352010e+01] [ 5.65865192e-02 9.98397699e-01 0.00000000e+00 -4.38735491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20518923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.45, Z:-0.00 [[ 9.98695791e-01 -5.10560159e-02 0.00000000e+00 1.89675318e+01] [ 5.10560159e-02 9.98695791e-01 0.00000000e+00 -4.46638715e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30687783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.45, Z:-0.00 [[ 9.98892616e-01 -4.70482822e-02 0.00000000e+00 1.89986660e+01] [ 4.70482822e-02 9.98892616e-01 0.00000000e+00 -4.54628958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38884531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.47, Z:-0.01 [[ 9.99287611e-01 -3.77395179e-02 0.00000000e+00 1.90288221e+01] [ 3.77395179e-02 9.99287611e-01 0.00000000e+00 -4.74374149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33755752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.48, Z:-0.00 [[ 9.99557742e-01 -2.97375158e-02 0.00000000e+00 1.90594577e+01] [ 2.97375158e-02 9.99557742e-01 0.00000000e+00 -4.80413213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49349403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.48, Z:-0.00 [[ 9.99793072e-01 -2.03424114e-02 0.00000000e+00 1.90890504e+01] [ 2.03424114e-02 9.99793072e-01 0.00000000e+00 -4.81544566e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51808446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.48, Z:-0.00 [[ 9.99884766e-01 -1.51807408e-02 0.00000000e+00 1.91196006e+01] [ 1.51807408e-02 9.99884766e-01 0.00000000e+00 -4.82538720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07772667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.48, Z:-0.00 [[ 9.99994483e-01 -3.32171483e-03 0.00000000e+00 1.91493377e+01] [ 3.32171483e-03 9.99994483e-01 0.00000000e+00 -4.78636374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50515800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.48, Z:-0.00 [[ 9.99978598e-01 6.54250410e-03 0.00000000e+00 1.91790416e+01] [-6.54250410e-03 9.99978598e-01 0.00000000e+00 -4.75812213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35421278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.48, Z:-0.00 [[ 9.99951936e-01 9.80440058e-03 0.00000000e+00 1.92099400e+01] [-9.80440058e-03 9.99951936e-01 0.00000000e+00 -4.77671853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57886209e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.47, Z:0.00 [[ 9.99968912e-01 7.88507746e-03 0.00000000e+00 1.92406326e+01] [-7.88507746e-03 9.99968912e-01 0.00000000e+00 -4.73668295e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68992989e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.47, Z:-0.00 [[ 9.99978841e-01 6.50517061e-03 0.00000000e+00 1.92710725e+01] [-6.50517061e-03 9.99978841e-01 0.00000000e+00 -4.70292885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18341549e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.46, Z:-0.00 [[ 9.99990935e-01 4.25784679e-03 0.00000000e+00 1.93014342e+01] [-4.25784679e-03 9.99990935e-01 0.00000000e+00 -4.63972540e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17649919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.46, Z:-0.00 [[ 9.99999984e-01 1.77808460e-04 0.00000000e+00 1.93318385e+01] [-1.77808460e-04 9.99999984e-01 0.00000000e+00 -4.57865057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49527900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.46, Z:-0.00 [[ 9.99996104e-01 -2.79138444e-03 0.00000000e+00 1.93627089e+01] [ 2.79138444e-03 9.99996104e-01 0.00000000e+00 -4.55668852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75721366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.45, Z:-0.00 [[ 9.99962454e-01 -8.66553611e-03 0.00000000e+00 1.93927708e+01] [ 8.66553611e-03 9.99962454e-01 0.00000000e+00 -4.52436610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04832735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.45, Z:-0.01 [[ 9.99940267e-01 -1.09298689e-02 0.00000000e+00 1.94227892e+01] [ 1.09298689e-02 9.99940267e-01 0.00000000e+00 -4.52675477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97510159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.45, Z:-0.00 [[ 9.99950151e-01 -9.98481321e-03 0.00000000e+00 1.94529930e+01] [ 9.98481321e-03 9.99950151e-01 0.00000000e+00 -4.50441301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34939600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.45, Z:-0.00 [[ 9.99961440e-01 -8.78176387e-03 0.00000000e+00 1.94837567e+01] [ 8.78176387e-03 9.99961440e-01 0.00000000e+00 -4.47481964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31459790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.44, Z:-0.00 [[ 9.99991191e-01 -4.19747888e-03 0.00000000e+00 1.95140964e+01] [ 4.19747888e-03 9.99991191e-01 0.00000000e+00 -4.42935484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09409304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.44, Z:-0.00 [[ 9.99999086e-01 -1.35191007e-03 0.00000000e+00 1.95442539e+01] [ 1.35191007e-03 9.99999086e-01 0.00000000e+00 -4.42805756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02451419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.44, Z:-0.01 [[ 9.99997094e-01 -2.41082014e-03 0.00000000e+00 1.95751252e+01] [ 2.41082014e-03 9.99997094e-01 0.00000000e+00 -4.43583890e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42360261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.44, Z:-0.01 [[ 9.99995031e-01 -3.15232361e-03 0.00000000e+00 1.96057872e+01] [ 3.15232361e-03 9.99995031e-01 0.00000000e+00 -4.43968772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58095128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.44, Z:-0.00 [[ 9.99998413e-01 -1.78166396e-03 0.00000000e+00 1.96365663e+01] [ 1.78166396e-03 9.99998413e-01 0.00000000e+00 -4.44909099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80350529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.44, Z:-0.00 [[ 9.99991601e-01 4.09846675e-03 0.00000000e+00 1.96674950e+01] [-4.09846675e-03 9.99991601e-01 0.00000000e+00 -4.39524564e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65541065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.43, Z:-0.00 [[ 9.99919061e-01 1.27228947e-02 0.00000000e+00 1.96973682e+01] [-1.27228947e-02 9.99919061e-01 0.00000000e+00 -4.31383934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02668331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.43, Z:-0.00 [[ 9.99849105e-01 1.73714579e-02 0.00000000e+00 1.97276318e+01] [-1.73714579e-02 9.99849105e-01 0.00000000e+00 -4.27522330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88882667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.42, Z:-0.01 [[ 9.99679993e-01 2.52964568e-02 0.00000000e+00 1.97577314e+01] [-2.52964568e-02 9.99679993e-01 0.00000000e+00 -4.21977216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42119364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.40, Z:-0.00 [[ 9.99693185e-01 2.47696675e-02 0.00000000e+00 1.97876669e+01] [-2.47696675e-02 9.99693185e-01 0.00000000e+00 -4.03219850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95829120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.36, Z:-0.01 [[ 9.99977730e-01 6.67372434e-03 0.00000000e+00 1.98158865e+01] [-6.67372434e-03 9.99977730e-01 0.00000000e+00 -3.55324508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15108778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.35, Z:-0.01 [[ 9.99906800e-01 1.36525081e-02 0.00000000e+00 1.98453458e+01] [-1.36525081e-02 9.99906800e-01 0.00000000e+00 -3.47573187e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34826086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.35, Z:-0.01 [[ 9.99822595e-01 1.88355914e-02 0.00000000e+00 1.98739225e+01] [-1.88355914e-02 9.99822595e-01 0.00000000e+00 -3.46886998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40411636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.35, Z:-0.01 [[ 9.99831146e-01 1.83760687e-02 0.00000000e+00 1.99031875e+01] [-1.83760687e-02 9.99831146e-01 0.00000000e+00 -3.47034568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40411636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.33, Z:-0.01 [[ 9.99666149e-01 2.58377889e-02 0.00000000e+00 1.99320883e+01] [-2.58377889e-02 9.99666149e-01 0.00000000e+00 -3.34836116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04016354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.33, Z:-0.01 [[ 9.99664353e-01 2.59071601e-02 0.00000000e+00 1.99604295e+01] [-2.59071601e-02 9.99664353e-01 0.00000000e+00 -3.25140346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.52176223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.33, Z:-0.01 [[ 9.99847719e-01 1.74510452e-02 0.00000000e+00 1.99882316e+01] [-1.74510452e-02 9.99847719e-01 0.00000000e+00 -3.34859488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29218438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.34, Z:-0.01 [[ 9.99946177e-01 1.03750839e-02 0.00000000e+00 2.00174468e+01] [-1.03750839e-02 9.99946177e-01 0.00000000e+00 -3.37150874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39280534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.33, Z:-0.01 [[ 9.99998858e-01 -1.51118021e-03 0.00000000e+00 2.00468114e+01] [ 1.51118021e-03 9.99998858e-01 0.00000000e+00 -3.29848695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06149221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.33, Z:-0.01 [[ 9.99979687e-01 -6.37377158e-03 0.00000000e+00 2.00774284e+01] [ 6.37377158e-03 9.99979687e-01 0.00000000e+00 -3.27354744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.36407292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.33, Z:-0.01 [[ 9.99972679e-01 -7.39197976e-03 0.00000000e+00 2.01089978e+01] [ 7.39197976e-03 9.99972679e-01 0.00000000e+00 -3.31717421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23995698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.33, Z:-0.01 [[ 9.99960536e-01 -8.88409842e-03 0.00000000e+00 2.01401613e+01] [ 8.88409842e-03 9.99960536e-01 0.00000000e+00 -3.31848659e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47083066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.33, Z:-0.01 [[ 9.99950070e-01 -9.99286999e-03 0.00000000e+00 2.01712527e+01] [ 9.99286999e-03 9.99950070e-01 0.00000000e+00 -3.33076819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20033792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.34, Z:-0.01 [[ 9.99949894e-01 -1.00104948e-02 0.00000000e+00 2.02027075e+01] [ 1.00104948e-02 9.99949894e-01 0.00000000e+00 -3.36951425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18876544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.33, Z:-0.01 [[ 9.99961460e-01 -8.77940148e-03 0.00000000e+00 2.02339751e+01] [ 8.77940148e-03 9.99961460e-01 0.00000000e+00 -3.33371586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31432988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.33, Z:-0.01 [[ 9.99962165e-01 -8.69877572e-03 0.00000000e+00 2.02656012e+01] [ 8.69877572e-03 9.99962165e-01 0.00000000e+00 -3.29815400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40529071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.33, Z:-0.01 [[ 9.99964769e-01 -8.39407764e-03 0.00000000e+00 2.02972530e+01] [ 8.39407764e-03 9.99964769e-01 0.00000000e+00 -3.30236911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02856731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.33, Z:-0.01 [[ 9.99966042e-01 -8.24100931e-03 0.00000000e+00 2.03288453e+01] [ 8.24100931e-03 9.99966042e-01 0.00000000e+00 -3.31681384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15758797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.33, Z:-0.01 [[ 9.99986897e-01 -5.11917468e-03 0.00000000e+00 2.03601277e+01] [ 5.11917468e-03 9.99986897e-01 0.00000000e+00 -3.33691011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.62455908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.33, Z:-0.01 [[ 9.99997294e-01 -2.32639681e-03 0.00000000e+00 2.03916669e+01] [ 2.32639681e-03 9.99997294e-01 0.00000000e+00 -3.28957771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06170840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.32, Z:-0.01 [[ 9.99999189e-01 1.27335391e-03 0.00000000e+00 2.04221390e+01] [-1.27335391e-03 9.99999189e-01 0.00000000e+00 -3.21740020e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86146018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.32, Z:-0.01 [[ 9.99989612e-01 4.55799865e-03 0.00000000e+00 2.04524090e+01] [-4.55799865e-03 9.99989612e-01 0.00000000e+00 -3.21140127e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15552554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.32, Z:-0.01 [[ 9.99937621e-01 1.11693049e-02 0.00000000e+00 2.04821252e+01] [-1.11693049e-02 9.99937621e-01 0.00000000e+00 -3.21049204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27089423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.31, Z:-0.01 [[ 9.99863568e-01 1.65180495e-02 0.00000000e+00 2.05113134e+01] [-1.65180495e-02 9.99863568e-01 0.00000000e+00 -3.13875456e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62618369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.30, Z:-0.01 [[ 9.99800730e-01 1.99624663e-02 0.00000000e+00 2.05389691e+01] [-1.99624663e-02 9.99800730e-01 0.00000000e+00 -3.02503879e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04597315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.30, Z:-0.00 [[ 9.99762910e-01 2.17743952e-02 0.00000000e+00 2.05666230e+01] [-2.17743952e-02 9.99762910e-01 0.00000000e+00 -2.96727717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62005666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.29, Z:-0.01 [[ 9.99746421e-01 2.25187451e-02 0.00000000e+00 2.05949277e+01] [-2.25187451e-02 9.99746421e-01 0.00000000e+00 -2.88366630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.32747956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.28, Z:-0.01 [[ 9.99807686e-01 1.96109862e-02 0.00000000e+00 2.06238383e+01] [-1.96109862e-02 9.99807686e-01 0.00000000e+00 -2.78112701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97253120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.27, Z:-0.01 [[ 9.99871292e-01 1.60436458e-02 0.00000000e+00 2.06527571e+01] [-1.60436458e-02 9.99871292e-01 0.00000000e+00 -2.71423826e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84963962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.27, Z:-0.01 [[ 9.99922860e-01 1.24207488e-02 0.00000000e+00 2.06809389e+01] [-1.24207488e-02 9.99922860e-01 0.00000000e+00 -2.71430439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58448250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.27, Z:-0.01 [[ 9.99988620e-01 4.77069269e-03 0.00000000e+00 2.07095104e+01] [-4.77069269e-03 9.99988620e-01 0.00000000e+00 -2.71209403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10048098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.27, Z:-0.01 [[ 9.99999147e-01 -1.30588949e-03 0.00000000e+00 2.07395357e+01] [ 1.30588949e-03 9.99999147e-01 0.00000000e+00 -2.69001281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68168003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.27, Z:-0.01 [[ 9.99992457e-01 -3.88396518e-03 0.00000000e+00 2.07703077e+01] [ 3.88396518e-03 9.99992457e-01 0.00000000e+00 -2.67503364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57871084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.26, Z:-0.01 [[ 9.99967343e-01 -8.08160783e-03 0.00000000e+00 2.08016346e+01] [ 8.08160783e-03 9.99967343e-01 0.00000000e+00 -2.62730581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.40769590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.26, Z:-0.01 [[ 9.99910793e-01 -1.33568844e-02 0.00000000e+00 2.08342325e+01] [ 1.33568844e-02 9.99910793e-01 0.00000000e+00 -2.60112107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62499377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.87, Y:-0.27, Z:-0.01 [[ 9.99787618e-01 -2.06086957e-02 0.00000000e+00 2.08665424e+01] [ 2.06086957e-02 9.99787618e-01 0.00000000e+00 -2.66868931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33782211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.27, Z:-0.01 [[ 9.99701206e-01 -2.44437838e-02 0.00000000e+00 2.08992886e+01] [ 2.44437838e-02 9.99701206e-01 0.00000000e+00 -2.70497975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84057098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.28, Z:-0.01 [[ 9.99371760e-01 -3.54413006e-02 0.00000000e+00 2.09311480e+01] [ 3.54413006e-02 9.99371760e-01 0.00000000e+00 -2.79630717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44842332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.29, Z:-0.01 [[ 9.99023091e-01 -4.41912064e-02 0.00000000e+00 2.09644534e+01] [ 4.41912064e-02 9.99023091e-01 0.00000000e+00 -2.94272883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12855262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.30, Z:-0.01 [[ 9.98995786e-01 -4.48042429e-02 0.00000000e+00 2.09977334e+01] [ 4.48042429e-02 9.98995786e-01 0.00000000e+00 -3.03667615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.77939869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.31, Z:-0.01 [[ 9.99055259e-01 -4.34578943e-02 0.00000000e+00 2.10308219e+01] [ 4.34578943e-02 9.99055259e-01 0.00000000e+00 -3.07915244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52356917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.32, Z:-0.01 [[ 9.99306574e-01 -3.72340107e-02 0.00000000e+00 2.10629240e+01] [ 3.72340107e-02 9.99306574e-01 0.00000000e+00 -3.21528908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75278165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.33, Z:-0.01 [[ 9.99665397e-01 -2.58668483e-02 0.00000000e+00 2.10956575e+01] [ 2.58668483e-02 9.99665397e-01 0.00000000e+00 -3.34415253e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04185882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.34, Z:-0.01 [[ 9.99902426e-01 -1.39691932e-02 0.00000000e+00 2.11276701e+01] [ 1.39691932e-02 9.99902426e-01 0.00000000e+00 -3.40296069e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.83253636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.34, Z:-0.01 [[ 9.99957299e-01 -9.24120105e-03 0.00000000e+00 2.11602753e+01] [ 9.24120105e-03 9.99957299e-01 0.00000000e+00 -3.41647514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.79660018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122320587999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.35, Z:-0.01 [[ 9.99996107e-01 -2.79050204e-03 0.00000000e+00 2.11914581e+01] [ 2.79050204e-03 9.99996107e-01 0.00000000e+00 -3.45623870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02636085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.36, Z:-0.01 [[ 9.99997809e-01 -2.09331067e-03 0.00000000e+00 2.12222301e+01] [ 2.09331067e-03 9.99997809e-01 0.00000000e+00 -3.55711730e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43010013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.36, Z:-0.01 [[ 9.99997480e-01 -2.24518913e-03 0.00000000e+00 2.12524487e+01] [ 2.24518913e-03 9.99997480e-01 0.00000000e+00 -3.60350567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.03812465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.36, Z:-0.01 [[ 9.99997993e-01 -2.00369133e-03 0.00000000e+00 2.12829716e+01] [ 2.00369133e-03 9.99997993e-01 0.00000000e+00 -3.59161369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09364020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.35, Z:-0.01 [[ 9.99998963e-01 -1.44028922e-03 0.00000000e+00 2.13134110e+01] [ 1.44028922e-03 9.99998963e-01 0.00000000e+00 -3.53897596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04340523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.36, Z:-0.01 [[ 9.99998867e-01 -1.50520921e-03 0.00000000e+00 2.13439421e+01] [ 1.50520921e-03 9.99998867e-01 0.00000000e+00 -3.57595742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.80707846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.36, Z:-0.01 [[ 9.99999508e-01 -9.91555054e-04 0.00000000e+00 2.13739951e+01] [ 9.91555054e-04 9.99999508e-01 0.00000000e+00 -3.57063323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23904793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.35, Z:-0.00 [[ 9.99999531e-01 -9.68735764e-04 0.00000000e+00 2.14047900e+01] [ 9.68735764e-04 9.99999531e-01 0.00000000e+00 -3.53724250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87707728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.35, Z:-0.01 [[ 9.99997020e-01 -2.44122324e-03 0.00000000e+00 2.14350895e+01] [ 2.44122324e-03 9.99997020e-01 0.00000000e+00 -3.54048483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14525670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.36, Z:-0.01 [[ 9.99993109e-01 -3.71232415e-03 0.00000000e+00 2.14657771e+01] [ 3.71232415e-03 9.99993109e-01 0.00000000e+00 -3.60348196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35238505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.37, Z:-0.01 [[ 9.99989517e-01 -4.57895514e-03 0.00000000e+00 2.14958478e+01] [ 4.57895514e-03 9.99989517e-01 0.00000000e+00 -3.66055776e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32167155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.37, Z:-0.01 [[ 9.99995825e-01 -2.88963987e-03 0.00000000e+00 2.15264801e+01] [ 2.88963987e-03 9.99995825e-01 0.00000000e+00 -3.73916988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71739188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.37, Z:-0.00 [[ 9.99997564e-01 2.20731556e-03 0.00000000e+00 2.15565579e+01] [-2.20731556e-03 9.99997564e-01 0.00000000e+00 -3.70003247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53714695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.37, Z:-0.01 [[ 9.99959954e-01 8.94933239e-03 0.00000000e+00 2.15868168e+01] [-8.94933239e-03 9.99959954e-01 0.00000000e+00 -3.72127046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.62116675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.38, Z:-0.01 [[ 9.99951827e-01 9.81545421e-03 0.00000000e+00 2.16168123e+01] [-9.81545421e-03 9.99951827e-01 0.00000000e+00 -3.76383128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25028128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.39, Z:-0.01 [[ 9.99961116e-01 8.81853367e-03 0.00000000e+00 2.16462313e+01] [-8.81853367e-03 9.99961116e-01 0.00000000e+00 -3.86299670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03725352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.39, Z:-0.00 [[ 9.99954345e-01 9.55552743e-03 0.00000000e+00 2.16758819e+01] [-9.55552743e-03 9.99954345e-01 0.00000000e+00 -3.92820346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84933574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.38, Z:-0.00 [[ 9.99918613e-01 1.27580357e-02 0.00000000e+00 2.17056037e+01] [-1.27580357e-02 9.99918613e-01 0.00000000e+00 -3.83618275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10708312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.37, Z:-0.01 [[ 9.99865247e-01 1.64161097e-02 0.00000000e+00 2.17356978e+01] [-1.64161097e-02 9.99865247e-01 0.00000000e+00 -3.74220808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67193703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.36, Z:-0.01 [[ 9.99647457e-01 2.65511199e-02 0.00000000e+00 2.17655244e+01] [-2.65511199e-02 9.99647457e-01 0.00000000e+00 -3.61605381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52254791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.36, Z:-0.00 [[ 9.99558488e-01 2.97124294e-02 0.00000000e+00 2.17944783e+01] [-2.97124294e-02 9.99558488e-01 0.00000000e+00 -3.59197698e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86084421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.36, Z:-0.00 [[ 9.99573782e-01 2.91933906e-02 0.00000000e+00 2.18229135e+01] [-2.91933906e-02 9.99573782e-01 0.00000000e+00 -3.59312831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86084421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.36, Z:-0.00 [[ 9.99608255e-01 2.79881478e-02 0.00000000e+00 2.18508479e+01] [-2.79881478e-02 9.99608255e-01 0.00000000e+00 -3.56189299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07293671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.34, Z:-0.01 [[ 9.99781568e-01 2.09001514e-02 0.00000000e+00 2.18793111e+01] [-2.09001514e-02 9.99781568e-01 0.00000000e+00 -3.44823824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70262830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.33, Z:-0.01 [[ 9.99932721e-01 1.15997514e-02 0.00000000e+00 2.19082060e+01] [-1.15997514e-02 9.99932721e-01 0.00000000e+00 -3.34574918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60411917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.32, Z:-0.01 [[ 9.99987194e-01 5.06088459e-03 0.00000000e+00 2.19371333e+01] [-5.06088459e-03 9.99987194e-01 0.00000000e+00 -3.21488497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.64056945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.32, Z:-0.01 [[ 9.99998164e-01 1.91618744e-03 0.00000000e+00 2.19662863e+01] [-1.91618744e-03 9.99998164e-01 0.00000000e+00 -3.17662659e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97151284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.32, Z:-0.01 [[ 9.99983543e-01 -5.73712161e-03 0.00000000e+00 2.19968920e+01] [ 5.73712161e-03 9.99983543e-01 0.00000000e+00 -3.18980629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25887035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.32, Z:-0.01 [[ 9.99886186e-01 -1.50868908e-02 0.00000000e+00 2.20279180e+01] [ 1.50868908e-02 9.99886186e-01 0.00000000e+00 -3.20180754e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99132411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.32, Z:-0.01 [[ 9.99792838e-01 -2.03539058e-02 0.00000000e+00 2.20597352e+01] [ 2.03539058e-02 9.99792838e-01 0.00000000e+00 -3.21871394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14804533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.33, Z:-0.01 [[ 9.99567347e-01 -2.94128931e-02 0.00000000e+00 2.20923777e+01] [ 2.94128931e-02 9.99567347e-01 0.00000000e+00 -3.30642821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15544854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.33, Z:-0.01 [[ 9.99409330e-01 -3.43655395e-02 0.00000000e+00 2.21250016e+01] [ 3.43655395e-02 9.99409330e-01 0.00000000e+00 -3.34847488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70847262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.33, Z:-0.01 [[ 9.99454450e-01 -3.30273054e-02 0.00000000e+00 2.21575787e+01] [ 3.30273054e-02 9.99454450e-01 0.00000000e+00 -3.33000756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27892021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.34, Z:-0.01 [[ 9.99612341e-01 -2.78418165e-02 0.00000000e+00 2.21907011e+01] [ 2.78418165e-02 9.99612341e-01 0.00000000e+00 -3.35384124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.62610335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.34, Z:-0.01 [[ 9.99691742e-01 -2.48278431e-02 0.00000000e+00 2.22228206e+01] [ 2.48278431e-02 9.99691742e-01 0.00000000e+00 -3.41424897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39143709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.34, Z:-0.01 [[ 9.99703122e-01 -2.43653057e-02 0.00000000e+00 2.22557883e+01] [ 2.43653057e-02 9.99703122e-01 0.00000000e+00 -3.43424236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81670156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.35, Z:-0.01 [[ 9.99703897e-01 -2.43334907e-02 0.00000000e+00 2.22875287e+01] [ 2.43334907e-02 9.99703897e-01 0.00000000e+00 -3.47123823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.97697898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.36, Z:-0.01 [[ 9.99673176e-01 -2.55644510e-02 0.00000000e+00 2.23201973e+01] [ 2.55644510e-02 9.99673176e-01 0.00000000e+00 -3.62768898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03184601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.37, Z:-0.01 [[ 9.99634948e-01 -2.70179836e-02 0.00000000e+00 2.23526509e+01] [ 2.70179836e-02 9.99634948e-01 0.00000000e+00 -3.70416356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06058339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.37, Z:-0.01 [[ 9.99618976e-01 -2.76025919e-02 0.00000000e+00 2.23846811e+01] [ 2.76025919e-02 9.99618976e-01 0.00000000e+00 -3.73566220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27359627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.37, Z:-0.01 [[ 9.99668972e-01 -2.57283265e-02 0.00000000e+00 2.24166806e+01] [ 2.57283265e-02 9.99668972e-01 0.00000000e+00 -3.71015764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80796890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.37, Z:-0.01 [[ 9.99765752e-01 -2.16434821e-02 0.00000000e+00 2.24485846e+01] [ 2.16434821e-02 9.99765752e-01 0.00000000e+00 -3.69641901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97547056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.37, Z:-0.01 [[ 9.99931050e-01 -1.17428575e-02 0.00000000e+00 2.24800616e+01] [ 1.17428575e-02 9.99931050e-01 0.00000000e+00 -3.73122681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27298681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.38, Z:-0.01 [[ 9.99982024e-01 -5.99605225e-03 0.00000000e+00 2.25112994e+01] [ 5.99605225e-03 9.99982024e-01 0.00000000e+00 -3.75220116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31311782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.38, Z:-0.01 [[ 9.99998432e-01 -1.77081408e-03 0.00000000e+00 2.25417613e+01] [ 1.77081408e-03 9.99998432e-01 0.00000000e+00 -3.79584022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14529723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.57, Y:-0.38, Z:-0.01 [[ 9.99998329e-01 -1.82837283e-03 0.00000000e+00 2.25726845e+01] [ 1.82837283e-03 9.99998329e-01 0.00000000e+00 -3.82192341e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46230842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.39, Z:-0.01 [[ 9.99999250e-01 -1.22444766e-03 0.00000000e+00 2.26036744e+01] [ 1.22444766e-03 9.99999250e-01 0.00000000e+00 -3.85222633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.13002387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.39, Z:-0.01 [[ 9.99999611e-01 -8.82206429e-04 0.00000000e+00 2.26338119e+01] [ 8.82206429e-04 9.99999611e-01 0.00000000e+00 -3.87472545e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02599422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.39, Z:-0.01 [[ 9.99999359e-01 1.13252865e-03 0.00000000e+00 2.26641457e+01] [-1.13252865e-03 9.99999359e-01 0.00000000e+00 -3.85433000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11001736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.38, Z:-0.01 [[ 9.99980249e-01 6.28501478e-03 0.00000000e+00 2.26946056e+01] [-6.28501478e-03 9.99980249e-01 0.00000000e+00 -3.81568113e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.30797894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.38, Z:-0.01 [[ 9.99951297e-01 9.86929442e-03 0.00000000e+00 2.27255831e+01] [-9.86929442e-03 9.99951297e-01 0.00000000e+00 -3.82298137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.28399256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.38, Z:-0.01 [[ 9.99919946e-01 1.26531531e-02 0.00000000e+00 2.27554770e+01] [-1.26531531e-02 9.99919946e-01 0.00000000e+00 -3.83277293e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76395462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.38, Z:-0.01 [[ 9.99819784e-01 1.89841886e-02 0.00000000e+00 2.27854346e+01] [-1.89841886e-02 9.99819784e-01 0.00000000e+00 -3.80512219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88690650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.38, Z:-0.01 [[ 9.99765726e-01 2.16447173e-02 0.00000000e+00 2.28155337e+01] [-2.16447173e-02 9.99765726e-01 0.00000000e+00 -3.77855724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.53914640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.37, Z:-0.01 [[ 9.99772564e-01 2.13265283e-02 0.00000000e+00 2.28453382e+01] [-2.13265283e-02 9.99772564e-01 0.00000000e+00 -3.73467836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51818080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.37, Z:-0.01 [[ 9.99830795e-01 1.83951445e-02 0.00000000e+00 2.28738627e+01] [-1.83951445e-02 9.99830795e-01 0.00000000e+00 -3.72469386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.59377724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.37, Z:-0.01 [[ 9.99884714e-01 1.51841878e-02 0.00000000e+00 2.29034753e+01] [-1.51841878e-02 9.99884714e-01 0.00000000e+00 -3.71242565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.12504578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:-0.37, Z:-0.01 [[ 9.99960677e-01 8.86821528e-03 0.00000000e+00 2.29335947e+01] [-8.86821528e-03 9.99960677e-01 0.00000000e+00 -3.71626529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19414949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.96, Y:-0.37, Z:-0.01 [[ 9.99981815e-01 6.03073154e-03 0.00000000e+00 2.29632743e+01] [-6.03073154e-03 9.99981815e-01 0.00000000e+00 -3.72957660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27456218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.99, Y:-0.37, Z:-0.01 [[ 9.99999473e-01 1.02674488e-03 0.00000000e+00 2.29941698e+01] [-1.02674488e-03 9.99999473e-01 0.00000000e+00 -3.73127802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31065124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.02, Y:-0.37, Z:-0.01 [[ 9.99999953e-01 -3.07088312e-04 0.00000000e+00 2.30247714e+01] [ 3.07088312e-04 9.99999953e-01 0.00000000e+00 -3.70815787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18639286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.05, Y:-0.37, Z:-0.01 [[ 9.99998236e-01 -1.87810560e-03 0.00000000e+00 2.30549569e+01] [ 1.87810560e-03 9.99998236e-01 0.00000000e+00 -3.69002246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09473650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.38, Z:-0.01 [[ 9.99974255e-01 -7.17559126e-03 0.00000000e+00 2.30852787e+01] [ 7.17559126e-03 9.99974255e-01 0.00000000e+00 -3.76684214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01921185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.39, Z:-0.01 [[ 9.99892414e-01 -1.46683445e-02 0.00000000e+00 2.31161054e+01] [ 1.46683445e-02 9.99892414e-01 0.00000000e+00 -3.92161114e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.75516344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.40, Z:-0.01 [[ 9.99842177e-01 -1.77657311e-02 0.00000000e+00 2.31476461e+01] [ 1.77657311e-02 9.99842177e-01 0.00000000e+00 -3.96146821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.10032531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.40, Z:-0.01 [[ 9.99790432e-01 -2.04717551e-02 0.00000000e+00 2.31786971e+01] [ 2.04717551e-02 9.99790432e-01 0.00000000e+00 -3.98189781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57435649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.40, Z:-0.01 [[ 9.99754859e-01 -2.21409614e-02 0.00000000e+00 2.32096862e+01] [ 2.21409614e-02 9.99754859e-01 0.00000000e+00 -4.01673052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63025120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:23.24, Y:-0.41, Z:-0.01 [[ 9.99732396e-01 -2.31330089e-02 0.00000000e+00 2.32408493e+01] [ 2.31330089e-02 9.99732396e-01 0.00000000e+00 -4.14303310e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03219327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.43, Z:-0.01 [[ 9.99701537e-01 -2.44302558e-02 0.00000000e+00 2.32724956e+01] [ 2.44302558e-02 9.99701537e-01 0.00000000e+00 -4.25474547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24345600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:-0.43, Z:-0.02 [[ 9.99647615e-01 -2.65451496e-02 0.00000000e+00 2.33034270e+01] [ 2.65451496e-02 9.99647615e-01 0.00000000e+00 -4.31185084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57163662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.44, Z:-0.02 [[ 9.99582351e-01 -2.88985219e-02 0.00000000e+00 2.33341878e+01] [ 2.88985219e-02 9.99582351e-01 0.00000000e+00 -4.38716947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81748877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.45, Z:-0.02 [[ 9.99494721e-01 -3.17852657e-02 0.00000000e+00 2.33650044e+01] [ 3.17852657e-02 9.99494721e-01 0.00000000e+00 -4.47596145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85606607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.46, Z:-0.01 [[ 9.99304092e-01 -3.73005546e-02 0.00000000e+00 2.33953931e+01] [ 3.73005546e-02 9.99304092e-01 0.00000000e+00 -4.61913205e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38754326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.47, Z:-0.01 [[ 9.99303578e-01 -3.73143267e-02 0.00000000e+00 2.34251622e+01] [ 3.73143267e-02 9.99303578e-01 0.00000000e+00 -4.72572578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37913596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.48, Z:-0.01 [[ 9.99371383e-01 -3.54519306e-02 0.00000000e+00 2.34548286e+01] [ 3.54519306e-02 9.99371383e-01 0.00000000e+00 -4.76916230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43536719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.48, Z:-0.02 [[ 9.99449360e-01 -3.31809701e-02 0.00000000e+00 2.34849300e+01] [ 3.31809701e-02 9.99449360e-01 0.00000000e+00 -4.78587720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52012462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.48, Z:-0.02 [[ 9.99536670e-01 -3.04375657e-02 0.00000000e+00 2.35147483e+01] [ 3.04375657e-02 9.99536670e-01 0.00000000e+00 -4.79190049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54901936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.48, Z:-0.02 [[ 9.99769916e-01 -2.14502997e-02 0.00000000e+00 2.35436049e+01] [ 2.14502997e-02 9.99769916e-01 0.00000000e+00 -4.84145674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61688730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.50, Z:-0.02 [[ 9.99909181e-01 -1.34770182e-02 0.00000000e+00 2.35729975e+01] [ 1.34770182e-02 9.99909181e-01 0.00000000e+00 -4.97234468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57349199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.50, Z:-0.01 [[ 9.99959824e-01 -8.96387353e-03 0.00000000e+00 2.36028140e+01] [ 8.96387353e-03 9.99959824e-01 0.00000000e+00 -4.98880798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29961986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.50, Z:-0.01 [[ 9.99990256e-01 -4.41461350e-03 0.00000000e+00 2.36334557e+01] [ 4.41461350e-03 9.99990256e-01 0.00000000e+00 -4.95640385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10208612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.49, Z:-0.01 [[ 9.99999788e-01 6.51703798e-04 0.00000000e+00 2.36640533e+01] [-6.51703798e-04 9.99999788e-01 0.00000000e+00 -4.91342223e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09246310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.49, Z:-0.02 [[ 9.99945732e-01 1.04179491e-02 0.00000000e+00 2.36946336e+01] [-1.04179491e-02 9.99945732e-01 0.00000000e+00 -4.91436610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53595791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.49, Z:-0.02 [[ 9.99899417e-01 1.41829329e-02 0.00000000e+00 2.37256397e+01] [-1.41829329e-02 9.99899417e-01 0.00000000e+00 -4.93640782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65059657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.49, Z:-0.02 [[ 9.99803443e-01 1.98261032e-02 0.00000000e+00 2.37573144e+01] [-1.98261032e-02 9.99803443e-01 0.00000000e+00 -4.89993777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57635560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.79, Y:-0.49, Z:-0.02 [[ 9.99802169e-01 1.98902950e-02 0.00000000e+00 2.37891442e+01] [-1.98902950e-02 9.99802169e-01 0.00000000e+00 -4.89898070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57635560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.49, Z:-0.02 [[ 9.99729666e-01 2.32507177e-02 0.00000000e+00 2.38204274e+01] [-2.32507177e-02 9.99729666e-01 0.00000000e+00 -4.86110288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54492125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.48, Z:-0.01 [[ 9.99612608e-01 2.78322403e-02 0.00000000e+00 2.38513836e+01] [-2.78322403e-02 9.99612608e-01 0.00000000e+00 -4.81121999e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39133471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.48, Z:-0.01 [[ 9.99604292e-01 2.81293173e-02 0.00000000e+00 2.38829775e+01] [-2.81293173e-02 9.99604292e-01 0.00000000e+00 -4.78161784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32876008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:-0.48, Z:-0.01 [[ 9.99642442e-01 2.67392478e-02 0.00000000e+00 2.39143498e+01] [-2.67392478e-02 9.99642442e-01 0.00000000e+00 -4.75078925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33651218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:23.94, Y:-0.47, Z:-0.01 [[ 9.99713119e-01 2.39515983e-02 0.00000000e+00 2.39444328e+01] [-2.39515983e-02 9.99713119e-01 0.00000000e+00 -4.72819951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40566560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.852320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.47, Z:-0.01 [[ 9.99762812e-01 2.17789021e-02 0.00000000e+00 2.39757427e+01] [-2.17789021e-02 9.99762812e-01 0.00000000e+00 -4.72306421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46437646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.47, Z:-0.01 [[ 9.99810257e-01 1.94794828e-02 0.00000000e+00 2.40071213e+01] [-1.94794828e-02 9.99810257e-01 0.00000000e+00 -4.70947178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46784837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.47, Z:-0.01 [[ 9.99848441e-01 1.74096475e-02 0.00000000e+00 2.40388185e+01] [-1.74096475e-02 9.99848441e-01 0.00000000e+00 -4.68954436e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39581506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.47, Z:-0.01 [[ 9.99899288e-01 1.41920678e-02 0.00000000e+00 2.40695323e+01] [-1.41920678e-02 9.99899288e-01 0.00000000e+00 -4.66038279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15352456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.47, Z:-0.01 [[ 9.99929129e-01 1.19052971e-02 0.00000000e+00 2.40997509e+01] [-1.19052971e-02 9.99929129e-01 0.00000000e+00 -4.65721667e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02430705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.46, Z:-0.01 [[ 9.99956341e-01 9.34435637e-03 0.00000000e+00 2.41306603e+01] [-9.34435637e-03 9.99956341e-01 0.00000000e+00 -4.64813586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54159186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.46, Z:-0.01 [[ 9.99970351e-01 7.70043739e-03 0.00000000e+00 2.41609011e+01] [-7.70043739e-03 9.99970351e-01 0.00000000e+00 -4.62718910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14929008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.46, Z:-0.02 [[ 9.99982532e-01 5.91068430e-03 0.00000000e+00 2.41914608e+01] [-5.91068430e-03 9.99982532e-01 0.00000000e+00 -4.61321198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59695768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.22, Y:-0.46, Z:-0.02 [[ 9.99983760e-01 5.69912168e-03 0.00000000e+00 2.42221524e+01] [-5.69912168e-03 9.99983760e-01 0.00000000e+00 -4.63246389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66581274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.25, Y:-0.47, Z:-0.01 [[ 9.99982843e-01 5.85783335e-03 0.00000000e+00 2.42528569e+01] [-5.85783335e-03 9.99982843e-01 0.00000000e+00 -4.65318732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47321971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.28, Y:-0.47, Z:-0.01 [[ 9.99982638e-01 5.89269481e-03 0.00000000e+00 2.42836208e+01] [-5.89269481e-03 9.99982638e-01 0.00000000e+00 -4.66387348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24248006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.31, Y:-0.47, Z:-0.01 [[ 9.99986879e-01 5.12272909e-03 0.00000000e+00 2.43138334e+01] [-5.12272909e-03 9.99986879e-01 0.00000000e+00 -4.65133828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86953502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.46, Z:-0.01 [[ 9.99979487e-01 6.40508302e-03 0.00000000e+00 2.43446814e+01] [-6.40508302e-03 9.99979487e-01 0.00000000e+00 -4.63836946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11552397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.38, Y:-0.46, Z:-0.01 [[ 9.99960016e-01 8.94236791e-03 0.00000000e+00 2.43755465e+01] [-8.94236791e-03 9.99960016e-01 0.00000000e+00 -4.62173704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25375946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.41, Y:-0.46, Z:-0.01 [[ 9.99946636e-01 1.03307570e-02 0.00000000e+00 2.44055924e+01] [-1.03307570e-02 9.99946636e-01 0.00000000e+00 -4.60733392e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22310742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.44, Y:-0.46, Z:-0.01 [[ 9.99919404e-01 1.26958568e-02 0.00000000e+00 2.44357731e+01] [-1.26958568e-02 9.99919404e-01 0.00000000e+00 -4.57830130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14499001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.47, Y:-0.45, Z:-0.01 [[ 9.99882960e-01 1.52992276e-02 0.00000000e+00 2.44658790e+01] [-1.52992276e-02 9.99882960e-01 0.00000000e+00 -4.53615860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02776360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:-0.45, Z:-0.01 [[ 9.99795922e-01 2.02018649e-02 0.00000000e+00 2.44963913e+01] [-2.02018649e-02 9.99795922e-01 0.00000000e+00 -4.45456660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.50474209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.53, Y:-0.44, Z:-0.01 [[ 9.99769762e-01 2.14574853e-02 0.00000000e+00 2.45267647e+01] [-2.14574853e-02 9.99769762e-01 0.00000000e+00 -4.43971764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00899151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:-0.44, Z:-0.01 [[ 9.99778609e-01 2.10412171e-02 0.00000000e+00 2.45574242e+01] [-2.10412171e-02 9.99778609e-01 0.00000000e+00 -4.44722920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47087302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.45, Z:-0.01 [[ 9.99818487e-01 1.90523878e-02 0.00000000e+00 2.45881572e+01] [-1.90523878e-02 9.99818487e-01 0.00000000e+00 -4.46164815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73499907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.62, Y:-0.45, Z:-0.01 [[ 9.99944860e-01 1.05012643e-02 0.00000000e+00 2.46189922e+01] [-1.05012643e-02 9.99944860e-01 0.00000000e+00 -4.46297903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08269234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.512320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:-0.44, Z:-0.01 [[ 9.99980133e-01 6.30340436e-03 0.00000000e+00 2.46492712e+01] [-6.30340436e-03 9.99980133e-01 0.00000000e+00 -4.43069876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17332704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.44, Z:-0.01 [[ 9.99995239e-01 3.08568325e-03 0.00000000e+00 2.46796668e+01] [-3.08568325e-03 9.99995239e-01 0.00000000e+00 -4.40374546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32189816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.44, Z:-0.01 [[ 9.99993880e-01 -3.49849241e-03 0.00000000e+00 2.47104655e+01] [ 3.49849241e-03 9.99993880e-01 0.00000000e+00 -4.38232985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20772771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.44, Z:-0.01 [[ 9.99979205e-01 -6.44907252e-03 0.00000000e+00 2.47412904e+01] [ 6.44907252e-03 9.99979205e-01 0.00000000e+00 -4.36858647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09131831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.43, Z:-0.01 [[ 9.99972765e-01 -7.38028465e-03 0.00000000e+00 2.47718272e+01] [ 7.38028465e-03 9.99972765e-01 0.00000000e+00 -4.34424442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04153305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.43, Z:-0.01 [[ 9.99972949e-01 -7.35534450e-03 0.00000000e+00 2.48027728e+01] [ 7.35534450e-03 9.99972949e-01 0.00000000e+00 -4.33367478e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28448857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.44, Z:-0.01 [[ 9.99973305e-01 -7.30684511e-03 0.00000000e+00 2.48334831e+01] [ 7.30684511e-03 9.99973305e-01 0.00000000e+00 -4.36163386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44603249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.86, Y:-0.44, Z:-0.01 [[ 9.99976822e-01 -6.80852534e-03 0.00000000e+00 2.48643876e+01] [ 6.80852534e-03 9.99976822e-01 0.00000000e+00 -4.38576729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42560744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:-0.44, Z:-0.01 [[ 9.99981857e-01 -6.02370195e-03 0.00000000e+00 2.48949181e+01] [ 6.02370195e-03 9.99981857e-01 0.00000000e+00 -4.35963628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30983456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.43, Z:-0.01 [[ 9.99988597e-01 -4.77549345e-03 0.00000000e+00 2.49254561e+01] [ 4.77549345e-03 9.99988597e-01 0.00000000e+00 -4.33988184e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25391725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.43, Z:-0.01 [[ 9.99993814e-01 -3.51749391e-03 0.00000000e+00 2.49562914e+01] [ 3.51749391e-03 9.99993814e-01 0.00000000e+00 -4.33493821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25675398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.44, Z:-0.01 [[ 9.99995306e-01 -3.06393621e-03 0.00000000e+00 2.49868216e+01] [ 3.06393621e-03 9.99995306e-01 0.00000000e+00 -4.35575485e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37224788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.44, Z:-0.02 [[ 9.99993181e-01 -3.69304719e-03 0.00000000e+00 2.50175193e+01] [ 3.69304719e-03 9.99993181e-01 0.00000000e+00 -4.40634307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51396203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.44, Z:-0.01 [[ 9.99988507e-01 -4.79445387e-03 0.00000000e+00 2.50481134e+01] [ 4.79445387e-03 9.99988507e-01 0.00000000e+00 -4.40146689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44486329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.44, Z:-0.01 [[ 9.99984835e-01 -5.50719061e-03 0.00000000e+00 2.50783546e+01] [ 5.50719061e-03 9.99984835e-01 0.00000000e+00 -4.37990088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41427186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.43, Z:-0.02 [[ 9.99995159e-01 -3.11174535e-03 0.00000000e+00 2.51091411e+01] [ 3.11174535e-03 9.99995159e-01 0.00000000e+00 -4.34147951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66469433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.43, Z:-0.02 [[ 9.99999385e-01 -1.10882441e-03 0.00000000e+00 2.51395788e+01] [ 1.10882441e-03 9.99999385e-01 0.00000000e+00 -4.34395560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72956936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.43, Z:-0.02 [[ 9.99998177e-01 1.90930391e-03 0.00000000e+00 2.51696461e+01] [-1.90930391e-03 9.99998177e-01 0.00000000e+00 -4.34521170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75248603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.43, Z:-0.02 [[ 9.99990414e-01 4.37861036e-03 0.00000000e+00 2.52001182e+01] [-4.37861036e-03 9.99990414e-01 0.00000000e+00 -4.34439501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68635140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.43, Z:-0.01 [[ 9.99981429e-01 6.09444230e-03 0.00000000e+00 2.52303482e+01] [-6.09444230e-03 9.99981429e-01 0.00000000e+00 -4.34143662e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48985409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.26, Y:-0.43, Z:-0.01 [[ 9.99978354e-01 6.57970563e-03 0.00000000e+00 2.52611001e+01] [-6.57970563e-03 9.99978354e-01 0.00000000e+00 -4.34945587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32385905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.44, Z:-0.01 [[ 9.99974536e-01 7.13634435e-03 0.00000000e+00 2.52919368e+01] [-7.13634435e-03 9.99974536e-01 0.00000000e+00 -4.35553703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21408703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.43, Z:-0.01 [[ 9.99968046e-01 7.99423404e-03 0.00000000e+00 2.53221548e+01] [-7.99423404e-03 9.99968046e-01 0.00000000e+00 -4.33976717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20105399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.42, Z:-0.01 [[ 9.99961082e-01 8.82236808e-03 0.00000000e+00 2.53522306e+01] [-8.82236808e-03 9.99961082e-01 0.00000000e+00 -4.23083475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36379062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.42, Z:-0.01 [[ 9.99949940e-01 1.00058986e-02 0.00000000e+00 2.53826597e+01] [-1.00058986e-02 9.99949940e-01 0.00000000e+00 -4.18477634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45047058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.42, Z:-0.01 [[ 9.99938521e-01 1.10885158e-02 0.00000000e+00 2.54133730e+01] [-1.10885158e-02 9.99938521e-01 0.00000000e+00 -4.16924475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44933710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.44, Y:-0.42, Z:-0.01 [[ 9.99914755e-01 1.30568684e-02 0.00000000e+00 2.54437842e+01] [-1.30568684e-02 9.99914755e-01 0.00000000e+00 -4.17100979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43820295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.42, Z:-0.01 [[ 9.99870825e-01 1.60727481e-02 0.00000000e+00 2.54744370e+01] [-1.60727481e-02 9.99870825e-01 0.00000000e+00 -4.15810607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30906652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.51, Y:-0.41, Z:-0.01 [[ 9.99856916e-01 1.69159182e-02 0.00000000e+00 2.55050355e+01] [-1.69159182e-02 9.99856916e-01 0.00000000e+00 -4.13070264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25718559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.41, Z:-0.01 [[ 9.99847306e-01 1.74747091e-02 0.00000000e+00 2.55353814e+01] [-1.74747091e-02 9.99847306e-01 0.00000000e+00 -4.09926818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29864200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.41, Z:-0.01 [[ 9.99855110e-01 1.70223101e-02 0.00000000e+00 2.55647529e+01] [-1.70223101e-02 9.99855110e-01 0.00000000e+00 -4.08074464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27885400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.41, Z:-0.01 [[ 9.99853117e-01 1.71389481e-02 0.00000000e+00 2.55941954e+01] [-1.71389481e-02 9.99853117e-01 0.00000000e+00 -4.07815744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36255644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.41, Z:-0.01 [[ 9.99840356e-01 1.78679066e-02 0.00000000e+00 2.56238392e+01] [-1.78679066e-02 9.99840356e-01 0.00000000e+00 -4.06985959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31988407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.40, Z:-0.01 [[ 9.99832855e-01 1.82828599e-02 0.00000000e+00 2.56535533e+01] [-1.82828599e-02 9.99832855e-01 0.00000000e+00 -4.03781279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30719304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.40, Z:-0.01 [[ 9.99872345e-01 1.59778879e-02 0.00000000e+00 2.56830572e+01] [-1.59778879e-02 9.99872345e-01 0.00000000e+00 -3.96415876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24053130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.40, Z:-0.01 [[ 9.99873401e-01 1.59116887e-02 0.00000000e+00 2.57132156e+01] [-1.59116887e-02 9.99873401e-01 0.00000000e+00 -3.96360185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24053130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.74, Y:-0.40, Z:-0.01 [[ 9.99898093e-01 1.42759835e-02 0.00000000e+00 2.57426187e+01] [-1.42759835e-02 9.99898093e-01 0.00000000e+00 -3.96073873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23557642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.40, Z:-0.01 [[ 9.99917130e-01 1.28737420e-02 0.00000000e+00 2.57726706e+01] [-1.28737420e-02 9.99917130e-01 0.00000000e+00 -3.98671225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22804241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:-0.40, Z:-0.01 [[ 9.99954687e-01 9.51963751e-03 0.00000000e+00 2.58036128e+01] [-9.51963751e-03 9.99954687e-01 0.00000000e+00 -4.02176382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34431490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.40, Z:-0.01 [[ 9.99996594e-01 -2.61002492e-03 0.00000000e+00 2.58343833e+01] [ 2.61002492e-03 9.99996594e-01 0.00000000e+00 -4.03988841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21414334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.41, Z:-0.01 [[ 9.99950250e-01 -9.97488634e-03 0.00000000e+00 2.58650453e+01] [ 9.97488634e-03 9.99950250e-01 0.00000000e+00 -4.06155169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30705848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.41, Z:-0.01 [[ 9.99876055e-01 -1.57440296e-02 0.00000000e+00 2.58955315e+01] [ 1.57440296e-02 9.99876055e-01 0.00000000e+00 -4.11642366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33578306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.42, Z:-0.02 [[ 9.99794841e-01 -2.02552450e-02 0.00000000e+00 2.59261532e+01] [ 2.02552450e-02 9.99794841e-01 0.00000000e+00 -4.18039209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62566666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.42, Z:-0.01 [[ 9.99748817e-01 -2.24120960e-02 0.00000000e+00 2.59570754e+01] [ 2.24120960e-02 9.99748817e-01 0.00000000e+00 -4.21577034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25754735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.42, Z:-0.02 [[ 9.99727622e-01 -2.33384089e-02 0.00000000e+00 2.59887308e+01] [ 2.33384089e-02 9.99727622e-01 0.00000000e+00 -4.19672519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76541315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.43, Z:-0.02 [[ 9.99764241e-01 -2.17131997e-02 0.00000000e+00 2.60189295e+01] [ 2.17131997e-02 9.99764241e-01 0.00000000e+00 -4.25570948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83718542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.43, Z:-0.02 [[ 9.99755649e-01 -2.21052450e-02 0.00000000e+00 2.60493769e+01] [ 2.21052450e-02 9.99755649e-01 0.00000000e+00 -4.32440702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68041993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.44, Z:-0.02 [[ 9.99736710e-01 -2.29458072e-02 0.00000000e+00 2.60795890e+01] [ 2.29458072e-02 9.99736710e-01 0.00000000e+00 -4.37451131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50090327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.44, Z:-0.01 [[ 9.99703122e-01 -2.43652816e-02 0.00000000e+00 2.61101109e+01] [ 2.43652816e-02 9.99703122e-01 0.00000000e+00 -4.39816584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37861746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.45, Z:-0.02 [[ 9.99610690e-01 -2.79010443e-02 0.00000000e+00 2.61403920e+01] [ 2.79010443e-02 9.99610690e-01 0.00000000e+00 -4.45590871e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73760662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.45, Z:-0.02 [[ 9.99595763e-01 -2.84308100e-02 0.00000000e+00 2.61707075e+01] [ 2.84308100e-02 9.99595763e-01 0.00000000e+00 -4.50176780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99374705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.45, Z:-0.02 [[ 9.99616383e-01 -2.76963352e-02 0.00000000e+00 2.62011558e+01] [ 2.76963352e-02 9.99616383e-01 0.00000000e+00 -4.54710495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03793205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.23, Y:-0.46, Z:-0.02 [[ 9.99633311e-01 -2.70784873e-02 0.00000000e+00 2.62313131e+01] [ 2.70784873e-02 9.99633311e-01 0.00000000e+00 -4.58897476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97980468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.47, Z:-0.02 [[ 9.99683798e-01 -2.51456750e-02 0.00000000e+00 2.62608444e+01] [ 2.51456750e-02 9.99683798e-01 0.00000000e+00 -4.67323131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78821362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:-0.47, Z:-0.02 [[ 9.99730796e-01 -2.32020504e-02 0.00000000e+00 2.62901127e+01] [ 2.32020504e-02 9.99730796e-01 0.00000000e+00 -4.73260576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83695359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.48, Z:-0.02 [[ 9.99808780e-01 -1.95551562e-02 0.00000000e+00 2.63201883e+01] [ 1.95551562e-02 9.99808780e-01 0.00000000e+00 -4.78066931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88619867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:-0.48, Z:-0.02 [[ 9.99950237e-01 -9.97613235e-03 0.00000000e+00 2.63494989e+01] [ 9.97613235e-03 9.99950237e-01 0.00000000e+00 -4.78413600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66490448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.48, Z:-0.02 [[ 9.99985402e-01 -5.40337649e-03 0.00000000e+00 2.63799445e+01] [ 5.40337649e-03 9.99985402e-01 0.00000000e+00 -4.77465854e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54460545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.48, Z:-0.02 [[ 9.99999515e-01 -9.84856098e-04 0.00000000e+00 2.64104480e+01] [ 9.84856098e-04 9.99999515e-01 0.00000000e+00 -4.77612103e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51030604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.48, Z:-0.02 [[ 9.99989243e-01 4.63825471e-03 0.00000000e+00 2.64411188e+01] [-4.63825471e-03 9.99989243e-01 0.00000000e+00 -4.83472717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90342543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.49, Z:-0.02 [[ 9.99985934e-01 5.30395406e-03 0.00000000e+00 2.64720773e+01] [-5.30395406e-03 9.99985934e-01 0.00000000e+00 -4.85083353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12667690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.48, Z:-0.02 [[ 9.99982239e-01 5.95999441e-03 0.00000000e+00 2.65030004e+01] [-5.95999441e-03 9.99982239e-01 0.00000000e+00 -4.83443461e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12113189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:-0.48, Z:-0.02 [[ 9.99954979e-01 9.48892329e-03 0.00000000e+00 2.65338184e+01] [-9.48892329e-03 9.99954979e-01 0.00000000e+00 -4.76926903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87365352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:-0.48, Z:-0.02 [[ 9.99945490e-01 1.04411113e-02 0.00000000e+00 2.65644326e+01] [-1.04411113e-02 9.99945490e-01 0.00000000e+00 -4.78915533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95784883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.59, Y:-0.48, Z:-0.02 [[ 9.99935981e-01 1.13152181e-02 0.00000000e+00 2.65949215e+01] [-1.13152181e-02 9.99935981e-01 0.00000000e+00 -4.83617166e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95247904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.49, Z:-0.02 [[ 9.99943057e-01 1.06716050e-02 0.00000000e+00 2.66260503e+01] [-1.06716050e-02 9.99943057e-01 0.00000000e+00 -4.90088030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96429564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.49, Z:-0.02 [[ 9.99938777e-01 1.10653412e-02 0.00000000e+00 2.66569844e+01] [-1.10653412e-02 9.99938777e-01 0.00000000e+00 -4.89568055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86571804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.49, Z:-0.02 [[ 9.99923521e-01 1.23673586e-02 0.00000000e+00 2.66884417e+01] [-1.23673586e-02 9.99923521e-01 0.00000000e+00 -4.89297458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78000042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.49, Z:-0.02 [[ 9.99861608e-01 1.66362500e-02 0.00000000e+00 2.67198558e+01] [-1.66362500e-02 9.99861608e-01 0.00000000e+00 -4.88473824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79344044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.49, Z:-0.02 [[ 9.99822387e-01 1.88465860e-02 0.00000000e+00 2.67508380e+01] [-1.88465860e-02 9.99822387e-01 0.00000000e+00 -4.85724870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94401417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.78, Y:-0.48, Z:-0.02 [[ 9.99780152e-01 2.09677841e-02 0.00000000e+00 2.67823463e+01] [-2.09677841e-02 9.99780152e-01 0.00000000e+00 -4.83273408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98562389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.48, Z:-0.02 [[ 9.99729184e-01 2.32714116e-02 0.00000000e+00 2.68136195e+01] [-2.32714116e-02 9.99729184e-01 0.00000000e+00 -4.83055950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04380443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.49, Z:-0.02 [[ 9.99705520e-01 2.42667103e-02 0.00000000e+00 2.68447501e+01] [-2.42667103e-02 9.99705520e-01 0.00000000e+00 -4.85344519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77901758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.48, Z:-0.02 [[ 9.99746119e-01 2.25321554e-02 0.00000000e+00 2.68761548e+01] [-2.25321554e-02 9.99746119e-01 0.00000000e+00 -4.83618145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80799308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.91, Y:-0.48, Z:-0.02 [[ 9.99793071e-01 2.03424242e-02 0.00000000e+00 2.69073635e+01] [-2.03424242e-02 9.99793071e-01 0.00000000e+00 -4.80722741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94170701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.48, Z:-0.02 [[ 9.99817886e-01 1.90838666e-02 0.00000000e+00 2.69385769e+01] [-1.90838666e-02 9.99817886e-01 0.00000000e+00 -4.79334434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21464764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.97, Y:-0.48, Z:-0.02 [[ 9.99862703e-01 1.65703338e-02 0.00000000e+00 2.69702555e+01] [-1.65703338e-02 9.99862703e-01 0.00000000e+00 -4.81113172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08933408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.48, Z:-0.02 [[ 9.99885002e-01 1.51651623e-02 0.00000000e+00 2.70010278e+01] [-1.51651623e-02 9.99885002e-01 0.00000000e+00 -4.79035798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90323439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.47, Z:-0.02 [[ 9.99892393e-01 1.46697887e-02 0.00000000e+00 2.70320010e+01] [-1.46697887e-02 9.99892393e-01 0.00000000e+00 -4.74461897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73411538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.47, Z:-0.02 [[ 9.99903174e-01 1.39155574e-02 0.00000000e+00 2.70626290e+01] [-1.39155574e-02 9.99903174e-01 0.00000000e+00 -4.70796887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84315410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.47, Z:-0.02 [[ 9.99895857e-01 1.44317740e-02 0.00000000e+00 2.70933918e+01] [-1.44317740e-02 9.99895857e-01 0.00000000e+00 -4.71442250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98849194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.47, Z:-0.02 [[ 9.99891942e-01 1.47004813e-02 0.00000000e+00 2.71244895e+01] [-1.47004813e-02 9.99891942e-01 0.00000000e+00 -4.70177790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94969997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.46, Z:-0.02 [[ 9.99881849e-01 1.53716320e-02 0.00000000e+00 2.71548628e+01] [-1.53716320e-02 9.99881849e-01 0.00000000e+00 -4.64812761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83884430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.46, Z:-0.02 [[ 9.99883819e-01 1.52430108e-02 0.00000000e+00 2.71858214e+01] [-1.52430108e-02 9.99883819e-01 0.00000000e+00 -4.58933840e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84781032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.46, Z:-0.02 [[ 9.99932846e-01 1.15889063e-02 0.00000000e+00 2.72163072e+01] [-1.15889063e-02 9.99932846e-01 0.00000000e+00 -4.62066813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81484408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.47, Z:-0.02 [[ 9.99963431e-01 8.55197096e-03 0.00000000e+00 2.72464939e+01] [-8.55197096e-03 9.99963431e-01 0.00000000e+00 -4.67363549e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90978958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.47, Z:-0.02 [[ 9.99993756e-01 3.53390377e-03 0.00000000e+00 2.72769589e+01] [-3.53390377e-03 9.99993756e-01 0.00000000e+00 -4.69237737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85031312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.47, Z:-0.02 [[ 9.99979358e-01 -6.42516317e-03 0.00000000e+00 2.73074374e+01] [ 6.42516317e-03 9.99979358e-01 0.00000000e+00 -4.65708028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70980709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.34, Y:-0.47, Z:-0.02 [[ 9.99933654e-01 -1.15190222e-02 0.00000000e+00 2.73374746e+01] [ 1.15190222e-02 9.99933654e-01 0.00000000e+00 -4.67524887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68585597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.47, Z:-0.02 [[ 9.99857917e-01 -1.68566476e-02 0.00000000e+00 2.73677864e+01] [ 1.68566476e-02 9.99857917e-01 0.00000000e+00 -4.72649638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73454496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.48, Z:-0.02 [[ 9.99706804e-01 -2.42137685e-02 0.00000000e+00 2.73975708e+01] [ 2.42137685e-02 9.99706804e-01 0.00000000e+00 -4.81827430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95652805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.49, Z:-0.02 [[ 9.99677111e-01 -2.54101044e-02 0.00000000e+00 2.74269442e+01] [ 2.54101044e-02 9.99677111e-01 0.00000000e+00 -4.85297606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96146726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.49, Z:-0.02 [[ 9.99683883e-01 -2.51422636e-02 0.00000000e+00 2.74567548e+01] [ 2.51422636e-02 9.99683883e-01 0.00000000e+00 -4.89017785e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92226197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.49, Z:-0.02 [[ 9.99718959e-01 -2.37066082e-02 0.00000000e+00 2.74865699e+01] [ 2.37066082e-02 9.99718959e-01 0.00000000e+00 -4.92020136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86767756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.49, Z:-0.02 [[ 9.99822278e-01 -1.88523973e-02 0.00000000e+00 2.75163076e+01] [ 1.88523973e-02 9.99822278e-01 0.00000000e+00 -4.93564007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90697902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.49, Z:-0.02 [[ 9.99847959e-01 -1.74372702e-02 0.00000000e+00 2.75460106e+01] [ 1.74372702e-02 9.99847959e-01 0.00000000e+00 -4.94803750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85475349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.50, Z:-0.02 [[ 9.99871168e-01 -1.60514276e-02 0.00000000e+00 2.75755746e+01] [ 1.60514276e-02 9.99871168e-01 0.00000000e+00 -4.98251287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90227176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.51, Z:-0.02 [[ 9.99852473e-01 -1.71764815e-02 0.00000000e+00 2.76055456e+01] [ 1.71764815e-02 9.99852473e-01 0.00000000e+00 -5.09609213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03244706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.64, Y:-0.51, Z:-0.02 [[ 9.99821220e-01 -1.89084352e-02 0.00000000e+00 2.76354734e+01] [ 1.89084352e-02 9.99821220e-01 0.00000000e+00 -5.14951477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99761402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.67, Y:-0.51, Z:-0.02 [[ 9.99819971e-01 -1.89743490e-02 0.00000000e+00 2.76656399e+01] [ 1.89743490e-02 9.99819971e-01 0.00000000e+00 -5.14907731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99761402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.70, Y:-0.52, Z:-0.02 [[ 9.99771041e-01 -2.13977989e-02 0.00000000e+00 2.76957258e+01] [ 2.13977989e-02 9.99771041e-01 0.00000000e+00 -5.19078164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13348223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.52, Z:-0.02 [[ 9.99730994e-01 -2.31935077e-02 0.00000000e+00 2.77248602e+01] [ 2.31935077e-02 9.99730994e-01 0.00000000e+00 -5.21958704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13657835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.53, Z:-0.02 [[ 9.99680019e-01 -2.52954636e-02 0.00000000e+00 2.77534206e+01] [ 2.52954636e-02 9.99680019e-01 0.00000000e+00 -5.29284219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08518995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.53, Z:-0.02 [[ 9.99701560e-01 -2.44292846e-02 0.00000000e+00 2.77825356e+01] [ 2.44292846e-02 9.99701560e-01 0.00000000e+00 -5.33053267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03926187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.53, Z:-0.02 [[ 9.99876584e-01 -1.57104125e-02 0.00000000e+00 2.78113655e+01] [ 1.57104125e-02 9.99876584e-01 0.00000000e+00 -5.34453229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01244441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.53, Z:-0.02 [[ 9.99963529e-01 -8.54049260e-03 0.00000000e+00 2.78409954e+01] [ 8.54049260e-03 9.99963529e-01 0.00000000e+00 -5.33079627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14112018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.53, Z:-0.02 [[ 9.99999954e-01 3.03130692e-04 0.00000000e+00 2.78703854e+01] [-3.03130692e-04 9.99999954e-01 0.00000000e+00 -5.32283256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13829550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.53, Z:-0.02 [[ 9.99954521e-01 9.53711787e-03 0.00000000e+00 2.79006427e+01] [-9.53711787e-03 9.99954521e-01 0.00000000e+00 -5.30936428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11626466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.53, Z:-0.02 [[ 9.99653780e-01 2.63119930e-02 0.00000000e+00 2.79311770e+01] [-2.63119930e-02 9.99653780e-01 0.00000000e+00 -5.26104878e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97410732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.52, Z:-0.02 [[ 9.99495236e-01 3.17690625e-02 0.00000000e+00 2.79627406e+01] [-3.17690625e-02 9.99495236e-01 0.00000000e+00 -5.23309070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91922693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.52, Z:-0.02 [[ 9.99382629e-01 3.51334812e-02 0.00000000e+00 2.79947056e+01] [-3.51334812e-02 9.99382629e-01 0.00000000e+00 -5.20519104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93451563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.52, Z:-0.02 [[ 9.99334554e-01 3.64753103e-02 0.00000000e+00 2.80264645e+01] [-3.64753103e-02 9.99334554e-01 0.00000000e+00 -5.16455446e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94380777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.50, Z:-0.02 [[ 9.99345981e-01 3.61608928e-02 0.00000000e+00 2.80588871e+01] [-3.61608928e-02 9.99345981e-01 0.00000000e+00 -5.04549903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94097262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.50, Z:-0.02 [[ 9.99406817e-01 3.44385587e-02 0.00000000e+00 2.80911002e+01] [-3.44385587e-02 9.99406817e-01 0.00000000e+00 -5.00492475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84131505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:-0.50, Z:-0.02 [[ 9.99474743e-01 3.24073920e-02 0.00000000e+00 2.81235224e+01] [-3.24073920e-02 9.99474743e-01 0.00000000e+00 -4.99005788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91059613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.16, Y:-0.50, Z:-0.02 [[ 9.99596754e-01 2.83959288e-02 0.00000000e+00 2.81561677e+01] [-2.83959288e-02 9.99596754e-01 0.00000000e+00 -4.97000242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04916792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.49, Z:-0.02 [[ 9.99633222e-01 2.70817446e-02 0.00000000e+00 2.81878825e+01] [-2.70817446e-02 9.99633222e-01 0.00000000e+00 -4.93793449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06985052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.49, Z:-0.02 [[ 9.99670293e-01 2.56769493e-02 0.00000000e+00 2.82192506e+01] [-2.56769493e-02 9.99670293e-01 0.00000000e+00 -4.90403980e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92876715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.49, Z:-0.02 [[ 9.99723297e-01 2.35229657e-02 0.00000000e+00 2.82510739e+01] [-2.35229657e-02 9.99723297e-01 0.00000000e+00 -4.89849066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82864772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:-0.50, Z:-0.02 [[ 9.99881322e-01 1.54058731e-02 0.00000000e+00 2.82819027e+01] [-1.54058731e-02 9.99881322e-01 0.00000000e+00 -4.95430033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88148498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:-0.50, Z:-0.02 [[ 9.99941416e-01 1.08242718e-02 0.00000000e+00 2.83134302e+01] [-1.08242718e-02 9.99941416e-01 0.00000000e+00 -4.96439221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99575268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.50, Z:-0.02 [[ 9.99974917e-01 7.08268855e-03 0.00000000e+00 2.83450806e+01] [-7.08268855e-03 9.99974917e-01 0.00000000e+00 -4.96203356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04973401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.38, Y:-0.50, Z:-0.02 [[ 9.99996881e-01 2.49766381e-03 0.00000000e+00 2.83754351e+01] [-2.49766381e-03 9.99996881e-01 0.00000000e+00 -4.96435473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13245458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.41, Y:-0.50, Z:-0.02 [[ 9.99993673e-01 -3.55720843e-03 0.00000000e+00 2.84060006e+01] [ 3.55720843e-03 9.99993673e-01 0.00000000e+00 -5.00986749e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03409501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.44, Y:-0.50, Z:-0.02 [[ 9.99992300e-01 -3.92425527e-03 0.00000000e+00 2.84364004e+01] [ 3.92425527e-03 9.99992300e-01 0.00000000e+00 -5.03354582e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00385336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.47, Y:-0.50, Z:-0.02 [[ 9.99993096e-01 -3.71598450e-03 0.00000000e+00 2.84667280e+01] [ 3.71598450e-03 9.99993096e-01 0.00000000e+00 -5.04827908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87970960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:-0.51, Z:-0.02 [[ 9.99992962e-01 -3.75181860e-03 0.00000000e+00 2.84968732e+01] [ 3.75181860e-03 9.99992962e-01 0.00000000e+00 -5.05882475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70034103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.53, Y:-0.51, Z:-0.02 [[ 9.99987801e-01 -4.93936433e-03 0.00000000e+00 2.85276761e+01] [ 4.93936433e-03 9.99987801e-01 0.00000000e+00 -5.09480576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80798312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.56, Y:-0.51, Z:-0.02 [[ 9.99975487e-01 -7.00175683e-03 0.00000000e+00 2.85580345e+01] [ 7.00175683e-03 9.99975487e-01 0.00000000e+00 -5.13698228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90580846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.52, Z:-0.02 [[ 9.99922981e-01 -1.24109710e-02 0.00000000e+00 2.85877852e+01] [ 1.24109710e-02 9.99922981e-01 0.00000000e+00 -5.20225760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04435698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.62, Y:-0.52, Z:-0.02 [[ 9.99911360e-01 -1.33143262e-02 0.00000000e+00 2.86175622e+01] [ 1.33143262e-02 9.99911360e-01 0.00000000e+00 -5.23652388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13826538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.53, Z:-0.02 [[ 9.99903689e-01 -1.38784644e-02 0.00000000e+00 2.86467851e+01] [ 1.38784644e-02 9.99903689e-01 0.00000000e+00 -5.28145179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22404968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.53, Z:-0.02 [[ 9.99904304e-01 -1.38340916e-02 0.00000000e+00 2.86769324e+01] [ 1.38340916e-02 9.99904304e-01 0.00000000e+00 -5.32274774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19580831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.53, Z:-0.02 [[ 9.99930646e-01 -1.17771938e-02 0.00000000e+00 2.87070444e+01] [ 1.17771938e-02 9.99930646e-01 0.00000000e+00 -5.34041910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16838017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:-0.54, Z:-0.02 [[ 9.99956338e-01 -9.34462832e-03 0.00000000e+00 2.87362382e+01] [ 9.34462832e-03 9.99956338e-01 0.00000000e+00 -5.35436329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12181843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.54, Z:-0.02 [[ 9.99985440e-01 -5.39631117e-03 0.00000000e+00 2.87654813e+01] [ 5.39631117e-03 9.99985440e-01 0.00000000e+00 -5.39405296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01801773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:-0.55, Z:-0.02 [[ 9.99997262e-01 2.34023273e-03 0.00000000e+00 2.87954605e+01] [-2.34023273e-03 9.99997262e-01 0.00000000e+00 -5.49791278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90012691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:-0.55, Z:-0.02 [[ 9.99977912e-01 6.64646023e-03 0.00000000e+00 2.88263695e+01] [-6.64646023e-03 9.99977912e-01 0.00000000e+00 -5.50300349e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88454381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.86, Y:-0.55, Z:-0.02 [[ 9.99935526e-01 1.13553027e-02 0.00000000e+00 2.88572621e+01] [-1.13553027e-02 9.99935526e-01 0.00000000e+00 -5.48657702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07971445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.55, Z:-0.02 [[ 9.99806008e-01 1.96963533e-02 0.00000000e+00 2.88888450e+01] [-1.96963533e-02 9.99806008e-01 0.00000000e+00 -5.51710228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34526175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.92, Y:-0.55, Z:-0.02 [[ 9.99717680e-01 2.37604732e-02 0.00000000e+00 2.89202811e+01] [-2.37604732e-02 9.99717680e-01 0.00000000e+00 -5.52967173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14601364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.95, Y:-0.55, Z:-0.02 [[ 9.99646191e-01 2.65987524e-02 0.00000000e+00 2.89521108e+01] [-2.65987524e-02 9.99646191e-01 0.00000000e+00 -5.50059977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99760846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.98, Y:-0.54, Z:-0.02 [[ 9.99540214e-01 3.03209735e-02 0.00000000e+00 2.89841947e+01] [-3.03209735e-02 9.99540214e-01 0.00000000e+00 -5.44196562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85387729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:-0.54, Z:-0.02 [[ 9.99429321e-01 3.37791786e-02 0.00000000e+00 2.90165037e+01] [-3.37791786e-02 9.99429321e-01 0.00000000e+00 -5.39719735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81132290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.54, Z:-0.02 [[ 9.99264968e-01 3.83343799e-02 0.00000000e+00 2.90485022e+01] [-3.83343799e-02 9.99264968e-01 0.00000000e+00 -5.40810039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89314567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:-0.54, Z:-0.02 [[ 9.99244481e-01 3.88647298e-02 0.00000000e+00 2.90806538e+01] [-3.88647298e-02 9.99244481e-01 0.00000000e+00 -5.40587940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87909156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:-0.54, Z:-0.02 [[ 9.99223751e-01 3.93941081e-02 0.00000000e+00 2.91126965e+01] [-3.93941081e-02 9.99223751e-01 0.00000000e+00 -5.36005633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98288726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.52, Z:-0.02 [[ 9.99195361e-01 4.01077354e-02 0.00000000e+00 2.91445697e+01] [-4.01077354e-02 9.99195361e-01 0.00000000e+00 -5.18474130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19999271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.51, Z:-0.02 [[ 9.99147665e-01 4.12788403e-02 0.00000000e+00 2.91768823e+01] [-4.12788403e-02 9.99147665e-01 0.00000000e+00 -5.10109332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19433846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.21, Y:-0.50, Z:-0.02 [[ 9.99043077e-01 4.37370559e-02 0.00000000e+00 2.92089492e+01] [-4.37370559e-02 9.99043077e-01 0.00000000e+00 -5.04182020e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11551485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.24, Y:-0.50, Z:-0.02 [[ 9.98970326e-01 4.53683670e-02 0.00000000e+00 2.92406479e+01] [-4.53683670e-02 9.98970326e-01 0.00000000e+00 -4.98456959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85551691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.27, Y:-0.50, Z:-0.02 [[ 9.99046283e-01 4.36637630e-02 0.00000000e+00 2.92730781e+01] [-4.36637630e-02 9.99046283e-01 0.00000000e+00 -4.97949496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66884636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.30, Y:-0.50, Z:-0.02 [[ 9.99141829e-01 4.14198775e-02 0.00000000e+00 2.93048870e+01] [-4.14198775e-02 9.99141829e-01 0.00000000e+00 -4.98063162e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62902157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.49, Z:-0.02 [[ 9.99378384e-01 3.52540202e-02 0.00000000e+00 2.93366462e+01] [-3.52540202e-02 9.99378384e-01 0.00000000e+00 -4.93281207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75229128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:-0.49, Z:-0.02 [[ 9.99490270e-01 3.19249255e-02 0.00000000e+00 2.93692427e+01] [-3.19249255e-02 9.99490270e-01 0.00000000e+00 -4.86500393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01734028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:-0.48, Z:-0.02 [[ 9.99581228e-01 2.89373196e-02 0.00000000e+00 2.94013184e+01] [-2.89373196e-02 9.99581228e-01 0.00000000e+00 -4.78931005e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32476166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:-0.47, Z:-0.02 [[ 9.99665173e-01 2.58755256e-02 0.00000000e+00 2.94327221e+01] [-2.58755256e-02 9.99665173e-01 0.00000000e+00 -4.73718158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37885827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:-0.48, Z:-0.02 [[ 9.99680670e-01 2.52697213e-02 0.00000000e+00 2.94637898e+01] [-2.52697213e-02 9.99680670e-01 0.00000000e+00 -4.75367943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99623599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.48, Z:-0.01 [[ 9.99691304e-01 2.48454649e-02 0.00000000e+00 2.94949519e+01] [-2.48454649e-02 9.99691304e-01 0.00000000e+00 -4.75978624e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45860664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.47, Z:-0.01 [[ 9.99751951e-01 2.22718694e-02 0.00000000e+00 2.95260491e+01] [-2.22718694e-02 9.99751951e-01 0.00000000e+00 -4.74241219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23422502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.47, Z:-0.02 [[ 9.99892485e-01 1.46634809e-02 0.00000000e+00 2.95562773e+01] [-1.46634809e-02 9.99892485e-01 0.00000000e+00 -4.69791085e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58379472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.59, Y:-0.47, Z:-0.02 [[ 9.99947926e-01 1.02051263e-02 0.00000000e+00 2.95875389e+01] [-1.02051263e-02 9.99947926e-01 0.00000000e+00 -4.68930427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97489276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.62, Y:-0.47, Z:-0.02 [[ 9.99947926e-01 1.02051263e-02 0.00000000e+00 2.96185356e+01] [-1.02051263e-02 9.99947926e-01 0.00000000e+00 -4.68940608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97489276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.65, Y:-0.47, Z:-0.02 [[ 9.99985102e-01 5.45855933e-03 0.00000000e+00 2.96488574e+01] [-5.45855933e-03 9.99985102e-01 0.00000000e+00 -4.68584269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23102728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:-0.47, Z:-0.02 [[ 9.99998289e-01 -1.84994316e-03 0.00000000e+00 2.96791459e+01] [ 1.84994316e-03 9.99998289e-01 0.00000000e+00 -4.71156429e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16077220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:-0.47, Z:-0.02 [[ 9.99992182e-01 -3.95420216e-03 0.00000000e+00 2.97096906e+01] [ 3.95420216e-03 9.99992182e-01 0.00000000e+00 -4.74450071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14420378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:-0.48, Z:-0.02 [[ 9.99982315e-01 -5.94727423e-03 0.00000000e+00 2.97401242e+01] [ 5.94727423e-03 9.99982315e-01 0.00000000e+00 -4.76548661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03857849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.77, Y:-0.48, Z:-0.02 [[ 9.99966095e-01 -8.23460786e-03 0.00000000e+00 2.97710423e+01] [ 8.23460786e-03 9.99966095e-01 0.00000000e+00 -4.75611006e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84173954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:-0.48, Z:-0.02 [[ 9.99960574e-01 -8.87973467e-03 0.00000000e+00 2.98010406e+01] [ 8.87973467e-03 9.99960574e-01 0.00000000e+00 -4.75535459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89730978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.48, Z:-0.02 [[ 9.99962303e-01 -8.68287377e-03 0.00000000e+00 2.98311371e+01] [ 8.68287377e-03 9.99962303e-01 0.00000000e+00 -4.77179358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75651183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.48, Z:-0.02 [[ 9.99978217e-01 -6.60039219e-03 0.00000000e+00 2.98620046e+01] [ 6.60039219e-03 9.99978217e-01 0.00000000e+00 -4.79361864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74064275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.48, Z:-0.02 [[ 9.99999895e-01 4.58878314e-04 0.00000000e+00 2.98912548e+01] [-4.58878314e-04 9.99999895e-01 0.00000000e+00 -4.80925334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89249080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.48, Z:-0.02 [[ 9.99989759e-01 4.52560605e-03 0.00000000e+00 2.99220602e+01] [-4.52560605e-03 9.99989759e-01 0.00000000e+00 -4.79435754e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13748694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.48, Z:-0.02 [[ 9.99980305e-01 6.27609633e-03 0.00000000e+00 2.99521571e+01] [-6.27609633e-03 9.99980305e-01 0.00000000e+00 -4.77969366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20967073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.48, Z:-0.02 [[ 9.99972642e-01 7.39703584e-03 0.00000000e+00 2.99827819e+01] [-7.39703584e-03 9.99972642e-01 0.00000000e+00 -4.77482575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44377082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.48, Z:-0.02 [[ 9.99984343e-01 5.59580571e-03 0.00000000e+00 3.00129313e+01] [-5.59580571e-03 9.99984343e-01 0.00000000e+00 -4.80903949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27352558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.48, Z:-0.02 [[ 9.99988114e-01 4.87571749e-03 0.00000000e+00 3.00437603e+01] [-4.87571749e-03 9.99988114e-01 0.00000000e+00 -4.83967389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06428619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:-0.49, Z:-0.02 [[ 9.99992580e-01 3.85232585e-03 0.00000000e+00 3.00743304e+01] [-3.85232585e-03 9.99992580e-01 0.00000000e+00 -4.86073478e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85910632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.49, Z:-0.02 [[ 9.99981605e-01 6.06548363e-03 0.00000000e+00 3.01046621e+01] [-6.06548363e-03 9.99981605e-01 0.00000000e+00 -4.85498683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74027673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.48, Z:-0.02 [[ 9.99957299e-01 9.24119492e-03 0.00000000e+00 3.01348965e+01] [-9.24119492e-03 9.99957299e-01 0.00000000e+00 -4.83305602e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80033891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.17, Y:-0.48, Z:-0.02 [[ 9.99896891e-01 1.43599190e-02 0.00000000e+00 3.01651034e+01] [-1.43599190e-02 9.99896891e-01 0.00000000e+00 -4.80547248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01722501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.20, Y:-0.48, Z:-0.02 [[ 9.99812284e-01 1.93751401e-02 0.00000000e+00 3.01965587e+01] [-1.93751401e-02 9.99812284e-01 0.00000000e+00 -4.77260339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23982027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:-0.47, Z:-0.02 [[ 9.99544303e-01 3.01858598e-02 0.00000000e+00 3.02274171e+01] [-3.01858598e-02 9.99544303e-01 0.00000000e+00 -4.69790832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26467879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:-0.47, Z:-0.02 [[ 9.99397288e-01 3.47139734e-02 0.00000000e+00 3.02584197e+01] [-3.47139734e-02 9.99397288e-01 0.00000000e+00 -4.66819281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18662914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:-0.47, Z:-0.02 [[ 9.99283604e-01 3.78454663e-02 0.00000000e+00 3.02897585e+01] [-3.78454663e-02 9.99283604e-01 0.00000000e+00 -4.65407369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91459315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.47, Z:-0.02 [[ 9.99200184e-01 3.99874105e-02 0.00000000e+00 3.03209744e+01] [-3.99874105e-02 9.99200184e-01 0.00000000e+00 -4.65510998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79606666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.35, Y:-0.46, Z:-0.02 [[ 9.99163388e-01 4.08965152e-02 0.00000000e+00 3.03521632e+01] [-4.08965152e-02 9.99163388e-01 0.00000000e+00 -4.63892505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70613164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.46, Z:-0.02 [[ 9.99162806e-01 4.09107233e-02 0.00000000e+00 3.03838354e+01] [-4.09107233e-02 9.99162806e-01 0.00000000e+00 -4.61535352e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83268071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.42, Y:-0.45, Z:-0.02 [[ 9.99043104e-01 4.37364495e-02 0.00000000e+00 3.04153639e+01] [-4.37364495e-02 9.99043104e-01 0.00000000e+00 -4.52887430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89489086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:-0.45, Z:-0.02 [[ 9.98930210e-01 4.62432307e-02 0.00000000e+00 3.04463290e+01] [-4.62432307e-02 9.98930210e-01 0.00000000e+00 -4.47047355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92506023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.44, Z:-0.02 [[ 9.98773191e-01 4.95188179e-02 0.00000000e+00 3.04769898e+01] [-4.95188179e-02 9.98773191e-01 0.00000000e+00 -4.41172096e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87941106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:-0.44, Z:-0.02 [[ 9.98705961e-01 5.08566915e-02 0.00000000e+00 3.05072300e+01] [-5.08566915e-02 9.98705961e-01 0.00000000e+00 -4.36276334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86788123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:-0.43, Z:-0.02 [[ 9.98767407e-01 4.96353454e-02 0.00000000e+00 3.05380260e+01] [-4.96353454e-02 9.98767407e-01 0.00000000e+00 -4.28630291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76614088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:-0.43, Z:-0.02 [[ 9.98911907e-01 4.66369257e-02 0.00000000e+00 3.05689749e+01] [-4.66369257e-02 9.98911907e-01 0.00000000e+00 -4.26672220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56887604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:-0.43, Z:-0.01 [[ 9.99111781e-01 4.21384522e-02 0.00000000e+00 3.05996398e+01] [-4.21384522e-02 9.99111781e-01 0.00000000e+00 -4.26095905e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45169888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.43, Z:-0.01 [[ 9.99337031e-01 3.64074041e-02 0.00000000e+00 3.06296013e+01] [-3.64074041e-02 9.99337031e-01 0.00000000e+00 -4.25966268e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41728065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.66, Y:-0.42, Z:-0.02 [[ 9.99681411e-01 2.52403863e-02 0.00000000e+00 3.06597257e+01] [-2.52403863e-02 9.99681411e-01 0.00000000e+00 -4.24222003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97084233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.42, Z:-0.02 [[ 9.99775115e-01 2.12066035e-02 0.00000000e+00 3.06906191e+01] [-2.12066035e-02 9.99775115e-01 0.00000000e+00 -4.22050257e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29218881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.72, Y:-0.42, Z:-0.02 [[ 9.99817481e-01 1.91051209e-02 0.00000000e+00 3.07211204e+01] [-1.91051209e-02 9.99817481e-01 0.00000000e+00 -4.19470516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35737451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:-0.42, Z:-0.02 [[ 9.99861394e-01 1.66490916e-02 0.00000000e+00 3.07514631e+01] [-1.66490916e-02 9.99861394e-01 0.00000000e+00 -4.15634023e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06837462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.512320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.78, Y:-0.41, Z:-0.02 [[ 9.99884719e-01 1.51838062e-02 0.00000000e+00 3.07820930e+01] [-1.51838062e-02 9.99884719e-01 0.00000000e+00 -4.14642442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88211633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.81, Y:-0.41, Z:-0.02 [[ 9.99916885e-01 1.28927441e-02 0.00000000e+00 3.08125303e+01] [-1.28927441e-02 9.99916885e-01 0.00000000e+00 -4.13731517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90434830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:-0.41, Z:-0.02 [[ 9.99957544e-01 9.21470768e-03 0.00000000e+00 3.08426526e+01] [-9.21470768e-03 9.99957544e-01 0.00000000e+00 -4.14809136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89277723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:-0.41, Z:-0.02 [[ 9.99956563e-01 9.32052025e-03 0.00000000e+00 3.08734049e+01] [-9.32052025e-03 9.99956563e-01 0.00000000e+00 -4.14943240e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87252930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.41, Z:-0.02 [[ 9.99956882e-01 9.28627541e-03 0.00000000e+00 3.09043638e+01] [-9.28627541e-03 9.99956882e-01 0.00000000e+00 -4.12285727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88182227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.93, Y:-0.40, Z:-0.02 [[ 9.99944907e-01 1.04968200e-02 0.00000000e+00 3.09348164e+01] [-1.04968200e-02 9.99944907e-01 0.00000000e+00 -4.00861001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05951592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.692320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:-0.40, Z:-0.02 [[ 9.99945993e-01 1.03927907e-02 0.00000000e+00 3.09656637e+01] [-1.03927907e-02 9.99945993e-01 0.00000000e+00 -3.97600808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22695477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.00, Y:-0.40, Z:-0.02 [[ 9.99956145e-01 9.36528824e-03 0.00000000e+00 3.09964415e+01] [-9.36528824e-03 9.99956145e-01 0.00000000e+00 -4.00122869e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26518841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:-0.41, Z:-0.02 [[ 9.99966388e-01 8.19893524e-03 0.00000000e+00 3.10266289e+01] [-8.19893524e-03 9.99966388e-01 0.00000000e+00 -4.05538926e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21971592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.06, Y:-0.41, Z:-0.02 [[ 9.99996908e-01 2.48681706e-03 0.00000000e+00 3.10573886e+01] [-2.48681706e-03 9.99996908e-01 0.00000000e+00 -4.13609697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10652450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:-0.41, Z:-0.02 [[ 9.99998236e-01 -1.87810146e-03 0.00000000e+00 3.10874200e+01] [ 1.87810146e-03 9.99998236e-01 0.00000000e+00 -4.14770946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20640060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:-0.42, Z:-0.02 [[ 9.99985143e-01 -5.45106772e-03 0.00000000e+00 3.11177278e+01] [ 5.45106772e-03 9.99985143e-01 0.00000000e+00 -4.15562606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32505655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.42, Z:-0.02 [[ 9.99974438e-01 -7.15009722e-03 0.00000000e+00 3.11482907e+01] [ 7.15009722e-03 9.99974438e-01 0.00000000e+00 -4.16281469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27416618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.41, Z:-0.02 [[ 9.99977595e-01 -6.69394949e-03 0.00000000e+00 3.11786775e+01] [ 6.69394949e-03 9.99977595e-01 0.00000000e+00 -4.13860557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06869027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.41, Z:-0.02 [[ 9.99987712e-01 -4.95747004e-03 0.00000000e+00 3.12090684e+01] [ 4.95747004e-03 9.99987712e-01 0.00000000e+00 -4.13129989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00166947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.24, Y:-0.42, Z:-0.02 [[ 9.99993654e-01 -3.56265537e-03 0.00000000e+00 3.12399177e+01] [ 3.56265537e-03 9.99993654e-01 0.00000000e+00 -4.15426835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12002406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.42, Z:-0.02 [[ 9.99995513e-01 -2.99570136e-03 0.00000000e+00 3.12706884e+01] [ 2.99570136e-03 9.99995513e-01 0.00000000e+00 -4.20884024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37107835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.43, Z:-0.03 [[ 9.99984432e-01 -5.57994129e-03 0.00000000e+00 3.13011625e+01] [ 5.57994129e-03 9.99984432e-01 0.00000000e+00 -4.34453118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83811937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.052320587999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.44, Z:-0.03 [[ 9.99974674e-01 -7.11692026e-03 0.00000000e+00 3.13313447e+01] [ 7.11692026e-03 9.99974674e-01 0.00000000e+00 -4.40171331e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76918838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.36, Y:-0.44, Z:-0.03 [[ 9.99960386e-01 -8.90096208e-03 0.00000000e+00 3.13619855e+01] [ 8.90096208e-03 9.99960386e-01 0.00000000e+00 -4.43919439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60825001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.39, Y:-0.45, Z:-0.02 [[ 9.99946818e-01 -1.03131497e-02 0.00000000e+00 3.13923350e+01] [ 1.03131497e-02 9.99946818e-01 0.00000000e+00 -4.45150728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42746339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.42, Y:-0.44, Z:-0.02 [[ 9.99953863e-01 -9.60583893e-03 0.00000000e+00 3.14224762e+01] [ 9.60583893e-03 9.99953863e-01 0.00000000e+00 -4.42959853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12464317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:-0.44, Z:-0.02 [[ 9.99978866e-01 -6.50128313e-03 0.00000000e+00 3.14528324e+01] [ 6.50128313e-03 9.99978866e-01 0.00000000e+00 -4.43137852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21124469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:-0.45, Z:-0.02 [[ 9.99998813e-01 -1.54109543e-03 0.00000000e+00 3.14834600e+01] [ 1.54109543e-03 9.99998813e-01 0.00000000e+00 -4.45716275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38802908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.51, Y:-0.45, Z:-0.03 [[ 9.99964036e-01 8.48099211e-03 0.00000000e+00 3.15140159e+01] [-8.48099211e-03 9.99964036e-01 0.00000000e+00 -4.54005106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63917656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:-0.46, Z:-0.03 [[ 9.99924106e-01 1.23200091e-02 0.00000000e+00 3.15441322e+01] [-1.23200091e-02 9.99924106e-01 0.00000000e+00 -4.57547722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59834390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.46, Z:-0.03 [[ 9.99924106e-01 1.23200091e-02 0.00000000e+00 3.15751266e+01] [-1.23200091e-02 9.99924106e-01 0.00000000e+00 -4.57563773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59834390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.46, Z:-0.03 [[ 9.99887542e-01 1.49967970e-02 0.00000000e+00 3.16057786e+01] [-1.49967970e-02 9.99887542e-01 0.00000000e+00 -4.60639986e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51909700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.46, Z:-0.02 [[ 9.99871578e-01 1.60258599e-02 0.00000000e+00 3.16365975e+01] [-1.60258599e-02 9.99871578e-01 0.00000000e+00 -4.63286312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45872866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.46, Z:-0.02 [[ 9.99847486e-01 1.74643757e-02 0.00000000e+00 3.16677925e+01] [-1.74643757e-02 9.99847486e-01 0.00000000e+00 -4.64548949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38862786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.46, Z:-0.03 [[ 9.99811245e-01 1.94286969e-02 0.00000000e+00 3.16986896e+01] [-1.94286969e-02 9.99811245e-01 0.00000000e+00 -4.64322618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51506883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.46, Z:-0.03 [[ 9.99758593e-01 2.19717015e-02 0.00000000e+00 3.17295327e+01] [-2.19717015e-02 9.99758593e-01 0.00000000e+00 -4.64299211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64249426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.46, Z:-0.03 [[ 9.99654557e-01 2.62824332e-02 0.00000000e+00 3.17609470e+01] [-2.62824332e-02 9.99654557e-01 0.00000000e+00 -4.63109948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65289534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.79, Y:-0.45, Z:-0.02 [[ 9.99353659e-01 3.59480666e-02 0.00000000e+00 3.17923482e+01] [-3.59480666e-02 9.99353659e-01 0.00000000e+00 -4.54357443e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35175169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.532320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.45, Z:-0.02 [[ 9.99233507e-01 3.91458519e-02 0.00000000e+00 3.18237727e+01] [-3.91458519e-02 9.99233507e-01 0.00000000e+00 -4.48663811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35515560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.85, Y:-0.45, Z:-0.02 [[ 9.99153807e-01 4.11299042e-02 0.00000000e+00 3.18546754e+01] [-4.11299042e-02 9.99153807e-01 0.00000000e+00 -4.45675630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39337922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.45, Z:-0.02 [[ 9.99177337e-01 4.05542821e-02 0.00000000e+00 3.18859385e+01] [-4.05542821e-02 9.99177337e-01 0.00000000e+00 -4.45519192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47856460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.92, Y:-0.44, Z:-0.02 [[ 9.99229066e-01 3.92590599e-02 0.00000000e+00 3.19177070e+01] [-3.92590599e-02 9.99229066e-01 0.00000000e+00 -4.44323557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38856142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.43, Z:-0.02 [[ 9.99349026e-01 3.60766388e-02 0.00000000e+00 3.19479327e+01] [-3.60766388e-02 9.99349026e-01 0.00000000e+00 -4.31218893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32712875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.98, Y:-0.42, Z:-0.02 [[ 9.99406555e-01 3.44461453e-02 0.00000000e+00 3.19782371e+01] [-3.44461453e-02 9.99406555e-01 0.00000000e+00 -4.23499319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42306069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.42, Z:-0.02 [[ 9.99465681e-01 3.26856626e-02 0.00000000e+00 3.20088187e+01] [-3.26856626e-02 9.99465681e-01 0.00000000e+00 -4.18593500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48597267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.04, Y:-0.42, Z:-0.03 [[ 9.99557826e-01 2.97347095e-02 0.00000000e+00 3.20389795e+01] [-2.97347095e-02 9.99557826e-01 0.00000000e+00 -4.15956514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59588095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.07, Y:-0.41, Z:-0.02 [[ 9.99749665e-01 2.23742360e-02 0.00000000e+00 3.20689061e+01] [-2.23742360e-02 9.99749665e-01 0.00000000e+00 -4.10116637e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47294934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.41, Z:-0.02 [[ 9.99835212e-01 1.81534590e-02 0.00000000e+00 3.20986383e+01] [-1.81534590e-02 9.99835212e-01 0.00000000e+00 -4.05850200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37219634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.40, Z:-0.02 [[ 9.99924222e-01 1.23105409e-02 0.00000000e+00 3.21281070e+01] [-1.23105409e-02 9.99924222e-01 0.00000000e+00 -4.02061892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41920424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.16, Y:-0.40, Z:-0.02 [[ 9.99979647e-01 6.38003873e-03 0.00000000e+00 3.21584380e+01] [-6.38003873e-03 9.99979647e-01 0.00000000e+00 -4.00107112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49239527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.40, Z:-0.03 [[ 9.99986439e-01 -5.20781897e-03 0.00000000e+00 3.21890172e+01] [ 5.20781897e-03 9.99986439e-01 0.00000000e+00 -4.01195325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66798630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:-0.40, Z:-0.03 [[ 9.99949765e-01 -1.00233267e-02 0.00000000e+00 3.22199633e+01] [ 1.00233267e-02 9.99949765e-01 0.00000000e+00 -4.01915290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59512127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.40, Z:-0.03 [[ 9.99887265e-01 -1.50152433e-02 0.00000000e+00 3.22502458e+01] [ 1.50152433e-02 9.99887265e-01 0.00000000e+00 -4.02776410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65135091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.28, Y:-0.41, Z:-0.03 [[ 9.99762496e-01 -2.17933842e-02 0.00000000e+00 3.22813481e+01] [ 2.17933842e-02 9.99762496e-01 0.00000000e+00 -4.05982455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77842325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.41, Z:-0.03 [[ 9.99744704e-01 -2.25948251e-02 0.00000000e+00 3.23124208e+01] [ 2.25948251e-02 9.99744704e-01 0.00000000e+00 -4.07553311e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74638334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.34, Y:-0.41, Z:-0.03 [[ 9.99724205e-01 -2.34843535e-02 0.00000000e+00 3.23436458e+01] [ 2.34843535e-02 9.99724205e-01 0.00000000e+00 -4.07758824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75492878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.41, Z:-0.03 [[ 9.99721482e-01 -2.35999812e-02 0.00000000e+00 3.23746722e+01] [ 2.35999812e-02 9.99721482e-01 0.00000000e+00 -4.07149493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73595593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:-0.41, Z:-0.03 [[ 9.99707203e-01 -2.41972822e-02 0.00000000e+00 3.24058880e+01] [ 2.41972822e-02 9.99707203e-01 0.00000000e+00 -4.07694661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79039184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.42, Z:-0.03 [[ 9.99706458e-01 -2.42280253e-02 0.00000000e+00 3.24372727e+01] [ 2.42280253e-02 9.99706458e-01 0.00000000e+00 -4.15008612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91804931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.47, Y:-0.42, Z:-0.03 [[ 9.99729989e-01 -2.32368086e-02 0.00000000e+00 3.24681424e+01] [ 2.32368086e-02 9.99729989e-01 0.00000000e+00 -4.20021033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89355847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.42, Z:-0.03 [[ 9.99721973e-01 -2.35791757e-02 0.00000000e+00 3.24984661e+01] [ 2.35791757e-02 9.99721973e-01 0.00000000e+00 -4.22838941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77010698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.53, Y:-0.42, Z:-0.03 [[ 9.99761451e-01 -2.18412771e-02 0.00000000e+00 3.25290918e+01] [ 2.18412771e-02 9.99761451e-01 0.00000000e+00 -4.22361726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56790145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.42, Z:-0.03 [[ 9.99853652e-01 -1.71077332e-02 0.00000000e+00 3.25600735e+01] [ 1.71077332e-02 9.99853652e-01 0.00000000e+00 -4.21773779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68404082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.59, Y:-0.43, Z:-0.03 [[ 9.99898771e-01 -1.42283990e-02 0.00000000e+00 3.25904674e+01] [ 1.42283990e-02 9.99898771e-01 0.00000000e+00 -4.25129789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88085845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312320588000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.43, Z:-0.03 [[ 9.99933893e-01 -1.14982859e-02 0.00000000e+00 3.26213033e+01] [ 1.14982859e-02 9.99933893e-01 0.00000000e+00 -4.28901050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05052357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.65, Y:-0.43, Z:-0.03 [[ 9.99971433e-01 -7.55868855e-03 0.00000000e+00 3.26522027e+01] [ 7.55868855e-03 9.99971433e-01 0.00000000e+00 -4.30840379e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04982147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.43, Z:-0.03 [[ 9.99998002e-01 1.99917594e-03 0.00000000e+00 3.26828083e+01] [-1.99917594e-03 9.99998002e-01 0.00000000e+00 -4.30383238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81176607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.71, Y:-0.43, Z:-0.03 [[ 9.99982890e-01 5.84981650e-03 0.00000000e+00 3.27135463e+01] [-5.84981650e-03 9.99982890e-01 0.00000000e+00 -4.30617089e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73654084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.43, Z:-0.03 [[ 9.99959580e-01 8.99099788e-03 0.00000000e+00 3.27436447e+01] [-8.99099788e-03 9.99959580e-01 0.00000000e+00 -4.31509333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72578288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.77, Y:-0.43, Z:-0.03 [[ 9.99933491e-01 1.15331347e-02 0.00000000e+00 3.27739537e+01] [-1.15331347e-02 9.99933491e-01 0.00000000e+00 -4.31675028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76197616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.43, Z:-0.03 [[ 9.99864764e-01 1.64454868e-02 0.00000000e+00 3.28045124e+01] [-1.64454868e-02 9.99864764e-01 0.00000000e+00 -4.29582975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80313341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.84, Y:-0.43, Z:-0.03 [[ 9.99814618e-01 1.92543545e-02 0.00000000e+00 3.28350462e+01] [-1.92543545e-02 9.99814618e-01 0.00000000e+00 -4.29682084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82970196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.43, Z:-0.03 [[ 9.99780084e-01 2.09710333e-02 0.00000000e+00 3.28658694e+01] [-2.09710333e-02 9.99780084e-01 0.00000000e+00 -4.30796554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81196177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.90, Y:-0.43, Z:-0.03 [[ 9.99761196e-01 2.18529472e-02 0.00000000e+00 3.28961328e+01] [-2.18529472e-02 9.99761196e-01 0.00000000e+00 -4.31841947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84600197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.43, Z:-0.03 [[ 9.99772802e-01 2.13153466e-02 0.00000000e+00 3.29270551e+01] [-2.13153466e-02 9.99772802e-01 0.00000000e+00 -4.32732354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88139835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:-0.44, Z:-0.03 [[ 9.99846698e-01 1.75094253e-02 0.00000000e+00 3.29578441e+01] [-1.75094253e-02 9.99846698e-01 0.00000000e+00 -4.36205128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95176589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.44, Z:-0.03 [[ 9.99898343e-01 1.42584247e-02 0.00000000e+00 3.29886145e+01] [-1.42584247e-02 9.99898343e-01 0.00000000e+00 -4.38473594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96682672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:-0.44, Z:-0.03 [[ 9.99929829e-01 1.18463923e-02 0.00000000e+00 3.30196139e+01] [-1.18463923e-02 9.99929829e-01 0.00000000e+00 -4.38737227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01623427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.44, Z:-0.03 [[ 9.99974976e-01 7.07442826e-03 0.00000000e+00 3.30504890e+01] [-7.07442826e-03 9.99974976e-01 0.00000000e+00 -4.35929798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12404943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:-0.44, Z:-0.03 [[ 9.99983517e-01 5.74165968e-03 0.00000000e+00 3.30811283e+01] [-5.74165968e-03 9.99983517e-01 0.00000000e+00 -4.38703408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29586905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.44, Z:-0.03 [[ 9.99984763e-01 5.52036489e-03 0.00000000e+00 3.31117697e+01] [-5.52036489e-03 9.99984763e-01 0.00000000e+00 -4.43642350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42454008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.14, Y:-0.45, Z:-0.03 [[ 9.99984683e-01 5.53482172e-03 0.00000000e+00 3.31420849e+01] [-5.53482172e-03 9.99984683e-01 0.00000000e+00 -4.47056000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41817847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.17, Y:-0.45, Z:-0.03 [[ 9.99968283e-01 7.96448114e-03 0.00000000e+00 3.31722709e+01] [-7.96448114e-03 9.99968283e-01 0.00000000e+00 -4.45176524e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49064419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.20, Y:-0.44, Z:-0.03 [[ 9.99950462e-01 9.95358904e-03 0.00000000e+00 3.32028835e+01] [-9.95358904e-03 9.99950462e-01 0.00000000e+00 -4.44731533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44791876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:33.23, Y:-0.45, Z:-0.03 [[ 9.99947535e-01 1.02433537e-02 0.00000000e+00 3.32330892e+01] [-1.02433537e-02 9.99947535e-01 0.00000000e+00 -4.46322141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26101532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:-0.45, Z:-0.03 [[ 9.99946259e-01 1.03672241e-02 0.00000000e+00 3.32631322e+01] [-1.03672241e-02 9.99946259e-01 0.00000000e+00 -4.48494408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21780209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.45, Z:-0.03 [[ 9.99962610e-01 8.64742375e-03 0.00000000e+00 3.32934235e+01] [-8.64742375e-03 9.99962610e-01 0.00000000e+00 -4.49745584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31988583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:-0.45, Z:-0.04 [[ 9.99974580e-01 7.13022217e-03 0.00000000e+00 3.33237898e+01] [-7.13022217e-03 9.99974580e-01 0.00000000e+00 -4.49200547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61482199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.45, Z:-0.04 [[ 9.99984144e-01 5.63139072e-03 0.00000000e+00 3.33545754e+01] [-5.63139072e-03 9.99984144e-01 0.00000000e+00 -4.49483125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78471093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062320588000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.39, Y:-0.45, Z:-0.04 [[ 9.99994932e-01 3.18376020e-03 0.00000000e+00 3.33855413e+01] [-3.18376020e-03 9.99994932e-01 0.00000000e+00 -4.50973234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90517736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.45, Z:-0.04 [[ 9.99997041e-01 -2.43277292e-03 0.00000000e+00 3.34159136e+01] [ 2.43277292e-03 9.99997041e-01 0.00000000e+00 -4.54314337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86007287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.45, Y:-0.46, Z:-0.04 [[ 9.99987487e-01 -5.00259627e-03 0.00000000e+00 3.34458885e+01] [ 5.00259627e-03 9.99987487e-01 0.00000000e+00 -4.56046827e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74920810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.48, Y:-0.46, Z:-0.04 [[ 9.99983347e-01 -5.77111440e-03 0.00000000e+00 3.34764252e+01] [ 5.77111440e-03 9.99983347e-01 0.00000000e+00 -4.58456631e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71266523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.51, Y:-0.46, Z:-0.04 [[ 9.99978306e-01 -6.58696811e-03 0.00000000e+00 3.35065177e+01] [ 6.58696811e-03 9.99978306e-01 0.00000000e+00 -4.63121454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72989049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.54, Y:-0.46, Z:-0.04 [[ 9.99978306e-01 -6.58696811e-03 0.00000000e+00 3.35375115e+01] [ 6.58696811e-03 9.99978306e-01 0.00000000e+00 -4.63162083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72989049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.57, Y:-0.47, Z:-0.04 [[ 9.99974728e-01 -7.10934085e-03 0.00000000e+00 3.35681336e+01] [ 7.10934085e-03 9.99974728e-01 0.00000000e+00 -4.68849978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81219398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.48, Z:-0.04 [[ 9.99959372e-01 -9.01417407e-03 0.00000000e+00 3.35984521e+01] [ 9.01417407e-03 9.99959372e-01 0.00000000e+00 -4.76030756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93111110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:-0.48, Z:-0.04 [[ 9.99957727e-01 -9.19482166e-03 0.00000000e+00 3.36286696e+01] [ 9.19482166e-03 9.99957727e-01 0.00000000e+00 -4.78067856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95254978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.48, Z:-0.04 [[ 9.99974167e-01 -7.18789815e-03 0.00000000e+00 3.36595032e+01] [ 7.18789815e-03 9.99974167e-01 0.00000000e+00 -4.80978715e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90085322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:-0.48, Z:-0.04 [[ 9.99990425e-01 -4.37599738e-03 0.00000000e+00 3.36897162e+01] [ 4.37599738e-03 9.99990425e-01 0.00000000e+00 -4.83780829e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78561536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392320588000004 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.49, Z:-0.04 [[ 9.99998286e-01 -1.85168878e-03 0.00000000e+00 3.37205352e+01] [ 1.85168878e-03 9.99998286e-01 0.00000000e+00 -4.87866269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82260896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.75, Y:-0.49, Z:-0.04 [[ 9.99997675e-01 -2.15653402e-03 0.00000000e+00 3.37506605e+01] [ 2.15653402e-03 9.99997675e-01 0.00000000e+00 -4.90205564e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02927810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.49, Z:-0.04 [[ 9.99998198e-01 -1.89850873e-03 0.00000000e+00 3.37802964e+01] [ 1.89850873e-03 9.99998198e-01 0.00000000e+00 -4.94822438e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28531553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.81, Y:-0.51, Z:-0.04 [[ 9.99995861e-01 -2.87724835e-03 0.00000000e+00 3.38106985e+01] [ 2.87724835e-03 9.99995861e-01 0.00000000e+00 -5.09560545e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35255398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.51, Z:-0.04 [[ 9.99995859e-01 -2.87797878e-03 0.00000000e+00 3.38413243e+01] [ 2.87797878e-03 9.99995859e-01 0.00000000e+00 -5.14056271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10752134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:-0.51, Z:-0.04 [[ 9.99998830e-01 -1.52968359e-03 0.00000000e+00 3.38720891e+01] [ 1.52968359e-03 9.99998830e-01 0.00000000e+00 -5.14920082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04235302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572320588000004 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.51, Z:-0.04 [[ 9.99998740e-01 1.58775689e-03 0.00000000e+00 3.39021168e+01] [-1.58775689e-03 9.99998740e-01 0.00000000e+00 -5.14743721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02933875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.93, Y:-0.52, Z:-0.04 [[ 9.99985916e-01 5.30733736e-03 0.00000000e+00 3.39327286e+01] [-5.30733736e-03 9.99985916e-01 0.00000000e+00 -5.16034393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02843891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.52, Z:-0.04 [[ 9.99872647e-01 1.59589733e-02 0.00000000e+00 3.39633796e+01] [-1.59589733e-02 9.99872647e-01 0.00000000e+00 -5.20726631e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30105452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.52, Z:-0.04 [[ 9.99747355e-01 2.24772180e-02 0.00000000e+00 3.39944100e+01] [-2.24772180e-02 9.99747355e-01 0.00000000e+00 -5.20322754e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42548552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.52, Z:-0.04 [[ 9.99599250e-01 2.83079487e-02 0.00000000e+00 3.40260691e+01] [-2.83079487e-02 9.99599250e-01 0.00000000e+00 -5.18387343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41090485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:-0.52, Z:-0.04 [[ 9.99438524e-01 3.35057828e-02 0.00000000e+00 3.40584167e+01] [-3.35057828e-02 9.99438524e-01 0.00000000e+00 -5.16688918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34418199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.51, Z:-0.04 [[ 0.99926626 0.03830071 0. 34.09084934] [-0.03830071 0.99926626 0. -0.5138434 ] [ 0. 0. 1. -0.04052195] [ 0. 0. 0. 1. ]] SLAMing on 33.782320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:34.12, Y:-0.51, Z:-0.04 [[ 0.99918941 0.04025573 0. 34.1226617 ] [-0.04025573 0.99918941 0. -0.51309652] [ 0. 0. 1. -0.04076045] [ 0. 0. 0. 1. ]] SLAMing on 33.812320588000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.51, Z:-0.03 [[ 9.99113436e-01 4.20992014e-02 0.00000000e+00 3.41552230e+01] [-4.20992014e-02 9.99113436e-01 0.00000000e+00 -5.13711882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32916330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:-0.51, Z:-0.04 [[ 0.99913023 0.04169882 0. 34.18517243] [-0.04169882 0.99913023 0. -0.51449832] [ 0. 0. 1. -0.04317836] [ 0. 0. 0. 1. ]] SLAMing on 33.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.51, Z:-0.04 [[ 0.99899941 0.04472343 0. 34.21758939] [-0.04472343 0.99899941 0. -0.51071219] [ 0. 0. 1. -0.04303768] [ 0. 0. 0. 1. ]] SLAMing on 33.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.25, Y:-0.50, Z:-0.04 [[ 0.99895877 0.04562209 0. 34.24988306] [-0.04562209 0.99895877 0. -0.50340026] [ 0. 0. 1. -0.04141192] [ 0. 0. 0. 1. ]] SLAMing on 33.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.49, Z:-0.04 [[ 0.99894217 0.04598406 0. 34.28183136] [-0.04598406 0.99894217 0. -0.4949537 ] [ 0. 0. 1. -0.03978763] [ 0. 0. 0. 1. ]] SLAMing on 33.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.49, Z:-0.04 [[ 0.99892991 0.04624979 0. 34.3136746 ] [-0.04624979 0.99892991 0. -0.48961193] [ 0. 0. 1. -0.0394056 ] [ 0. 0. 0. 1. ]] SLAMing on 33.992320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.35, Y:-0.49, Z:-0.04 [[ 0.99897665 0.04522894 0. 34.34614203] [-0.04522894 0.99897665 0. -0.48900859] [ 0. 0. 1. -0.03947267] [ 0. 0. 0. 1. ]] SLAMing on 34.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:-0.49, Z:-0.04 [[ 0.99918524 0.0403592 0. 34.37865277] [-0.0403592 0.99918524 0. -0.49029194] [ 0. 0. 1. -0.03914188] [ 0. 0. 0. 1. ]] SLAMing on 34.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.41, Y:-0.49, Z:-0.04 [[ 0.99935454 0.03592349 0. 34.41027489] [-0.03592349 0.99935454 0. -0.48746938] [ 0. 0. 1. -0.04070562] [ 0. 0. 0. 1. ]] SLAMing on 34.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:-0.48, Z:-0.04 [[ 9.99533556e-01 3.05396671e-02 0.00000000e+00 3.44420121e+01] [-3.05396671e-02 9.99533556e-01 0.00000000e+00 -4.83793720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40119745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.47, Y:-0.48, Z:-0.05 [[ 9.99709731e-01 2.40925922e-02 0.00000000e+00 3.44735975e+01] [-2.40925922e-02 9.99709731e-01 0.00000000e+00 -4.82356357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58621688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.48, Z:-0.05 [[ 9.99847683e-01 1.74531292e-02 0.00000000e+00 3.45052467e+01] [-1.74531292e-02 9.99847683e-01 0.00000000e+00 -4.83911852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57660492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.54, Y:-0.49, Z:-0.04 [[ 9.99963772e-01 8.51202667e-03 0.00000000e+00 3.45360835e+01] [-8.51202667e-03 9.99963772e-01 0.00000000e+00 -4.88406822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12699039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.49, Z:-0.03 [[ 9.99980072e-01 6.31308029e-03 0.00000000e+00 3.45671778e+01] [-6.31308029e-03 9.99980072e-01 0.00000000e+00 -4.87833040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11877313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:-0.49, Z:-0.04 [[ 9.99997526e-01 2.22426608e-03 0.00000000e+00 3.45982469e+01] [-2.22426608e-03 9.99997526e-01 0.00000000e+00 -4.85954394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03427081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.63, Y:-0.49, Z:-0.04 [[ 9.99999981e-01 1.97095906e-04 0.00000000e+00 3.46288838e+01] [-1.97095906e-04 9.99999981e-01 0.00000000e+00 -4.87460327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19584635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.66, Y:-0.49, Z:-0.04 [[ 9.99993338e-01 -3.65016277e-03 0.00000000e+00 3.46591395e+01] [ 3.65016277e-03 9.99993338e-01 0.00000000e+00 -4.90702780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30727346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.69, Y:-0.49, Z:-0.04 [[ 9.99972609e-01 -7.40150234e-03 0.00000000e+00 3.46898497e+01] [ 7.40150234e-03 9.99972609e-01 0.00000000e+00 -4.94822440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26572155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:-0.50, Z:-0.04 [[ 9.99888677e-01 -1.49209395e-02 0.00000000e+00 3.47204805e+01] [ 1.49209395e-02 9.99888677e-01 0.00000000e+00 -5.03793880e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38877931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.75, Y:-0.51, Z:-0.04 [[ 9.99832801e-01 -1.82857931e-02 0.00000000e+00 3.47499863e+01] [ 1.82857931e-02 9.99832801e-01 0.00000000e+00 -5.07681512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35213161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.78, Y:-0.51, Z:-0.04 [[ 9.99790039e-01 -2.04909340e-02 0.00000000e+00 3.47797942e+01] [ 2.04909340e-02 9.99790039e-01 0.00000000e+00 -5.10764637e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26722098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:-0.51, Z:-0.04 [[ 9.99765477e-01 -2.16561891e-02 0.00000000e+00 3.48097260e+01] [ 2.16561891e-02 9.99765477e-01 0.00000000e+00 -5.13633217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20923502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.84, Y:-0.52, Z:-0.04 [[ 9.99752509e-01 -2.22468115e-02 0.00000000e+00 3.48385359e+01] [ 2.22468115e-02 9.99752509e-01 0.00000000e+00 -5.18394285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25094671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:-0.53, Z:-0.04 [[ 9.99787994e-01 -2.05904777e-02 0.00000000e+00 3.48670052e+01] [ 2.05904777e-02 9.99787994e-01 0.00000000e+00 -5.29704047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35645242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:34.90, Y:-0.53, Z:-0.04 [[ 9.99825869e-01 -1.86609834e-02 0.00000000e+00 3.48959948e+01] [ 1.86609834e-02 9.99825869e-01 0.00000000e+00 -5.32307950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31587573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562320588000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.93, Y:-0.53, Z:-0.04 [[ 9.99863820e-01 -1.65027606e-02 0.00000000e+00 3.49251809e+01] [ 1.65027606e-02 9.99863820e-01 0.00000000e+00 -5.32442483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23488776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.95, Y:-0.53, Z:-0.04 [[ 9.99898371e-01 -1.42564664e-02 0.00000000e+00 3.49540723e+01] [ 1.42564664e-02 9.99898371e-01 0.00000000e+00 -5.32829967e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18425690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.98, Y:-0.54, Z:-0.04 [[ 9.99927162e-01 -1.20694333e-02 0.00000000e+00 3.49838056e+01] [ 1.20694333e-02 9.99927162e-01 0.00000000e+00 -5.35292109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26804313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.01, Y:-0.55, Z:-0.04 [[ 9.99969292e-01 -7.83671610e-03 0.00000000e+00 3.50137079e+01] [ 7.83671610e-03 9.99969292e-01 0.00000000e+00 -5.46537261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30449703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.04, Y:-0.55, Z:-0.04 [[ 9.99986063e-01 -5.27950768e-03 0.00000000e+00 3.50431372e+01] [ 5.27950768e-03 9.99986063e-01 0.00000000e+00 -5.49704193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18846246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.07, Y:-0.55, Z:-0.04 [[ 9.99999943e-01 -3.37505273e-04 0.00000000e+00 3.50724671e+01] [ 3.37505273e-04 9.99999943e-01 0.00000000e+00 -5.49655690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00306689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.10, Y:-0.55, Z:-0.04 [[ 9.99952937e-01 9.70175198e-03 0.00000000e+00 3.51031687e+01] [-9.70175198e-03 9.99952937e-01 0.00000000e+00 -5.46739105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74625122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.13, Y:-0.55, Z:-0.04 [[ 9.99901007e-01 1.40703953e-02 0.00000000e+00 3.51341251e+01] [-1.40703953e-02 9.99901007e-01 0.00000000e+00 -5.47025725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83869052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.55, Z:-0.04 [[ 9.99827399e-01 1.85787896e-02 0.00000000e+00 3.51667745e+01] [-1.85787896e-02 9.99827399e-01 0.00000000e+00 -5.47369408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92531407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.55, Z:-0.04 [[ 9.99764324e-01 2.17093408e-02 0.00000000e+00 3.51992420e+01] [-2.17093408e-02 9.99764324e-01 0.00000000e+00 -5.46996246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16534091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.54, Z:-0.04 [[ 9.99603358e-01 2.81624958e-02 0.00000000e+00 3.52309533e+01] [-2.81624958e-02 9.99603358e-01 0.00000000e+00 -5.44175770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19416367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.54, Z:-0.04 [[ 9.99541284e-01 3.02856641e-02 0.00000000e+00 3.52628521e+01] [-3.02856641e-02 9.99541284e-01 0.00000000e+00 -5.43102382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06031837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.29, Y:-0.54, Z:-0.03 [[ 9.99511109e-01 3.12656716e-02 0.00000000e+00 3.52949237e+01] [-3.12656716e-02 9.99511109e-01 0.00000000e+00 -5.41025306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24938427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:-0.54, Z:-0.04 [[ 9.99462956e-01 3.27688930e-02 0.00000000e+00 3.53271738e+01] [-3.27688930e-02 9.99462956e-01 0.00000000e+00 -5.36754602e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89113999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.53, Z:-0.04 [[ 9.99462047e-01 3.27966011e-02 0.00000000e+00 3.53593761e+01] [-3.27966011e-02 9.99462047e-01 0.00000000e+00 -5.31428984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90030793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.39, Y:-0.53, Z:-0.04 [[ 9.99439932e-01 3.34637336e-02 0.00000000e+00 3.53915216e+01] [-3.34637336e-02 9.99439932e-01 0.00000000e+00 -5.26509043e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03816036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:-0.52, Z:-0.04 [[ 9.99477829e-01 3.23120658e-02 0.00000000e+00 3.54239491e+01] [-3.23120658e-02 9.99477829e-01 0.00000000e+00 -5.24264340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26883588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:-0.53, Z:-0.04 [[ 9.99550127e-01 2.99924067e-02 0.00000000e+00 3.54556133e+01] [-2.99924067e-02 9.99550127e-01 0.00000000e+00 -5.26560185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24818258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.53, Z:-0.04 [[ 9.99620730e-01 2.75389990e-02 0.00000000e+00 3.54875145e+01] [-2.75389990e-02 9.99620730e-01 0.00000000e+00 -5.29234308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15873292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:-0.53, Z:-0.04 [[ 9.99617216e-01 2.76662491e-02 0.00000000e+00 3.55201722e+01] [-2.76662491e-02 9.99617216e-01 0.00000000e+00 -5.29276930e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15873292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.55, Y:-0.53, Z:-0.04 [[ 9.99674560e-01 2.55102721e-02 0.00000000e+00 3.55519435e+01] [-2.55102721e-02 9.99674560e-01 0.00000000e+00 -5.30636998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95874960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.58, Y:-0.53, Z:-0.04 [[ 9.99649747e-01 2.64647546e-02 0.00000000e+00 3.55841008e+01] [-2.64647546e-02 9.99649747e-01 0.00000000e+00 -5.27379336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93404398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.62, Y:-0.52, Z:-0.04 [[ 9.99636994e-01 2.69421798e-02 0.00000000e+00 3.56157024e+01] [-2.69421798e-02 9.99636994e-01 0.00000000e+00 -5.23104437e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03465399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.52, Z:-0.04 [[ 9.99613504e-01 2.78000448e-02 0.00000000e+00 3.56474465e+01] [-2.78000448e-02 9.99613504e-01 0.00000000e+00 -5.19559722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04222785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.68, Y:-0.52, Z:-0.04 [[ 9.99670761e-01 2.56586966e-02 0.00000000e+00 3.56795790e+01] [-2.56586966e-02 9.99670761e-01 0.00000000e+00 -5.20584812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00226452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.52, Z:-0.04 [[ 9.99713461e-01 2.39373478e-02 0.00000000e+00 3.57117535e+01] [-2.39373478e-02 9.99713461e-01 0.00000000e+00 -5.23510027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95767505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.74, Y:-0.53, Z:-0.04 [[ 9.99773818e-01 2.12676579e-02 0.00000000e+00 3.57442731e+01] [-2.12676579e-02 9.99773818e-01 0.00000000e+00 -5.26707843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82698203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.78, Y:-0.53, Z:-0.04 [[ 9.99834822e-01 1.81749634e-02 0.00000000e+00 3.57760886e+01] [-1.81749634e-02 9.99834822e-01 0.00000000e+00 -5.28582086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75710149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.81, Y:-0.53, Z:-0.04 [[ 9.99892366e-01 1.46715980e-02 0.00000000e+00 3.58078342e+01] [-1.46715980e-02 9.99892366e-01 0.00000000e+00 -5.28978186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80887392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.53, Z:-0.04 [[ 9.99922263e-01 1.24686715e-02 0.00000000e+00 3.58393607e+01] [-1.24686715e-02 9.99922263e-01 0.00000000e+00 -5.28404902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86433022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:-0.53, Z:-0.04 [[ 9.99936541e-01 1.12655816e-02 0.00000000e+00 3.58703328e+01] [-1.12655816e-02 9.99936541e-01 0.00000000e+00 -5.26631628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03395166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:-0.53, Z:-0.04 [[ 9.99928789e-01 1.19338185e-02 0.00000000e+00 3.59017207e+01] [-1.19338185e-02 9.99928789e-01 0.00000000e+00 -5.25779444e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00030373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.93, Y:-0.53, Z:-0.04 [[ 9.99924003e-01 1.23283155e-02 0.00000000e+00 3.59329091e+01] [-1.23283155e-02 9.99924003e-01 0.00000000e+00 -5.25902284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91004925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.96, Y:-0.53, Z:-0.04 [[ 9.99905082e-01 1.37777449e-02 0.00000000e+00 3.59640325e+01] [-1.37777449e-02 9.99905082e-01 0.00000000e+00 -5.30224008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84462566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.00, Y:-0.53, Z:-0.04 [[ 9.99896548e-01 1.43837718e-02 0.00000000e+00 3.59952110e+01] [-1.43837718e-02 9.99896548e-01 0.00000000e+00 -5.31350860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72977790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.03, Y:-0.53, Z:-0.04 [[ 9.99883567e-01 1.52594753e-02 0.00000000e+00 3.60264835e+01] [-1.52594753e-02 9.99883567e-01 0.00000000e+00 -5.29832612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70182347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.53, Z:-0.04 [[ 9.99870146e-01 1.61149594e-02 0.00000000e+00 3.60577727e+01] [-1.61149594e-02 9.99870146e-01 0.00000000e+00 -5.26691946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70051835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.09, Y:-0.53, Z:-0.04 [[ 9.99828636e-01 1.85120981e-02 0.00000000e+00 3.60895983e+01] [-1.85120981e-02 9.99828636e-01 0.00000000e+00 -5.25761578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97603319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.53, Z:-0.04 [[ 9.99829218e-01 1.84806645e-02 0.00000000e+00 3.61220987e+01] [-1.84806645e-02 9.99829218e-01 0.00000000e+00 -5.28777634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98048030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.15, Y:-0.53, Z:-0.04 [[ 9.99831414e-01 1.83614710e-02 0.00000000e+00 3.61540706e+01] [-1.83614710e-02 9.99831414e-01 0.00000000e+00 -5.31879694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89921048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.53, Z:-0.04 [[ 9.99851800e-01 1.72156527e-02 0.00000000e+00 3.61864190e+01] [-1.72156527e-02 9.99851800e-01 0.00000000e+00 -5.34186996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72137991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.54, Z:-0.03 [[ 9.99837571e-01 1.80230654e-02 0.00000000e+00 3.62182663e+01] [-1.80230654e-02 9.99837571e-01 0.00000000e+00 -5.35554410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79097140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.54, Z:-0.03 [[ 9.99873194e-01 1.59246804e-02 0.00000000e+00 3.62474216e+01] [-1.59246804e-02 9.99873194e-01 0.00000000e+00 -5.36496130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47616215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.54, Z:-0.04 [[ 9.99850043e-01 1.73173548e-02 0.00000000e+00 3.62794960e+01] [-1.73173548e-02 9.99850043e-01 0.00000000e+00 -5.35863521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50007587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.53, Z:-0.04 [[ 9.99824469e-01 1.87358241e-02 0.00000000e+00 3.63113047e+01] [-1.87358241e-02 9.99824469e-01 0.00000000e+00 -5.34531404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59162924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.53, Z:-0.04 [[ 9.99775292e-01 2.11982427e-02 0.00000000e+00 3.63433568e+01] [-2.11982427e-02 9.99775292e-01 0.00000000e+00 -5.33747451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65988631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.38, Y:-0.54, Z:-0.04 [[ 9.99671192e-01 2.56419023e-02 0.00000000e+00 3.63751389e+01] [-2.56419023e-02 9.99671192e-01 0.00000000e+00 -5.36656729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68292484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.41, Y:-0.54, Z:-0.04 [[ 9.99576752e-01 2.90915164e-02 0.00000000e+00 3.64069780e+01] [-2.90915164e-02 9.99576752e-01 0.00000000e+00 -5.39196727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66220756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.44, Y:-0.54, Z:-0.04 [[ 9.99486185e-01 3.20525606e-02 0.00000000e+00 3.64391954e+01] [-3.20525606e-02 9.99486185e-01 0.00000000e+00 -5.40115426e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57607678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.47, Y:-0.54, Z:-0.03 [[ 9.99305654e-01 3.72587009e-02 0.00000000e+00 3.64709511e+01] [-3.72587009e-02 9.99305654e-01 0.00000000e+00 -5.36336495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46016096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:-0.53, Z:-0.03 [[ 9.99229544e-01 3.92468906e-02 0.00000000e+00 3.65027456e+01] [-3.92468906e-02 9.99229544e-01 0.00000000e+00 -5.32814910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43598068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:36.53, Y:-0.53, Z:-0.03 [[ 9.99121992e-01 4.18956427e-02 0.00000000e+00 3.65347621e+01] [-4.18956427e-02 9.99121992e-01 0.00000000e+00 -5.28582810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45113808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.57, Y:-0.52, Z:-0.04 [[ 9.98994280e-01 4.48377952e-02 0.00000000e+00 3.65667008e+01] [-4.48377952e-02 9.98994280e-01 0.00000000e+00 -5.24468301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59308979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.60, Y:-0.52, Z:-0.04 [[ 9.98852279e-01 4.78970269e-02 0.00000000e+00 3.65993427e+01] [-4.78970269e-02 9.98852279e-01 0.00000000e+00 -5.21612596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52407475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.52, Z:-0.04 [[ 9.98611301e-01 5.26827323e-02 0.00000000e+00 3.66314732e+01] [-5.26827323e-02 9.98611301e-01 0.00000000e+00 -5.19130896e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53032098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.52, Z:-0.03 [[ 9.98516671e-01 5.44468305e-02 0.00000000e+00 3.66638545e+01] [-5.44468305e-02 9.98516671e-01 0.00000000e+00 -5.16788986e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36978016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.70, Y:-0.51, Z:-0.03 [[ 9.98358980e-01 5.72655894e-02 0.00000000e+00 3.66965795e+01] [-5.72655894e-02 9.98358980e-01 0.00000000e+00 -5.07172647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24571164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.73, Y:-0.50, Z:-0.03 [[ 9.98262226e-01 5.89281672e-02 0.00000000e+00 3.67283860e+01] [-5.89281672e-02 9.98262226e-01 0.00000000e+00 -5.01715490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22903457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.76, Y:-0.50, Z:-0.03 [[ 9.98235263e-01 5.93831633e-02 0.00000000e+00 3.67601116e+01] [-5.93831633e-02 9.98235263e-01 0.00000000e+00 -4.97528831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15379720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:-0.49, Z:-0.03 [[ 9.98203784e-01 5.99099831e-02 0.00000000e+00 3.67920284e+01] [-5.99099831e-02 9.98203784e-01 0.00000000e+00 -4.93141186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19198460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.82, Y:-0.49, Z:-0.03 [[ 9.98209092e-01 5.98214695e-02 0.00000000e+00 3.68238522e+01] [-5.98214695e-02 9.98209092e-01 0.00000000e+00 -4.87958070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31731428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.86, Y:-0.48, Z:-0.03 [[ 9.98385832e-01 5.67955171e-02 0.00000000e+00 3.68564975e+01] [-5.67955171e-02 9.98385832e-01 0.00000000e+00 -4.79251282e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46454471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:36.89, Y:-0.48, Z:-0.03 [[ 9.98547033e-01 5.38871291e-02 0.00000000e+00 3.68881746e+01] [-5.38871291e-02 9.98547033e-01 0.00000000e+00 -4.76038497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43446368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:-0.47, Z:-0.03 [[ 9.98721142e-01 5.05576866e-02 0.00000000e+00 3.69196128e+01] [-5.05576866e-02 9.98721142e-01 0.00000000e+00 -4.71288525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19322632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.95, Y:-0.46, Z:-0.03 [[ 9.98866795e-01 4.75933300e-02 0.00000000e+00 3.69510754e+01] [-4.75933300e-02 9.98866795e-01 0.00000000e+00 -4.63759803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96330223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.98, Y:-0.45, Z:-0.03 [[ 9.98989611e-01 4.49417062e-02 0.00000000e+00 3.69824585e+01] [-4.49417062e-02 9.98989611e-01 0.00000000e+00 -4.54865209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97244211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.45, Z:-0.03 [[ 9.99266739e-01 3.82881864e-02 0.00000000e+00 3.70129442e+01] [-3.82881864e-02 9.99266739e-01 0.00000000e+00 -4.46844703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38581638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:-0.45, Z:-0.03 [[ 9.99405324e-01 3.44818601e-02 0.00000000e+00 3.70434655e+01] [-3.44818601e-02 9.99405324e-01 0.00000000e+00 -4.48210207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48198723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.45, Z:-0.03 [[ 9.99557008e-01 2.97621730e-02 0.00000000e+00 3.70743957e+01] [-2.97621730e-02 9.99557008e-01 0.00000000e+00 -4.48953081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42732325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.45, Z:-0.03 [[ 9.99688593e-01 2.49543095e-02 0.00000000e+00 3.71047940e+01] [-2.49543095e-02 9.99688593e-01 0.00000000e+00 -4.46515182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18251396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.14, Y:-0.44, Z:-0.03 [[ 9.99873016e-01 1.59358451e-02 0.00000000e+00 3.71353996e+01] [-1.59358451e-02 9.99873016e-01 0.00000000e+00 -4.40222627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79185960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.17, Y:-0.44, Z:-0.03 [[ 9.99918587e-01 1.27600944e-02 0.00000000e+00 3.71660262e+01] [-1.27600944e-02 9.99918587e-01 0.00000000e+00 -4.39642989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76806120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:-0.44, Z:-0.03 [[ 9.99941524e-01 1.08142602e-02 0.00000000e+00 3.71960950e+01] [-1.08142602e-02 9.99941524e-01 0.00000000e+00 -4.39268130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74792413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.23, Y:-0.44, Z:-0.03 [[ 9.99944111e-01 1.05723521e-02 0.00000000e+00 3.72262747e+01] [-1.05723521e-02 9.99944111e-01 0.00000000e+00 -4.37494863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75183015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:-0.44, Z:-0.03 [[ 9.99946163e-01 1.03764965e-02 0.00000000e+00 3.72571625e+01] [-1.03764965e-02 9.99946163e-01 0.00000000e+00 -4.35546449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90126743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.44, Z:-0.03 [[ 9.99958426e-01 9.11849972e-03 0.00000000e+00 3.72873109e+01] [-9.11849972e-03 9.99958426e-01 0.00000000e+00 -4.39521096e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05278240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:-0.45, Z:-0.03 [[ 9.99974847e-01 7.09263174e-03 0.00000000e+00 3.73175132e+01] [-7.09263174e-03 9.99974847e-01 0.00000000e+00 -4.45294003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04848438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:-0.45, Z:-0.03 [[ 9.99986163e-01 5.26051467e-03 0.00000000e+00 3.73482128e+01] [-5.26051467e-03 9.99986163e-01 0.00000000e+00 -4.49441900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14673266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.38, Y:-0.45, Z:-0.03 [[ 9.99996210e-01 2.75311910e-03 0.00000000e+00 3.73786029e+01] [-2.75311910e-03 9.99996210e-01 0.00000000e+00 -4.50554071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14285744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:-0.45, Z:-0.03 [[ 9.99999933e-01 -3.66077968e-04 0.00000000e+00 3.74094295e+01] [ 3.66077968e-04 9.99999933e-01 0.00000000e+00 -4.48063067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06418897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:-0.45, Z:-0.03 [[ 9.99998729e-01 -1.59453763e-03 0.00000000e+00 3.74402694e+01] [ 1.59453763e-03 9.99998729e-01 0.00000000e+00 -4.49213229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98543803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:-0.45, Z:-0.03 [[ 9.99997658e-01 -2.16409456e-03 0.00000000e+00 3.74705090e+01] [ 2.16409456e-03 9.99997658e-01 0.00000000e+00 -4.51609190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91947447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:-0.45, Z:-0.03 [[ 9.99997658e-01 -2.16409456e-03 0.00000000e+00 3.75015051e+01] [ 2.16409456e-03 9.99997658e-01 0.00000000e+00 -4.51813442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91947447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:-0.46, Z:-0.03 [[ 9.99994858e-01 -3.20696955e-03 0.00000000e+00 3.75316019e+01] [ 3.20696955e-03 9.99994858e-01 0.00000000e+00 -4.56762641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14357520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:-0.46, Z:-0.03 [[ 9.99992789e-01 -3.79752591e-03 0.00000000e+00 3.75619124e+01] [ 3.79752591e-03 9.99992789e-01 0.00000000e+00 -4.61291021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38192840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:-0.47, Z:-0.03 [[ 9.99986753e-01 -5.14714452e-03 0.00000000e+00 3.75919986e+01] [ 5.14714452e-03 9.99986753e-01 0.00000000e+00 -4.67156522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49858923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.47, Z:-0.03 [[ 9.99979430e-01 -6.41397205e-03 0.00000000e+00 3.76213653e+01] [ 6.41397205e-03 9.99979430e-01 0.00000000e+00 -4.72263841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46643172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:-0.48, Z:-0.03 [[ 9.99965843e-01 -8.26521740e-03 0.00000000e+00 3.76519639e+01] [ 8.26521740e-03 9.99965843e-01 0.00000000e+00 -4.76102382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19779057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.48, Z:-0.03 [[ 9.99969334e-01 -7.83136482e-03 0.00000000e+00 3.76821021e+01] [ 7.83136482e-03 9.99969334e-01 0.00000000e+00 -4.75526965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06780494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:-0.48, Z:-0.03 [[ 9.99980383e-01 -6.26364874e-03 0.00000000e+00 3.77123110e+01] [ 6.26364874e-03 9.99980383e-01 0.00000000e+00 -4.75821608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02216185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.48, Z:-0.03 [[ 9.99995249e-01 -3.08258208e-03 0.00000000e+00 3.77425686e+01] [ 3.08258208e-03 9.99995249e-01 0.00000000e+00 -4.76826061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06291738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:-0.48, Z:-0.03 [[ 9.99999731e-01 7.33790894e-04 0.00000000e+00 3.77726033e+01] [-7.33790894e-04 9.99999731e-01 0.00000000e+00 -4.79613430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05629280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.48, Z:-0.03 [[ 9.99989663e-01 4.54678423e-03 0.00000000e+00 3.78027005e+01] [-4.54678423e-03 9.99989663e-01 0.00000000e+00 -4.83306958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12287888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.83, Y:-0.49, Z:-0.03 [[ 9.99948876e-01 1.01116057e-02 0.00000000e+00 3.78334957e+01] [-1.01116057e-02 9.99948876e-01 0.00000000e+00 -4.88063077e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13470682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.49, Z:-0.03 [[ 9.99921360e-01 1.25408587e-02 0.00000000e+00 3.78640739e+01] [-1.25408587e-02 9.99921360e-01 0.00000000e+00 -4.88382988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19351511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:-0.49, Z:-0.03 [[ 9.99895674e-01 1.44444071e-02 0.00000000e+00 3.78954291e+01] [-1.44444071e-02 9.99895674e-01 0.00000000e+00 -4.88017280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19721075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:-0.49, Z:-0.03 [[ 9.99727048e-01 2.33630111e-02 0.00000000e+00 3.79268446e+01] [-2.33630111e-02 9.99727048e-01 0.00000000e+00 -4.88293289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23028518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.96, Y:-0.49, Z:-0.03 [[ 9.99565839e-01 2.94641114e-02 0.00000000e+00 3.79582854e+01] [-2.94641114e-02 9.99565839e-01 0.00000000e+00 -4.87353867e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16841031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:-0.48, Z:-0.03 [[ 9.99383431e-01 3.51106653e-02 0.00000000e+00 3.79894280e+01] [-3.51106653e-02 9.99383431e-01 0.00000000e+00 -4.83855865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13631966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.48, Z:-0.03 [[ 9.99196171e-01 4.00875505e-02 0.00000000e+00 3.80204411e+01] [-4.00875505e-02 9.99196171e-01 0.00000000e+00 -4.78581470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10299543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.47, Z:-0.03 [[ 9.98919724e-01 4.64691874e-02 0.00000000e+00 3.80506619e+01] [-4.64691874e-02 9.98919724e-01 0.00000000e+00 -4.70877512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24605919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.47, Z:-0.03 [[ 9.98884726e-01 4.72155131e-02 0.00000000e+00 3.80824542e+01] [-4.72155131e-02 9.98884726e-01 0.00000000e+00 -4.70617091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19568638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.47, Z:-0.03 [[ 9.98929688e-01 4.62544986e-02 0.00000000e+00 3.81137376e+01] [-4.62544986e-02 9.98929688e-01 0.00000000e+00 -4.69649466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13160479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:-0.47, Z:-0.03 [[ 9.99046201e-01 4.36656432e-02 0.00000000e+00 3.81453802e+01] [-4.36656432e-02 9.99046201e-01 0.00000000e+00 -4.66472734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08014885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.46, Z:-0.03 [[ 9.99258247e-01 3.85091635e-02 0.00000000e+00 3.81762065e+01] [-3.85091635e-02 9.99258247e-01 0.00000000e+00 -4.55127736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24694487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.21, Y:-0.45, Z:-0.03 [[ 9.99357859e-01 3.58311207e-02 0.00000000e+00 3.82072279e+01] [-3.58311207e-02 9.99357859e-01 0.00000000e+00 -4.51939381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32116460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:-0.45, Z:-0.03 [[ 9.99477672e-01 3.23169235e-02 0.00000000e+00 3.82375611e+01] [-3.23169235e-02 9.99477672e-01 0.00000000e+00 -4.51056363e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25878271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:-0.45, Z:-0.03 [[ 9.99681809e-01 2.52245963e-02 0.00000000e+00 3.82683244e+01] [-2.52245963e-02 9.99681809e-01 0.00000000e+00 -4.50143516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22858364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:-0.45, Z:-0.03 [[ 9.99738026e-01 2.28884050e-02 0.00000000e+00 3.82989174e+01] [-2.28884050e-02 9.99738026e-01 0.00000000e+00 -4.48330796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26312330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:-0.44, Z:-0.03 [[ 9.99784450e-01 2.07618250e-02 0.00000000e+00 3.83293225e+01] [-2.07618250e-02 9.99784450e-01 0.00000000e+00 -4.44839594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38442501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:-0.44, Z:-0.03 [[ 9.99842959e-01 1.77216864e-02 0.00000000e+00 3.83595293e+01] [-1.77216864e-02 9.99842959e-01 0.00000000e+00 -4.40737797e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36460142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:-0.43, Z:-0.03 [[ 9.99942044e-01 1.07660998e-02 0.00000000e+00 3.83896676e+01] [-1.07660998e-02 9.99942044e-01 0.00000000e+00 -4.31333213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03152157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:-0.43, Z:-0.03 [[ 9.99966611e-01 8.17172121e-03 0.00000000e+00 3.84206160e+01] [-8.17172121e-03 9.99966611e-01 0.00000000e+00 -4.28836095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94944923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:-0.43, Z:-0.03 [[ 9.99979452e-01 6.41056713e-03 0.00000000e+00 3.84509864e+01] [-6.41056713e-03 9.99979452e-01 0.00000000e+00 -4.28685873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13485112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.48, Y:-0.43, Z:-0.03 [[ 9.99990041e-01 4.46284031e-03 0.00000000e+00 3.84815515e+01] [-4.46284031e-03 9.99990041e-01 0.00000000e+00 -4.30774717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29705701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:-0.44, Z:-0.03 [[ 9.99999453e-01 1.04575069e-03 0.00000000e+00 3.85119203e+01] [-1.04575069e-03 9.99999453e-01 0.00000000e+00 -4.35469672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40262055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.54, Y:-0.44, Z:-0.02 [[ 9.99999857e-01 5.34874783e-04 0.00000000e+00 3.85419155e+01] [-5.34874783e-04 9.99999857e-01 0.00000000e+00 -4.35671959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46284599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.57, Y:-0.43, Z:-0.02 [[ 9.99998445e-01 -1.76345434e-03 0.00000000e+00 3.85721916e+01] [ 1.76345434e-03 9.99998445e-01 0.00000000e+00 -4.33692641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12563545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:-0.43, Z:-0.03 [[ 9.99998576e-01 -1.68776673e-03 0.00000000e+00 3.86028291e+01] [ 1.68776673e-03 9.99998576e-01 0.00000000e+00 -4.29832192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88981595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:-0.43, Z:-0.03 [[ 9.99999675e-01 -8.06568991e-04 0.00000000e+00 3.86333158e+01] [ 8.06568991e-04 9.99999675e-01 0.00000000e+00 -4.28204488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95432203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.43, Z:-0.03 [[ 9.99999313e-01 1.17211818e-03 0.00000000e+00 3.86639928e+01] [-1.17211818e-03 9.99999313e-01 0.00000000e+00 -4.25576304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14142851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.42, Z:-0.03 [[ 9.99989413e-01 4.60156302e-03 0.00000000e+00 3.86940865e+01] [-4.60156302e-03 9.99989413e-01 0.00000000e+00 -4.22149050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19105294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.72, Y:-0.42, Z:-0.03 [[ 9.99965675e-01 8.28542589e-03 0.00000000e+00 3.87245209e+01] [-8.28542589e-03 9.99965675e-01 0.00000000e+00 -4.19607410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22891662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.75, Y:-0.42, Z:-0.03 [[ 9.99902521e-01 1.39624087e-02 0.00000000e+00 3.87549527e+01] [-1.39624087e-02 9.99902521e-01 0.00000000e+00 -4.16000916e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15254830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.78, Y:-0.41, Z:-0.03 [[ 9.99888004e-01 1.49659370e-02 0.00000000e+00 3.87844873e+01] [-1.49659370e-02 9.99888004e-01 0.00000000e+00 -4.13608556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10016475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:-0.41, Z:-0.03 [[ 9.99861017e-01 1.66717486e-02 0.00000000e+00 3.88138299e+01] [-1.66717486e-02 9.99861017e-01 0.00000000e+00 -4.10002618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96939960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:-0.41, Z:-0.03 [[ 9.99847290e-01 1.74755830e-02 0.00000000e+00 3.88435997e+01] [-1.74755830e-02 9.99847290e-01 0.00000000e+00 -4.07674686e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84309254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:-0.41, Z:-0.03 [[ 9.99794308e-01 2.02815784e-02 0.00000000e+00 3.88736881e+01] [-2.02815784e-02 9.99794308e-01 0.00000000e+00 -4.05402099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83616986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:-0.40, Z:-0.03 [[ 9.99778662e-01 2.10387072e-02 0.00000000e+00 3.89035320e+01] [-2.10387072e-02 9.99778662e-01 0.00000000e+00 -4.02951316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87304287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.93, Y:-0.40, Z:-0.02 [[ 9.99732798e-01 2.31156215e-02 0.00000000e+00 3.89334694e+01] [-2.31156215e-02 9.99732798e-01 0.00000000e+00 -3.98189196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36073400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.96, Y:-0.39, Z:-0.03 [[ 9.99733645e-01 2.30789944e-02 0.00000000e+00 3.89622911e+01] [-2.30789944e-02 9.99733645e-01 0.00000000e+00 -3.92097347e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94105350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:-0.38, Z:-0.03 [[ 9.99717639e-01 2.37621820e-02 0.00000000e+00 3.89908464e+01] [-2.37621820e-02 9.99717639e-01 0.00000000e+00 -3.81504921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92021024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:-0.38, Z:-0.03 [[ 9.99742131e-01 2.27084016e-02 0.00000000e+00 3.90199038e+01] [-2.27084016e-02 9.99742131e-01 0.00000000e+00 -3.80477150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98207146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:-0.38, Z:-0.03 [[ 9.99798316e-01 2.00830042e-02 0.00000000e+00 3.90485135e+01] [-2.00830042e-02 9.99798316e-01 0.00000000e+00 -3.81907690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96203219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.38, Z:-0.03 [[ 9.99839851e-01 1.78961653e-02 0.00000000e+00 3.90782641e+01] [-1.78961653e-02 9.99839851e-01 0.00000000e+00 -3.84119002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90845691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:-0.38, Z:-0.03 [[ 9.99923525e-01 1.23670677e-02 0.00000000e+00 3.91073934e+01] [-1.23670677e-02 9.99923525e-01 0.00000000e+00 -3.84394143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97890709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:-0.38, Z:-0.03 [[ 9.99962600e-01 8.64862805e-03 0.00000000e+00 3.91374822e+01] [-8.64862805e-03 9.99962600e-01 0.00000000e+00 -3.83397830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97791059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:-0.38, Z:-0.03 [[ 9.99986473e-01 5.20140478e-03 0.00000000e+00 3.91668186e+01] [-5.20140478e-03 9.99986473e-01 0.00000000e+00 -3.83579357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01045720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.39, Z:-0.03 [[ 9.99999468e-01 1.03137994e-03 0.00000000e+00 3.91969744e+01] [-1.03137994e-03 9.99999468e-01 0.00000000e+00 -3.86078501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01404691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.23, Y:-0.39, Z:-0.03 [[ 9.99995970e-01 -2.83904488e-03 0.00000000e+00 3.92271122e+01] [ 2.83904488e-03 9.99995970e-01 0.00000000e+00 -3.90255820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99313670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.26, Y:-0.40, Z:-0.03 [[ 9.99975804e-01 -6.95643526e-03 0.00000000e+00 3.92573915e+01] [ 6.95643526e-03 9.99975804e-01 0.00000000e+00 -3.97454448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83454701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.29, Y:-0.40, Z:-0.03 [[ 9.99961793e-01 -8.74140785e-03 0.00000000e+00 3.92878160e+01] [ 8.74140785e-03 9.99961793e-01 0.00000000e+00 -3.98971306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82965468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.32, Y:-0.40, Z:-0.03 [[ 9.99960779e-01 -8.85671540e-03 0.00000000e+00 3.93187245e+01] [ 8.85671540e-03 9.99960779e-01 0.00000000e+00 -3.99011546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90775334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.35, Y:-0.40, Z:-0.03 [[ 9.99962893e-01 -8.61463026e-03 0.00000000e+00 3.93495969e+01] [ 8.61463026e-03 9.99962893e-01 0.00000000e+00 -3.99173013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07868865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.38, Y:-0.40, Z:-0.03 [[ 9.99970460e-01 -7.68624790e-03 0.00000000e+00 3.93808706e+01] [ 7.68624790e-03 9.99970460e-01 0.00000000e+00 -4.00914828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22287938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.41, Y:-0.40, Z:-0.03 [[ 9.99970460e-01 -7.68624790e-03 0.00000000e+00 3.94118699e+01] [ 7.68624790e-03 9.99970460e-01 0.00000000e+00 -4.01055377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22287938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.44, Y:-0.41, Z:-0.03 [[ 9.99976321e-01 -6.88172828e-03 0.00000000e+00 3.94420091e+01] [ 6.88172828e-03 9.99976321e-01 0.00000000e+00 -4.05344670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19757363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:-0.41, Z:-0.03 [[ 9.99984151e-01 -5.63004638e-03 0.00000000e+00 3.94724530e+01] [ 5.63004638e-03 9.99984151e-01 0.00000000e+00 -4.10846736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21203653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.50, Y:-0.42, Z:-0.03 [[ 9.99986843e-01 -5.12971465e-03 0.00000000e+00 3.95024561e+01] [ 5.12971465e-03 9.99986843e-01 0.00000000e+00 -4.18184928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88528853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.53, Y:-0.42, Z:-0.03 [[ 9.99990250e-01 -4.41592021e-03 0.00000000e+00 3.95327889e+01] [ 4.41592021e-03 9.99990250e-01 0.00000000e+00 -4.18557828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81574522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.56, Y:-0.42, Z:-0.03 [[ 9.99997336e-01 -2.30811038e-03 0.00000000e+00 3.95636564e+01] [ 2.30811038e-03 9.99997336e-01 0.00000000e+00 -4.17731989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88912767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:-0.42, Z:-0.03 [[ 9.99999544e-01 9.55506923e-04 0.00000000e+00 3.95938485e+01] [-9.55506923e-04 9.99999544e-01 0.00000000e+00 -4.16964428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06948511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.42, Z:-0.03 [[ 9.99958885e-01 9.06796945e-03 0.00000000e+00 3.96241133e+01] [-9.06796945e-03 9.99958885e-01 0.00000000e+00 -4.15603980e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03704951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.65, Y:-0.41, Z:-0.03 [[ 9.99921874e-01 1.24998643e-02 0.00000000e+00 3.96549396e+01] [-1.24998643e-02 9.99921874e-01 0.00000000e+00 -4.14444683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90637448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.41, Z:-0.03 [[ 9.99865596e-01 1.63948222e-02 0.00000000e+00 3.96843682e+01] [-1.63948222e-02 9.99865596e-01 0.00000000e+00 -4.12808720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80972840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:-0.41, Z:-0.03 [[ 9.99802299e-01 1.98837415e-02 0.00000000e+00 3.97139691e+01] [-1.98837415e-02 9.99802299e-01 0.00000000e+00 -4.12404782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83362460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.41, Z:-0.03 [[ 9.99732235e-01 2.31399766e-02 0.00000000e+00 3.97433699e+01] [-2.31399766e-02 9.99732235e-01 0.00000000e+00 -4.12525906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94242454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.77, Y:-0.41, Z:-0.03 [[ 9.99664986e-01 2.58827434e-02 0.00000000e+00 3.97728361e+01] [-2.58827434e-02 9.99664986e-01 0.00000000e+00 -4.10141456e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09235959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.41, Z:-0.03 [[ 9.99655734e-01 2.62376530e-02 0.00000000e+00 3.98023597e+01] [-2.62376530e-02 9.99655734e-01 0.00000000e+00 -4.07834619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04306152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:-0.41, Z:-0.03 [[ 9.99665675e-01 2.58560900e-02 0.00000000e+00 3.98321071e+01] [-2.58560900e-02 9.99665675e-01 0.00000000e+00 -4.05441055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98996880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:-0.40, Z:-0.03 [[ 9.99615360e-01 2.77332176e-02 0.00000000e+00 3.98615491e+01] [-2.77332176e-02 9.99615360e-01 0.00000000e+00 -4.04010582e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85614741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.89, Y:-0.40, Z:-0.03 [[ 9.99569749e-01 2.93311540e-02 0.00000000e+00 3.98903384e+01] [-2.93311540e-02 9.99569749e-01 0.00000000e+00 -4.01436590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87620227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.92, Y:-0.40, Z:-0.03 [[ 9.99549686e-01 3.00070895e-02 0.00000000e+00 3.99188379e+01] [-3.00070895e-02 9.99549686e-01 0.00000000e+00 -3.98045957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94636293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.95, Y:-0.39, Z:-0.03 [[ 9.99553104e-01 2.98930268e-02 0.00000000e+00 3.99478620e+01] [-2.98930268e-02 9.99553104e-01 0.00000000e+00 -3.93825600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90543673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.98, Y:-0.39, Z:-0.03 [[ 9.99563627e-01 2.95390359e-02 0.00000000e+00 3.99764815e+01] [-2.95390359e-02 9.99563627e-01 0.00000000e+00 -3.90830055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88329720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:-0.39, Z:-0.03 [[ 9.99700735e-01 2.44630605e-02 0.00000000e+00 4.00047783e+01] [-2.44630605e-02 9.99700735e-01 0.00000000e+00 -3.91670677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02861868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:-0.39, Z:-0.03 [[ 9.99798664e-01 2.00656966e-02 0.00000000e+00 4.00340015e+01] [-2.00656966e-02 9.99798664e-01 0.00000000e+00 -3.93648064e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17509288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:-0.39, Z:-0.03 [[ 9.99861904e-01 1.66184313e-02 0.00000000e+00 4.00640155e+01] [-1.66184313e-02 9.99861904e-01 0.00000000e+00 -3.94249901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26660761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:-0.39, Z:-0.03 [[ 9.99915033e-01 1.30355643e-02 0.00000000e+00 4.00933362e+01] [-1.30355643e-02 9.99915033e-01 0.00000000e+00 -3.93764790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33908381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:-0.39, Z:-0.03 [[ 9.99965021e-01 8.36403005e-03 0.00000000e+00 4.01225357e+01] [-8.36403005e-03 9.99965021e-01 0.00000000e+00 -3.94670068e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06361755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.15, Y:-0.40, Z:-0.03 [[ 9.99980947e-01 6.17299315e-03 0.00000000e+00 4.01521139e+01] [-6.17299315e-03 9.99980947e-01 0.00000000e+00 -3.96901781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95217380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:-0.40, Z:-0.03 [[ 9.99985746e-01 5.33918881e-03 0.00000000e+00 4.01828049e+01] [-5.33918881e-03 9.99985746e-01 0.00000000e+00 -3.98953659e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88449505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:-0.40, Z:-0.03 [[ 9.99992880e-01 3.77361774e-03 0.00000000e+00 4.02134980e+01] [-3.77361774e-03 9.99992880e-01 0.00000000e+00 -4.01538284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99704788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.40, Z:-0.03 [[ 9.99996032e-01 2.81712185e-03 0.00000000e+00 4.02444098e+01] [-2.81712185e-03 9.99996032e-01 0.00000000e+00 -4.03796830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13265027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.28, Y:-0.41, Z:-0.03 [[ 9.99999250e-01 1.22468845e-03 0.00000000e+00 4.02753168e+01] [-1.22468845e-03 9.99999250e-01 0.00000000e+00 -4.10293913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15604842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:-0.41, Z:-0.03 [[ 9.99999923e-01 3.93134073e-04 0.00000000e+00 4.03057047e+01] [-3.93134073e-04 9.99999923e-01 0.00000000e+00 -4.13306654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93963023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.34, Y:-0.42, Z:-0.03 [[ 9.99999980e-01 -2.00423488e-04 0.00000000e+00 4.03358750e+01] [ 2.00423488e-04 9.99999980e-01 0.00000000e+00 -4.15040672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74931015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.37, Y:-0.41, Z:-0.03 [[ 9.99998989e-01 1.42180513e-03 0.00000000e+00 4.03662052e+01] [-1.42180513e-03 9.99998989e-01 0.00000000e+00 -4.13370202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61337645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:-0.41, Z:-0.03 [[ 9.99991025e-01 4.23663573e-03 0.00000000e+00 4.03970069e+01] [-4.23663573e-03 9.99991025e-01 0.00000000e+00 -4.12022971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72659644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:-0.41, Z:-0.03 [[ 9.99980349e-01 6.26908245e-03 0.00000000e+00 4.04271044e+01] [-6.26908245e-03 9.99980349e-01 0.00000000e+00 -4.10857127e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91264794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.46, Y:-0.41, Z:-0.03 [[ 9.99969512e-01 7.80870607e-03 0.00000000e+00 4.04577395e+01] [-7.80870607e-03 9.99969512e-01 0.00000000e+00 -4.10392858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07863846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.49, Y:-0.41, Z:-0.03 [[ 9.99941459e-01 1.08202823e-02 0.00000000e+00 4.04878997e+01] [-1.08202823e-02 9.99941459e-01 0.00000000e+00 -4.13333612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04698885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.52, Y:-0.41, Z:-0.03 [[ 9.99929429e-01 1.18800813e-02 0.00000000e+00 4.05175710e+01] [-1.18800813e-02 9.99929429e-01 0.00000000e+00 -4.14762016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84341200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.55, Y:-0.41, Z:-0.03 [[ 9.99912642e-01 1.32177072e-02 0.00000000e+00 4.05474482e+01] [-1.32177072e-02 9.99912642e-01 0.00000000e+00 -4.14388763e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68682716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.41, Z:-0.03 [[ 9.99909025e-01 1.34885601e-02 0.00000000e+00 4.05767887e+01] [-1.34885601e-02 9.99909025e-01 0.00000000e+00 -4.12503381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72980194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:-0.41, Z:-0.03 [[ 9.99898814e-01 1.42253929e-02 0.00000000e+00 4.06066731e+01] [-1.42253929e-02 9.99898814e-01 0.00000000e+00 -4.07672027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61786384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.41, Z:-0.03 [[ 9.99890136e-01 1.48228052e-02 0.00000000e+00 4.06367985e+01] [-1.48228052e-02 9.99890136e-01 0.00000000e+00 -4.05865962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29367088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:-0.40, Z:-0.03 [[ 9.99879939e-01 1.54954298e-02 0.00000000e+00 4.06661809e+01] [-1.54954298e-02 9.99879939e-01 0.00000000e+00 -4.04304657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13845493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.40, Z:-0.03 [[ 9.99853248e-01 1.71313483e-02 0.00000000e+00 4.06962730e+01] [-1.71313483e-02 9.99853248e-01 0.00000000e+00 -4.01703397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81775832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:-0.40, Z:-0.03 [[ 9.99818065e-01 1.90744994e-02 0.00000000e+00 4.07255702e+01] [-1.90744994e-02 9.99818065e-01 0.00000000e+00 -3.98659264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79700990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:-0.40, Z:-0.03 [[ 9.99788870e-01 2.05479005e-02 0.00000000e+00 4.07556182e+01] [-2.05479005e-02 9.99788870e-01 0.00000000e+00 -3.96042654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84718156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:-0.40, Z:-0.03 [[ 9.99813541e-01 1.93101739e-02 0.00000000e+00 4.07852039e+01] [-1.93101739e-02 9.99813541e-01 0.00000000e+00 -3.97447289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08125785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.81, Y:-0.40, Z:-0.03 [[ 9.99856328e-01 1.69506198e-02 0.00000000e+00 4.08144916e+01] [-1.69506198e-02 9.99856328e-01 0.00000000e+00 -3.99114874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13408873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:-0.40, Z:-0.03 [[ 9.99918925e-01 1.27335790e-02 0.00000000e+00 4.08442399e+01] [-1.27335790e-02 9.99918925e-01 0.00000000e+00 -3.98448367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02006567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:-0.40, Z:-0.03 [[ 9.99953288e-01 9.66548506e-03 0.00000000e+00 4.08742471e+01] [-9.66548506e-03 9.99953288e-01 0.00000000e+00 -3.96104028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06510902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:-0.39, Z:-0.03 [[ 9.99979971e-01 6.32914236e-03 0.00000000e+00 4.09040972e+01] [-6.32914236e-03 9.99979971e-01 0.00000000e+00 -3.93925962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09558359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.93, Y:-0.39, Z:-0.03 [[ 9.99995197e-01 3.09948288e-03 0.00000000e+00 4.09347712e+01] [-3.09948288e-03 9.99995197e-01 0.00000000e+00 -3.93575397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11854653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.40, Z:-0.03 [[ 9.99994229e-01 -3.39726555e-03 0.00000000e+00 4.09654249e+01] [ 3.39726555e-03 9.99994229e-01 0.00000000e+00 -4.01548989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98967267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.41, Z:-0.03 [[ 9.99985589e-01 -5.36851677e-03 0.00000000e+00 4.09954941e+01] [ 5.36851677e-03 9.99985589e-01 0.00000000e+00 -4.06105291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95745587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.41, Z:-0.03 [[ 9.99981510e-01 -6.08102604e-03 0.00000000e+00 4.10261540e+01] [ 6.08102604e-03 9.99981510e-01 0.00000000e+00 -4.07432531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09457079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.06, Y:-0.40, Z:-0.03 [[ 9.99974227e-01 -7.17951227e-03 0.00000000e+00 4.10562589e+01] [ 7.17951227e-03 9.99974227e-01 0.00000000e+00 -4.04938979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27346927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.09, Y:-0.40, Z:-0.03 [[ 9.99988796e-01 -4.73363510e-03 0.00000000e+00 4.10870324e+01] [ 4.73363510e-03 9.99988796e-01 0.00000000e+00 -3.99164116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29909702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:-0.40, Z:-0.03 [[ 9.99995539e-01 -2.98713501e-03 0.00000000e+00 4.11176553e+01] [ 2.98713501e-03 9.99995539e-01 0.00000000e+00 -4.00428175e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21590328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:-0.40, Z:-0.03 [[ 9.99999019e-01 -1.40041137e-03 0.00000000e+00 4.11484523e+01] [ 1.40041137e-03 9.99999019e-01 0.00000000e+00 -4.02634561e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94094331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:-0.40, Z:-0.03 [[ 9.99999928e-01 3.79446667e-04 0.00000000e+00 4.11787618e+01] [-3.79446667e-04 9.99999928e-01 0.00000000e+00 -4.04217159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81093442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:-0.41, Z:-0.03 [[ 9.99994019e-01 3.45854051e-03 0.00000000e+00 4.12094245e+01] [-3.45854051e-03 9.99994019e-01 0.00000000e+00 -4.06050399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86530382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:-0.41, Z:-0.03 [[ 9.99992350e-01 3.91160523e-03 0.00000000e+00 4.12398022e+01] [-3.91160523e-03 9.99992350e-01 0.00000000e+00 -4.08813417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00432754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:-0.41, Z:-0.03 [[ 9.99992503e-01 3.87213168e-03 0.00000000e+00 4.12701096e+01] [-3.87213168e-03 9.99992503e-01 0.00000000e+00 -4.11475014e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94510540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:-0.41, Z:-0.02 [[ 9.99978624e-01 6.53849909e-03 0.00000000e+00 4.13023852e+01] [-6.53849909e-03 9.99978624e-01 0.00000000e+00 -4.11744984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12452352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.33, Y:-0.41, Z:-0.02 [[ 9.99980662e-01 6.21903482e-03 0.00000000e+00 4.13323701e+01] [-6.21903482e-03 9.99980662e-01 0.00000000e+00 -4.11884783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12452352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.36, Y:-0.40, Z:-0.02 [[ 9.99944196e-01 1.05643657e-02 0.00000000e+00 4.13625921e+01] [-1.05643657e-02 9.99944196e-01 0.00000000e+00 -4.04483828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11061457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.39, Y:-0.40, Z:-0.03 [[ 9.99914743e-01 1.30578534e-02 0.00000000e+00 4.13911745e+01] [-1.30578534e-02 9.99914743e-01 0.00000000e+00 -3.99704175e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89221617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:-0.40, Z:-0.03 [[ 9.99857905e-01 1.68573123e-02 0.00000000e+00 4.14212457e+01] [-1.68573123e-02 9.99857905e-01 0.00000000e+00 -3.96795190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87888747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:-0.40, Z:-0.03 [[ 9.99771352e-01 2.13832545e-02 0.00000000e+00 4.14512934e+01] [-2.13832545e-02 9.99771352e-01 0.00000000e+00 -3.96537852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87342074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:-0.40, Z:-0.03 [[ 9.99695499e-01 2.46760724e-02 0.00000000e+00 4.14812017e+01] [-2.46760724e-02 9.99695499e-01 0.00000000e+00 -3.98729531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00012442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:-0.40, Z:-0.03 [[ 9.99558254e-01 2.97203124e-02 0.00000000e+00 4.15100422e+01] [-2.97203124e-02 9.99558254e-01 0.00000000e+00 -3.97373186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97865274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.54, Y:-0.39, Z:-0.03 [[ 9.99534756e-01 3.05003616e-02 0.00000000e+00 4.15393111e+01] [-3.05003616e-02 9.99534756e-01 0.00000000e+00 -3.90662984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82641753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.57, Y:-0.38, Z:-0.03 [[ 9.99530782e-01 3.06303162e-02 0.00000000e+00 4.15685131e+01] [-3.06303162e-02 9.99530782e-01 0.00000000e+00 -3.83374393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74974374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.60, Y:-0.38, Z:-0.03 [[ 9.99680755e-01 2.52663380e-02 0.00000000e+00 4.15972435e+01] [-2.52663380e-02 9.99680755e-01 0.00000000e+00 -3.80428266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67532995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.63, Y:-0.39, Z:-0.03 [[ 9.99759382e-01 2.19357735e-02 0.00000000e+00 4.16264873e+01] [-2.19357735e-02 9.99759382e-01 0.00000000e+00 -3.85495999e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84762030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.39, Z:-0.03 [[ 9.99839074e-01 1.79395131e-02 0.00000000e+00 4.16548795e+01] [-1.79395131e-02 9.99839074e-01 0.00000000e+00 -3.90158547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00806212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:-0.39, Z:-0.03 [[ 9.99900681e-01 1.40935154e-02 0.00000000e+00 4.16847305e+01] [-1.40935154e-02 9.99900681e-01 0.00000000e+00 -3.91019573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11985034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.39, Z:-0.03 [[ 9.99990651e-01 4.32414264e-03 0.00000000e+00 4.17145560e+01] [-4.32414264e-03 9.99990651e-01 0.00000000e+00 -3.85744539e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82419084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:-0.39, Z:-0.03 [[ 9.99999569e-01 9.28230566e-04 0.00000000e+00 4.17453310e+01] [-9.28230566e-04 9.99999569e-01 0.00000000e+00 -3.85936331e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61384627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:-0.39, Z:-0.03 [[ 9.99999026e-01 -1.39563819e-03 0.00000000e+00 4.17763414e+01] [ 1.39563819e-03 9.99999026e-01 0.00000000e+00 -3.90009204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60784089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:41.81, Y:-0.40, Z:-0.03 [[ 9.99999375e-01 -1.11845044e-03 0.00000000e+00 4.18068181e+01] [ 1.11845044e-03 9.99999375e-01 0.00000000e+00 -3.97187509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91670654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.84, Y:-0.40, Z:-0.03 [[ 9.99999993e-01 1.21325341e-04 0.00000000e+00 4.18373913e+01] [-1.21325341e-04 9.99999993e-01 0.00000000e+00 -3.96854230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03981316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:-0.40, Z:-0.03 [[ 9.99998272e-01 1.85923828e-03 0.00000000e+00 4.18679163e+01] [-1.85923828e-03 9.99998272e-01 0.00000000e+00 -3.96715506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02670005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:-0.40, Z:-0.03 [[ 9.99993107e-01 3.71290695e-03 0.00000000e+00 4.18985674e+01] [-3.71290695e-03 9.99993107e-01 0.00000000e+00 -3.99223514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87693865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:-0.41, Z:-0.03 [[ 9.99973731e-01 7.24826808e-03 0.00000000e+00 4.19292288e+01] [-7.24826808e-03 9.99973731e-01 0.00000000e+00 -4.09152266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73321674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:-0.41, Z:-0.03 [[ 9.99963150e-01 8.58474202e-03 0.00000000e+00 4.19599236e+01] [-8.58474202e-03 9.99963150e-01 0.00000000e+00 -4.09442548e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75858333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:-0.41, Z:-0.03 [[ 9.99962344e-01 8.67819574e-03 0.00000000e+00 4.19898341e+01] [-8.67819574e-03 9.99962344e-01 0.00000000e+00 -4.05829354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82766196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:42.02, Y:-0.40, Z:-0.03 [[ 9.99947706e-01 1.02266604e-02 0.00000000e+00 4.20192819e+01] [-1.02266604e-02 9.99947706e-01 0.00000000e+00 -4.01298894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91515568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.05, Y:-0.40, Z:-0.03 [[ 9.99920871e-01 1.25797771e-02 0.00000000e+00 4.20494082e+01] [-1.25797771e-02 9.99920871e-01 0.00000000e+00 -3.99510455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96419036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:-0.40, Z:-0.03 [[ 9.99844696e-01 1.76233702e-02 0.00000000e+00 4.20790614e+01] [-1.76233702e-02 9.99844696e-01 0.00000000e+00 -4.04169678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79872763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:-0.41, Z:-0.03 [[ 9.99817393e-01 1.91096797e-02 0.00000000e+00 4.21088767e+01] [-1.91096797e-02 9.99817393e-01 0.00000000e+00 -4.05269241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75831005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:-0.40, Z:-0.02 [[ 9.99784575e-01 2.07558271e-02 0.00000000e+00 4.21385814e+01] [-2.07558271e-02 9.99784575e-01 0.00000000e+00 -4.02689418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17304242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.17, Y:-0.40, Z:-0.03 [[ 9.99719881e-01 2.36677086e-02 0.00000000e+00 4.21683527e+01] [-2.36677086e-02 9.99719881e-01 0.00000000e+00 -3.97732386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82490091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.39, Z:-0.03 [[ 9.99587844e-01 2.87078806e-02 0.00000000e+00 4.21976287e+01] [-2.87078806e-02 9.99587844e-01 0.00000000e+00 -3.90338455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63722457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:-0.39, Z:-0.02 [[ 9.99526698e-01 3.07632926e-02 0.00000000e+00 4.22263350e+01] [-3.07632926e-02 9.99526698e-01 0.00000000e+00 -3.89073219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48159820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.39, Z:-0.02 [[ 9.99501349e-01 3.15761381e-02 0.00000000e+00 4.22551231e+01] [-3.15761381e-02 9.99501349e-01 0.00000000e+00 -3.87753832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44975307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:-0.38, Z:-0.03 [[ 9.99433562e-01 3.36534653e-02 0.00000000e+00 4.22841091e+01] [-3.36534653e-02 9.99433562e-01 0.00000000e+00 -3.81318922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60039272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:-0.38, Z:-0.03 [[ 9.99370738e-01 3.54701016e-02 0.00000000e+00 4.23124355e+01] [-3.54701016e-02 9.99370738e-01 0.00000000e+00 -3.77666970e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78083323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.34, Y:-0.37, Z:-0.03 [[ 9.99322843e-01 3.67947662e-02 0.00000000e+00 4.23402599e+01] [-3.67947662e-02 9.99322843e-01 0.00000000e+00 -3.73886339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95230666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:-0.37, Z:-0.03 [[ 9.99273317e-01 3.81161064e-02 0.00000000e+00 4.23686032e+01] [-3.81161064e-02 9.99273317e-01 0.00000000e+00 -3.69097009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82984606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:-0.36, Z:-0.03 [[ 9.99256239e-01 3.85612300e-02 0.00000000e+00 4.23963776e+01] [-3.85612300e-02 9.99256239e-01 0.00000000e+00 -3.63143895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67492695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:-0.35, Z:-0.03 [[ 9.99191588e-01 4.02016147e-02 0.00000000e+00 4.24248031e+01] [-4.02016147e-02 9.99191588e-01 0.00000000e+00 -3.51732181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57851876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:-0.35, Z:-0.03 [[ 9.99201971e-01 3.99427330e-02 0.00000000e+00 4.24538932e+01] [-3.99427330e-02 9.99201971e-01 0.00000000e+00 -3.47739834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64450235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.48, Y:-0.34, Z:-0.03 [[ 9.99241116e-01 3.89511481e-02 0.00000000e+00 4.24821864e+01] [-3.89511481e-02 9.99241116e-01 0.00000000e+00 -3.44003680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67333777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:-0.33, Z:-0.03 [[ 9.99365173e-01 3.56265576e-02 0.00000000e+00 4.25106883e+01] [-3.56265576e-02 9.99365173e-01 0.00000000e+00 -3.31285835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64678909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:-0.32, Z:-0.03 [[ 9.99431680e-01 3.37093076e-02 0.00000000e+00 4.25391607e+01] [-3.37093076e-02 9.99431680e-01 0.00000000e+00 -3.22415499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59929671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.57, Y:-0.31, Z:-0.03 [[ 9.99507293e-01 3.13874286e-02 0.00000000e+00 4.25670376e+01] [-3.13874286e-02 9.99507293e-01 0.00000000e+00 -3.12950831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58450789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.60, Y:-0.30, Z:-0.03 [[ 9.99590921e-01 2.86005530e-02 0.00000000e+00 4.25958231e+01] [-2.86005530e-02 9.99590921e-01 0.00000000e+00 -3.04958527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52877217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:-0.30, Z:-0.02 [[ 9.99743635e-01 2.26421069e-02 0.00000000e+00 4.26260192e+01] [-2.26421069e-02 9.99743635e-01 0.00000000e+00 -2.95383852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60280430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:-0.29, Z:-0.02 [[ 9.99835683e-01 1.81275014e-02 0.00000000e+00 4.26542326e+01] [-1.81275014e-02 9.99835683e-01 0.00000000e+00 -2.92442789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57207699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:-0.29, Z:-0.02 [[ 9.99923807e-01 1.23442153e-02 0.00000000e+00 4.26839802e+01] [-1.23442153e-02 9.99923807e-01 0.00000000e+00 -2.89465354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31027610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:-0.28, Z:-0.03 [[ 9.99977679e-01 6.68138202e-03 0.00000000e+00 4.27130460e+01] [-6.68138202e-03 9.99977679e-01 0.00000000e+00 -2.84589008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54767959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:-0.27, Z:-0.03 [[ 9.99990249e-01 -4.41617954e-03 0.00000000e+00 4.27421576e+01] [ 4.41617954e-03 9.99990249e-01 0.00000000e+00 -2.72325915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54061200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:-0.27, Z:-0.02 [[ 9.99947449e-01 -1.02517787e-02 0.00000000e+00 4.27738448e+01] [ 1.02517787e-02 9.99947449e-01 0.00000000e+00 -2.67159064e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40359262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.81, Y:-0.26, Z:-0.02 [[ 9.99792971e-01 -2.03473473e-02 0.00000000e+00 4.28056761e+01] [ 2.03473473e-02 9.99792971e-01 0.00000000e+00 -2.64282760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17038750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:-0.27, Z:-0.02 [[ 9.99653937e-01 -2.63059928e-02 0.00000000e+00 4.28386818e+01] [ 2.63059928e-02 9.99653937e-01 0.00000000e+00 -2.67759122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28134415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:-0.27, Z:-0.02 [[ 9.99445273e-01 -3.33038576e-02 0.00000000e+00 4.28717046e+01] [ 3.33038576e-02 9.99445273e-01 0.00000000e+00 -2.72595200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36878348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:-0.28, Z:-0.02 [[ 9.99256032e-01 -3.85665975e-02 0.00000000e+00 4.29020941e+01] [ 3.85665975e-02 9.99256032e-01 0.00000000e+00 -2.76403849e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78009110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.93, Y:-0.28, Z:-0.02 [[ 9.98882949e-01 -4.72530835e-02 0.00000000e+00 4.29337019e+01] [ 4.72530835e-02 9.98882949e-01 0.00000000e+00 -2.78117821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42967817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:-0.28, Z:-0.02 [[ 9.98801144e-01 -4.89517604e-02 0.00000000e+00 4.29668020e+01] [ 4.89517604e-02 9.98801144e-01 0.00000000e+00 -2.76958313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13818945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.28, Z:-0.02 [[ 9.98788746e-01 -4.92040655e-02 0.00000000e+00 4.29998668e+01] [ 4.92040655e-02 9.98788746e-01 0.00000000e+00 -2.76931803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88474189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:-0.28, Z:-0.02 [[ 9.98831915e-01 -4.83198225e-02 0.00000000e+00 4.30327680e+01] [ 4.83198225e-02 9.98831915e-01 0.00000000e+00 -2.77948066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80161261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.28, Z:-0.02 [[ 9.98935679e-01 -4.61249337e-02 0.00000000e+00 4.30658114e+01] [ 4.61249337e-02 9.98935679e-01 0.00000000e+00 -2.83968341e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13519492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.10, Y:-0.29, Z:-0.02 [[ 9.98969889e-01 -4.53779717e-02 0.00000000e+00 4.30989266e+01] [ 4.53779717e-02 9.98969889e-01 0.00000000e+00 -2.87536632e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32272672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.29, Z:-0.03 [[ 9.98977758e-01 -4.52044103e-02 0.00000000e+00 4.31318946e+01] [ 4.52044103e-02 9.98977758e-01 0.00000000e+00 -2.91703234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54134054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:-0.30, Z:-0.03 [[ 9.98943517e-01 -4.59548684e-02 0.00000000e+00 4.31651318e+01] [ 4.59548684e-02 9.98943517e-01 0.00000000e+00 -2.96741936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55103244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.20, Y:-0.31, Z:-0.02 [[ 9.98983737e-01 -4.50720901e-02 0.00000000e+00 4.31981415e+01] [ 4.50720901e-02 9.98983737e-01 0.00000000e+00 -3.05128315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27545402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.23, Y:-0.31, Z:-0.02 [[ 9.99047551e-01 -4.36347474e-02 0.00000000e+00 4.32307356e+01] [ 4.36347474e-02 9.99047551e-01 0.00000000e+00 -3.06368751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14528683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:-0.31, Z:-0.02 [[ 9.99068122e-01 -4.31611896e-02 0.00000000e+00 4.32643231e+01] [ 4.31611896e-02 9.99068122e-01 0.00000000e+00 -3.05876427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14528683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:-0.31, Z:-0.02 [[ 9.99139828e-01 -4.14681187e-02 0.00000000e+00 4.32969084e+01] [ 4.14681187e-02 9.99139828e-01 0.00000000e+00 -3.05916817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12486889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.33, Y:-0.31, Z:-0.03 [[ 9.99303977e-01 -3.73036326e-02 0.00000000e+00 4.33296949e+01] [ 3.73036326e-02 9.99303977e-01 0.00000000e+00 -3.10530989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51930758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.36, Y:-0.32, Z:-0.02 [[ 9.99392571e-01 -3.48495136e-02 0.00000000e+00 4.33630512e+01] [ 3.48495136e-02 9.99392571e-01 0.00000000e+00 -3.15949443e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47604690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:-0.32, Z:-0.02 [[ 9.99473869e-01 -3.24343208e-02 0.00000000e+00 4.33957606e+01] [ 3.24343208e-02 9.99473869e-01 0.00000000e+00 -3.20277287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38130513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:-0.32, Z:-0.02 [[ 9.99541389e-01 -3.02821967e-02 0.00000000e+00 4.34289963e+01] [ 3.02821967e-02 9.99541389e-01 0.00000000e+00 -3.20793176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29201425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:-0.32, Z:-0.03 [[ 9.99661432e-01 -2.60196400e-02 0.00000000e+00 4.34622623e+01] [ 2.60196400e-02 9.99661432e-01 0.00000000e+00 -3.19795813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51665017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:-0.32, Z:-0.03 [[ 9.99734535e-01 -2.30404089e-02 0.00000000e+00 4.34950350e+01] [ 2.30404089e-02 9.99734535e-01 0.00000000e+00 -3.22670897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70754877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:-0.33, Z:-0.03 [[ 9.99822540e-01 -1.88384758e-02 0.00000000e+00 4.35279769e+01] [ 1.88384758e-02 9.99822540e-01 0.00000000e+00 -3.25555051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68664428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.56, Y:-0.33, Z:-0.02 [[ 9.99894780e-01 -1.45061353e-02 0.00000000e+00 4.35597787e+01] [ 1.45061353e-02 9.99894780e-01 0.00000000e+00 -3.25333898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46277074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:-0.32, Z:-0.02 [[ 9.99978824e-01 -6.50774109e-03 0.00000000e+00 4.35908721e+01] [ 6.50774109e-03 9.99978824e-01 0.00000000e+00 -3.17943617e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04032917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:-0.32, Z:-0.02 [[ 9.99990919e-01 -4.26174378e-03 0.00000000e+00 4.36222158e+01] [ 4.26174378e-03 9.99990919e-01 0.00000000e+00 -3.18626266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23296903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:-0.32, Z:-0.02 [[ 9.99996568e-01 -2.61988168e-03 0.00000000e+00 4.36539246e+01] [ 2.61988168e-03 9.99996568e-01 0.00000000e+00 -3.22796863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43628285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:-0.33, Z:-0.02 [[ 9.99999620e-01 -8.71396139e-04 0.00000000e+00 4.36849187e+01] [ 8.71396139e-04 9.99999620e-01 0.00000000e+00 -3.25645153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43231695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:-0.31, Z:-0.02 [[ 9.99978958e-01 6.48711596e-03 0.00000000e+00 4.37149535e+01] [-6.48711596e-03 9.99978958e-01 0.00000000e+00 -3.14011785e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40504561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.74, Y:-0.30, Z:-0.02 [[ 9.99948458e-01 1.01529461e-02 0.00000000e+00 4.37447611e+01] [-1.01529461e-02 9.99948458e-01 0.00000000e+00 -3.04577124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78443243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.77, Y:-0.30, Z:-0.03 [[ 9.99895785e-01 1.44367426e-02 0.00000000e+00 4.37748150e+01] [-1.44367426e-02 9.99895785e-01 0.00000000e+00 -2.97977272e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56685527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.80, Y:-0.30, Z:-0.03 [[ 9.99873325e-01 1.59164612e-02 0.00000000e+00 4.38033214e+01] [-1.59164612e-02 9.99873325e-01 0.00000000e+00 -2.96132967e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63612547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:-0.30, Z:-0.02 [[ 9.99899080e-01 1.42066936e-02 0.00000000e+00 4.38322000e+01] [-1.42066936e-02 9.99899080e-01 0.00000000e+00 -2.98820224e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19829858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:-0.30, Z:-0.02 [[ 9.99937631e-01 1.11684405e-02 0.00000000e+00 4.38607526e+01] [-1.11684405e-02 9.99937631e-01 0.00000000e+00 -2.99149939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91250113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:-0.30, Z:-0.02 [[ 9.99968482e-01 7.93950103e-03 0.00000000e+00 4.38898942e+01] [-7.93950103e-03 9.99968482e-01 0.00000000e+00 -2.98802686e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93144507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:-0.30, Z:-0.02 [[ 9.99991320e-01 4.16664018e-03 0.00000000e+00 4.39200078e+01] [-4.16664018e-03 9.99991320e-01 0.00000000e+00 -2.97864236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10523309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:-0.29, Z:-0.03 [[ 9.99999590e-01 -9.05090229e-04 0.00000000e+00 4.39499462e+01] [ 9.05090229e-04 9.99999590e-01 0.00000000e+00 -2.90769518e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57684191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:-0.29, Z:-0.03 [[ 9.99998557e-01 -1.69897472e-03 0.00000000e+00 4.39800118e+01] [ 1.69897472e-03 9.99998557e-01 0.00000000e+00 -2.85868143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63701599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:-0.28, Z:-0.03 [[ 9.99998976e-01 -1.43112767e-03 0.00000000e+00 4.40100561e+01] [ 1.43112767e-03 9.99998976e-01 0.00000000e+00 -2.83505676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51322957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:-0.29, Z:-0.02 [[ 9.99998570e-01 -1.69109585e-03 0.00000000e+00 4.40401670e+01] [ 1.69109585e-03 9.99998570e-01 0.00000000e+00 -2.90783330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11131871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:-0.29, Z:-0.02 [[ 9.99997984e-01 -2.00787551e-03 0.00000000e+00 4.40703888e+01] [ 2.00787551e-03 9.99997984e-01 0.00000000e+00 -2.94298225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95050317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.10, Y:-0.30, Z:-0.02 [[ 9.99988219e-01 -4.85406762e-03 0.00000000e+00 4.41010137e+01] [ 4.85406762e-03 9.99988219e-01 0.00000000e+00 -2.95406381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89098801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.13, Y:-0.29, Z:-0.02 [[ 9.99970691e-01 -7.65621523e-03 0.00000000e+00 4.41324996e+01] [ 7.65621523e-03 9.99970691e-01 0.00000000e+00 -2.94977973e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09429582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.16, Y:-0.30, Z:-0.03 [[ 9.99913049e-01 -1.31869227e-02 0.00000000e+00 4.41642889e+01] [ 1.31869227e-02 9.99913049e-01 0.00000000e+00 -2.96646911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62122498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:-0.30, Z:-0.03 [[ 9.99902836e-01 -1.39398422e-02 0.00000000e+00 4.41969413e+01] [ 1.39398422e-02 9.99902836e-01 0.00000000e+00 -2.97161979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69010100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:-0.30, Z:-0.02 [[ 9.99901718e-01 -1.40197927e-02 0.00000000e+00 4.42287272e+01] [ 1.40197927e-02 9.99901718e-01 0.00000000e+00 -2.96477049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46284151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:-0.29, Z:-0.02 [[ 9.99915387e-01 -1.30083897e-02 0.00000000e+00 4.42610591e+01] [ 1.30083897e-02 9.99915387e-01 0.00000000e+00 -2.94689815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22114062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:-0.30, Z:-0.02 [[ 9.99952581e-01 -9.73841524e-03 0.00000000e+00 4.42937618e+01] [ 9.73841524e-03 9.99952581e-01 0.00000000e+00 -2.95580227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01853962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.33, Y:-0.30, Z:-0.02 [[ 9.99965103e-01 -8.35425224e-03 0.00000000e+00 4.43262300e+01] [ 8.35425224e-03 9.99965103e-01 0.00000000e+00 -2.98332201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24913795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.36, Y:-0.30, Z:-0.02 [[ 9.99971600e-01 -7.53648212e-03 0.00000000e+00 4.43579444e+01] [ 7.53648212e-03 9.99971600e-01 0.00000000e+00 -3.00984557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38419927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.39, Y:-0.30, Z:-0.02 [[ 9.99969359e-01 -7.82817474e-03 0.00000000e+00 4.43897362e+01] [ 7.82817474e-03 9.99969359e-01 0.00000000e+00 -3.00543165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41703099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:-0.30, Z:-0.02 [[ 9.99962922e-01 -8.61126821e-03 0.00000000e+00 4.44208128e+01] [ 8.61126821e-03 9.99962922e-01 0.00000000e+00 -2.98923567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21932773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.45, Y:-0.30, Z:-0.02 [[ 9.99951970e-01 -9.80090727e-03 0.00000000e+00 4.44519885e+01] [ 9.80090727e-03 9.99951970e-01 0.00000000e+00 -2.98592746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20968117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:-0.30, Z:-0.02 [[ 9.99945597e-01 -1.04309141e-02 0.00000000e+00 4.44838924e+01] [ 1.04309141e-02 9.99945597e-01 0.00000000e+00 -2.99158795e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29383931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:-0.29, Z:-0.03 [[ 9.99952287e-01 -9.76848368e-03 0.00000000e+00 4.45156456e+01] [ 9.76848368e-03 9.99952287e-01 0.00000000e+00 -2.94686929e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62034455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:-0.29, Z:-0.03 [[ 9.99966681e-01 -8.16313655e-03 0.00000000e+00 4.45474975e+01] [ 8.16313655e-03 9.99966681e-01 0.00000000e+00 -2.90030018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69669495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:-0.29, Z:-0.03 [[ 9.99969236e-01 -7.84396034e-03 0.00000000e+00 4.45786883e+01] [ 7.84396034e-03 9.99969236e-01 0.00000000e+00 -2.88009084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61770405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:-0.29, Z:-0.02 [[ 9.99980020e-01 -6.32135896e-03 0.00000000e+00 4.46101962e+01] [ 6.32135896e-03 9.99980020e-01 0.00000000e+00 -2.90174680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45459727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:-0.30, Z:-0.02 [[ 9.99993620e-01 -3.57212190e-03 0.00000000e+00 4.46412443e+01] [ 3.57212190e-03 9.99993620e-01 0.00000000e+00 -2.97175639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16401543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:-0.30, Z:-0.02 [[ 9.99999331e-01 -1.15664597e-03 0.00000000e+00 4.46724778e+01] [ 1.15664597e-03 9.99999331e-01 0.00000000e+00 -2.96209860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19487547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.70, Y:-0.29, Z:-0.03 [[ 9.99999548e-01 9.50365079e-04 0.00000000e+00 4.47026301e+01] [-9.50365079e-04 9.99999548e-01 0.00000000e+00 -2.92795325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65715614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.73, Y:-0.29, Z:-0.03 [[ 9.99983826e-01 5.68748442e-03 0.00000000e+00 4.47329650e+01] [-5.68748442e-03 9.99983826e-01 0.00000000e+00 -2.88740011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06587725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.29, Z:-0.02 [[ 9.99970205e-01 7.71946039e-03 0.00000000e+00 4.47636062e+01] [-7.71946039e-03 9.99970205e-01 0.00000000e+00 -2.88082831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05961252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.29, Z:-0.02 [[ 9.99975372e-01 7.01823679e-03 0.00000000e+00 4.47931282e+01] [-7.01823679e-03 9.99975372e-01 0.00000000e+00 -2.85052943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35674502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:-0.28, Z:-0.02 [[ 9.99985421e-01 5.39976833e-03 0.00000000e+00 4.48228300e+01] [-5.39976833e-03 9.99985421e-01 0.00000000e+00 -2.77833813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09204713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282320588000005 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:44.85, Y:-0.28, Z:-0.02 [[ 9.99995164e-01 3.11003896e-03 0.00000000e+00 4.48521383e+01] [-3.11003896e-03 9.99995164e-01 0.00000000e+00 -2.79408783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47349578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:-0.28, Z:-0.03 [[ 9.99999974e-01 2.27667283e-04 0.00000000e+00 4.48821809e+01] [-2.27667283e-04 9.99999974e-01 0.00000000e+00 -2.83502526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82746684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:-0.29, Z:-0.03 [[ 9.99997230e-01 -2.35374968e-03 0.00000000e+00 4.49122459e+01] [ 2.35374968e-03 9.99997230e-01 0.00000000e+00 -2.86970469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04764260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.94, Y:-0.29, Z:-0.03 [[ 9.99983540e-01 -5.73757328e-03 0.00000000e+00 4.49432313e+01] [ 5.73757328e-03 9.99983540e-01 0.00000000e+00 -2.85207638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58607931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.97, Y:-0.28, Z:-0.02 [[ 9.99982577e-01 -5.90302095e-03 0.00000000e+00 4.49748198e+01] [ 5.90302095e-03 9.99982577e-01 0.00000000e+00 -2.82456348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37932194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:-0.28, Z:-0.02 [[ 9.99983883e-01 -5.67742055e-03 0.00000000e+00 4.50063528e+01] [ 5.67742055e-03 9.99983883e-01 0.00000000e+00 -2.80066389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21416658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:-0.28, Z:-0.02 [[ 9.99992559e-01 -3.85772506e-03 0.00000000e+00 4.50374832e+01] [ 3.85772506e-03 9.99992559e-01 0.00000000e+00 -2.78865179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24586009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:-0.28, Z:-0.03 [[ 9.99999720e-01 7.47921925e-04 0.00000000e+00 4.50683596e+01] [-7.47921925e-04 9.99999720e-01 0.00000000e+00 -2.78871724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51226545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:-0.28, Z:-0.03 [[ 9.99996890e-01 2.49411477e-03 0.00000000e+00 4.50986297e+01] [-2.49411477e-03 9.99996890e-01 0.00000000e+00 -2.78414676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55976290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:-0.28, Z:-0.03 [[ 9.99989414e-01 4.60122793e-03 0.00000000e+00 4.51293467e+01] [-4.60122793e-03 9.99989414e-01 0.00000000e+00 -2.76981345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59475076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:-0.27, Z:-0.02 [[ 9.99957126e-01 9.25993428e-03 0.00000000e+00 4.51601793e+01] [-9.25993428e-03 9.99957126e-01 0.00000000e+00 -2.71974251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52612357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:-0.27, Z:-0.02 [[ 9.99960883e-01 8.84491602e-03 0.00000000e+00 4.51887064e+01] [-8.84491602e-03 9.99960883e-01 0.00000000e+00 -2.69774774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20454955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.22, Y:-0.27, Z:-0.02 [[ 9.99964759e-01 8.39529353e-03 0.00000000e+00 4.52179403e+01] [-8.39529353e-03 9.99964759e-01 0.00000000e+00 -2.70072196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20454955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.25, Y:-0.27, Z:-0.02 [[ 9.99975001e-01 7.07083408e-03 0.00000000e+00 4.52462749e+01] [-7.07083408e-03 9.99975001e-01 0.00000000e+00 -2.69120596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26053752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:-0.27, Z:-0.02 [[ 9.99987256e-01 5.04847706e-03 0.00000000e+00 4.52761496e+01] [-5.04847706e-03 9.99987256e-01 0.00000000e+00 -2.67992282e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39247922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:-0.27, Z:-0.03 [[ 9.99998466e-01 -1.75167842e-03 0.00000000e+00 4.53058222e+01] [ 1.75167842e-03 9.99998466e-01 0.00000000e+00 -2.66725432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50975107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.34, Y:-0.27, Z:-0.01 [[ 9.99962774e-01 -8.62852723e-03 0.00000000e+00 4.53350532e+01] [ 8.62852723e-03 9.99962774e-01 0.00000000e+00 -2.67702061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41152686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.37, Y:-0.27, Z:-0.02 [[ 9.99941559e-01 -1.08110554e-02 0.00000000e+00 4.53682427e+01] [ 1.08110554e-02 9.99941559e-01 0.00000000e+00 -2.69509278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38884259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.40, Y:-0.27, Z:-0.02 [[ 9.99891806e-01 -1.47097283e-02 0.00000000e+00 4.54009452e+01] [ 1.47097283e-02 9.99891806e-01 0.00000000e+00 -2.71856751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30441473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:-0.28, Z:-0.02 [[ 9.99756308e-01 -2.20754348e-02 0.00000000e+00 4.54329012e+01] [ 2.20754348e-02 9.99756308e-01 0.00000000e+00 -2.75943523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24040995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:-0.27, Z:-0.02 [[ 9.99735037e-01 -2.30186016e-02 0.00000000e+00 4.54660653e+01] [ 2.30186016e-02 9.99735037e-01 0.00000000e+00 -2.74840886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19059226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:-0.27, Z:-0.02 [[ 9.99732649e-01 -2.31220654e-02 0.00000000e+00 4.54991709e+01] [ 2.31220654e-02 9.99732649e-01 0.00000000e+00 -2.72832751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22017838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.53, Y:-0.27, Z:-0.02 [[ 9.99742344e-01 -2.26990327e-02 0.00000000e+00 4.55324424e+01] [ 2.26990327e-02 9.99742344e-01 0.00000000e+00 -2.72191998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26145589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:-0.27, Z:-0.02 [[ 9.99760659e-01 -2.18774731e-02 0.00000000e+00 4.55652413e+01] [ 2.18774731e-02 9.99760659e-01 0.00000000e+00 -2.73764691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30947373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:-0.28, Z:-0.02 [[ 9.99784049e-01 -2.07811324e-02 0.00000000e+00 4.55978496e+01] [ 2.07811324e-02 9.99784049e-01 0.00000000e+00 -2.79618004e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27849573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:-0.28, Z:-0.02 [[ 9.99786173e-01 -2.06786860e-02 0.00000000e+00 4.56309386e+01] [ 2.06786860e-02 9.99786173e-01 0.00000000e+00 -2.82613904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20068933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.66, Y:-0.29, Z:-0.02 [[ 9.99764607e-01 -2.16963337e-02 0.00000000e+00 4.56640798e+01] [ 2.16963337e-02 9.99764607e-01 0.00000000e+00 -2.86203732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10287224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:-0.30, Z:-0.02 [[ 9.99731649e-01 -2.31652780e-02 0.00000000e+00 4.56970833e+01] [ 2.31652780e-02 9.99731649e-01 0.00000000e+00 -2.95222756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25814104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:-0.30, Z:-0.02 [[ 9.99740505e-01 -2.27798791e-02 0.00000000e+00 4.57305982e+01] [ 2.27798791e-02 9.99740505e-01 0.00000000e+00 -2.97988830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30409825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:-0.30, Z:-0.03 [[ 9.99783132e-01 -2.08252187e-02 0.00000000e+00 4.57637051e+01] [ 2.08252187e-02 9.99783132e-01 0.00000000e+00 -2.98933224e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55865656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:-0.30, Z:-0.03 [[ 9.99820299e-01 -1.89570656e-02 0.00000000e+00 4.57963471e+01] [ 1.89570656e-02 9.99820299e-01 0.00000000e+00 -3.00248597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53884879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:-0.31, Z:-0.02 [[ 9.99900782e-01 -1.40864026e-02 0.00000000e+00 4.58287469e+01] [ 1.40864026e-02 9.99900782e-01 0.00000000e+00 -3.06495576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23955196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:-0.31, Z:-0.02 [[ 9.99943155e-01 -1.06624223e-02 0.00000000e+00 4.58604409e+01] [ 1.06624223e-02 9.99943155e-01 0.00000000e+00 -3.09836508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99002239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:-0.31, Z:-0.02 [[ 9.99977268e-01 -6.74259911e-03 0.00000000e+00 4.58919609e+01] [ 6.74259911e-03 9.99977268e-01 0.00000000e+00 -3.11978123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97253093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:-0.31, Z:-0.03 [[ 9.99999650e-01 -8.36525063e-04 0.00000000e+00 4.59235008e+01] [ 8.36525063e-04 9.99999650e-01 0.00000000e+00 -3.13618372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55506503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:-0.31, Z:-0.03 [[ 9.99999342e-01 1.14709380e-03 0.00000000e+00 4.59544339e+01] [-1.14709380e-03 9.99999342e-01 0.00000000e+00 -3.13726083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72080395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:-0.31, Z:-0.03 [[ 9.99995167e-01 3.10899497e-03 0.00000000e+00 4.59845840e+01] [-3.10899497e-03 9.99995167e-01 0.00000000e+00 -3.13234010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68927098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.31, Z:-0.02 [[ 9.99989419e-01 4.60012115e-03 0.00000000e+00 4.60150391e+01] [-4.60012115e-03 9.99989419e-01 0.00000000e+00 -3.14026168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35830099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.04, Y:-0.32, Z:-0.02 [[ 9.99977644e-01 6.68662711e-03 0.00000000e+00 4.60444922e+01] [-6.68662711e-03 9.99977644e-01 0.00000000e+00 -3.17464670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06478651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.07, Y:-0.32, Z:-0.02 [[ 9.99983650e-01 5.71828485e-03 0.00000000e+00 4.60741210e+01] [-5.71828485e-03 9.99983650e-01 0.00000000e+00 -3.19462520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12563852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.10, Y:-0.32, Z:-0.02 [[ 9.99985485e-01 5.38789878e-03 0.00000000e+00 4.61037844e+01] [-5.38789878e-03 9.99985485e-01 0.00000000e+00 -3.21598918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34030012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.13, Y:-0.33, Z:-0.02 [[ 9.99964734e-01 8.39829720e-03 0.00000000e+00 4.61330813e+01] [-8.39829720e-03 9.99964734e-01 0.00000000e+00 -3.25125273e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49996546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:-0.32, Z:-0.02 [[ 9.99945621e-01 1.04286105e-02 0.00000000e+00 4.61624824e+01] [-1.04286105e-02 9.99945621e-01 0.00000000e+00 -3.24683915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37781528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:-0.32, Z:-0.02 [[ 9.99918203e-01 1.27901460e-02 0.00000000e+00 4.61916598e+01] [-1.27901460e-02 9.99918203e-01 0.00000000e+00 -3.21885261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24069375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:-0.32, Z:-0.02 [[ 9.99890581e-01 1.47927429e-02 0.00000000e+00 4.62205070e+01] [-1.47927429e-02 9.99890581e-01 0.00000000e+00 -3.18950816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15679754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:-0.32, Z:-0.02 [[ 9.99840490e-01 1.78604203e-02 0.00000000e+00 4.62496654e+01] [-1.78604203e-02 9.99840490e-01 0.00000000e+00 -3.20381406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19198904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.28, Y:-0.32, Z:-0.02 [[ 9.99846292e-01 1.75326058e-02 0.00000000e+00 4.62785974e+01] [-1.75326058e-02 9.99846292e-01 0.00000000e+00 -3.23484002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22726163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.32, Z:-0.02 [[ 9.99861409e-01 1.66482347e-02 0.00000000e+00 4.63074775e+01] [-1.66482347e-02 9.99861409e-01 0.00000000e+00 -3.24271384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12699532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:-0.32, Z:-0.02 [[ 9.99875143e-01 1.58018771e-02 0.00000000e+00 4.63358998e+01] [-1.58018771e-02 9.99875143e-01 0.00000000e+00 -3.21896289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12445024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:-0.32, Z:-0.02 [[ 9.99936559e-01 1.12640347e-02 0.00000000e+00 4.63649661e+01] [-1.12640347e-02 9.99936559e-01 0.00000000e+00 -3.20250348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28251292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:-0.32, Z:-0.02 [[ 9.99969132e-01 7.85714173e-03 0.00000000e+00 4.63950912e+01] [-7.85714173e-03 9.99969132e-01 0.00000000e+00 -3.24914829e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38081870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:-0.33, Z:-0.02 [[ 9.99989793e-01 4.51811583e-03 0.00000000e+00 4.64251535e+01] [-4.51811583e-03 9.99989793e-01 0.00000000e+00 -3.30164004e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41045418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.46, Y:-0.34, Z:-0.02 [[ 9.99997497e-01 -2.23762406e-03 0.00000000e+00 4.64550590e+01] [ 2.23762406e-03 9.99997497e-01 0.00000000e+00 -3.35297953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15922288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:-0.34, Z:-0.02 [[ 9.99990973e-01 -4.24903068e-03 0.00000000e+00 4.64856190e+01] [ 4.24903068e-03 9.99990973e-01 0.00000000e+00 -3.37891387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05101165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:-0.34, Z:-0.02 [[ 9.99988587e-01 -4.77772979e-03 0.00000000e+00 4.65158229e+01] [ 4.77772979e-03 9.99988587e-01 0.00000000e+00 -3.43222065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96711651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:-0.35, Z:-0.02 [[ 9.99992660e-01 -3.83153534e-03 0.00000000e+00 4.65473791e+01] [ 3.83153534e-03 9.99992660e-01 0.00000000e+00 -3.48424904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93273627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:-0.35, Z:-0.02 [[ 9.99999997e-01 -7.65672102e-05 0.00000000e+00 4.65774633e+01] [ 7.65672102e-05 9.99999997e-01 0.00000000e+00 -3.49727608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99787923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:-0.35, Z:-0.02 [[ 9.99995833e-01 2.88670476e-03 0.00000000e+00 4.66078186e+01] [-2.88670476e-03 9.99995833e-01 0.00000000e+00 -3.45968378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96388758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:-0.34, Z:-0.01 [[ 9.99976002e-01 6.92792453e-03 0.00000000e+00 4.66382364e+01] [-6.92792453e-03 9.99976002e-01 0.00000000e+00 -3.43216617e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42284474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:-0.35, Z:-0.02 [[ 9.99930311e-01 1.18056308e-02 0.00000000e+00 4.66684301e+01] [-1.18056308e-02 9.99930311e-01 0.00000000e+00 -3.46693777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25997211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:-0.35, Z:-0.02 [[ 9.99905545e-01 1.37441534e-02 0.00000000e+00 4.66982474e+01] [-1.37441534e-02 9.99905545e-01 0.00000000e+00 -3.48264740e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09879476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.73, Y:-0.35, Z:-0.02 [[ 9.99887664e-01 1.49886706e-02 0.00000000e+00 4.67279257e+01] [-1.49886706e-02 9.99887664e-01 0.00000000e+00 -3.47282357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84107431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:-0.34, Z:-0.02 [[ 9.99891749e-01 1.47136168e-02 0.00000000e+00 4.67567470e+01] [-1.47136168e-02 9.99891749e-01 0.00000000e+00 -3.44160511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79583533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:-0.34, Z:-0.02 [[ 9.99896202e-01 1.44078229e-02 0.00000000e+00 4.67854363e+01] [-1.44078229e-02 9.99896202e-01 0.00000000e+00 -3.39002802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79161755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:-0.34, Z:-0.02 [[ 9.99921557e-01 1.25251481e-02 0.00000000e+00 4.68146422e+01] [-1.25251481e-02 9.99921557e-01 0.00000000e+00 -3.38177589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78256396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:-0.34, Z:-0.02 [[ 9.99946390e-01 1.03545579e-02 0.00000000e+00 4.68440655e+01] [-1.03545579e-02 9.99946390e-01 0.00000000e+00 -3.36704746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83984359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:-0.33, Z:-0.02 [[ 9.99966263e-01 8.21416643e-03 0.00000000e+00 4.68735605e+01] [-8.21416643e-03 9.99966263e-01 0.00000000e+00 -3.34797707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79307118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:-0.33, Z:-0.02 [[ 9.99973923e-01 7.22178376e-03 0.00000000e+00 4.69033761e+01] [-7.22178376e-03 9.99973923e-01 0.00000000e+00 -3.33004241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79509942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.33, Z:-0.02 [[ 9.99983924e-01 5.67028659e-03 0.00000000e+00 4.69334656e+01] [-5.67028659e-03 9.99983924e-01 0.00000000e+00 -3.30425932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87211554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:-0.33, Z:-0.02 [[ 9.99985443e-01 5.39568270e-03 0.00000000e+00 4.69627467e+01] [-5.39568270e-03 9.99985443e-01 0.00000000e+00 -3.28107281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85082763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.99, Y:-0.32, Z:-0.02 [[ 9.99982615e-01 5.89651434e-03 0.00000000e+00 4.69920395e+01] [-5.89651434e-03 9.99982615e-01 0.00000000e+00 -3.23310362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87948970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:-0.32, Z:-0.02 [[ 9.99978720e-01 6.52380357e-03 0.00000000e+00 4.70216131e+01] [-6.52380357e-03 9.99978720e-01 0.00000000e+00 -3.18720231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85897287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:-0.31, Z:-0.02 [[ 9.99979347e-01 6.42698690e-03 0.00000000e+00 4.70516408e+01] [-6.42698690e-03 9.99979347e-01 0.00000000e+00 -3.14542772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82389519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:-0.31, Z:-0.02 [[ 9.99980414e-01 6.25868969e-03 0.00000000e+00 4.70815428e+01] [-6.25868969e-03 9.99980414e-01 0.00000000e+00 -3.13217920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75013689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.31, Z:-0.02 [[ 9.99985808e-01 5.32773204e-03 0.00000000e+00 4.71109613e+01] [-5.32773204e-03 9.99985808e-01 0.00000000e+00 -3.11330643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60199403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:-0.31, Z:-0.01 [[ 9.99999097e-01 1.34388664e-03 0.00000000e+00 4.71405117e+01] [-1.34388664e-03 9.99999097e-01 0.00000000e+00 -3.06529538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48252086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:-0.31, Z:-0.01 [[ 9.99999097e-01 1.34388664e-03 0.00000000e+00 4.71715095e+01] [-1.34388664e-03 9.99999097e-01 0.00000000e+00 -3.06555152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48252086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:-0.31, Z:-0.01 [[ 9.99997326e-01 -2.31253995e-03 0.00000000e+00 4.72022240e+01] [ 2.31253995e-03 9.99997326e-01 0.00000000e+00 -3.06734331e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47401538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:-0.31, Z:-0.02 [[ 9.99986731e-01 -5.15155567e-03 0.00000000e+00 4.72324565e+01] [ 5.15155567e-03 9.99986731e-01 0.00000000e+00 -3.08595523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67662757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:-0.31, Z:-0.02 [[ 9.99968891e-01 -7.88782649e-03 0.00000000e+00 4.72639215e+01] [ 7.88782649e-03 9.99968891e-01 0.00000000e+00 -3.10747195e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85544487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:-0.31, Z:-0.02 [[ 9.99951557e-01 -9.84294950e-03 0.00000000e+00 4.72948529e+01] [ 9.84294950e-03 9.99951557e-01 0.00000000e+00 -3.09960991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70466515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:-0.31, Z:-0.01 [[ 9.99965298e-01 -8.33084415e-03 0.00000000e+00 4.73259306e+01] [ 8.33084415e-03 9.99965298e-01 0.00000000e+00 -3.08081894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28523795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:-0.31, Z:-0.01 [[ 9.99981046e-01 -6.15692376e-03 0.00000000e+00 4.73576436e+01] [ 6.15692376e-03 9.99981046e-01 0.00000000e+00 -3.06306669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04105117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:-0.30, Z:-0.01 [[ 9.99994246e-01 -3.39242882e-03 0.00000000e+00 4.73878816e+01] [ 3.39242882e-03 9.99994246e-01 0.00000000e+00 -3.04050399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63986441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:-0.30, Z:-0.01 [[ 9.99998292e-01 1.84802090e-03 0.00000000e+00 4.74192140e+01] [-1.84802090e-03 9.99998292e-01 0.00000000e+00 -2.98358811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10993287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:-0.30, Z:-0.01 [[ 9.99987274e-01 5.04496910e-03 0.00000000e+00 4.74500920e+01] [-5.04496910e-03 9.99987274e-01 0.00000000e+00 -2.97157400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37086412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:-0.30, Z:-0.01 [[ 9.99985424e-01 5.39917426e-03 0.00000000e+00 4.74796923e+01] [-5.39917426e-03 9.99985424e-01 0.00000000e+00 -2.97224103e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41324954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:-0.30, Z:-0.01 [[ 9.99998517e-01 1.72220746e-03 0.00000000e+00 4.75095290e+01] [-1.72220746e-03 9.99998517e-01 0.00000000e+00 -2.99055353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18736951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.54, Y:-0.30, Z:-0.01 [[ 9.99998741e-01 -1.58659434e-03 0.00000000e+00 4.75400869e+01] [ 1.58659434e-03 9.99998741e-01 0.00000000e+00 -3.00315799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27191044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:-0.30, Z:-0.01 [[ 9.99984190e-01 -5.62317718e-03 0.00000000e+00 4.75708554e+01] [ 5.62317718e-03 9.99984190e-01 0.00000000e+00 -3.02093011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36925981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.30, Z:-0.01 [[ 9.99932892e-01 -1.15849855e-02 0.00000000e+00 4.76026498e+01] [ 1.15849855e-02 9.99932892e-01 0.00000000e+00 -3.04142146e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24511145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:-0.30, Z:-0.01 [[ 9.99924409e-01 -1.22954012e-02 0.00000000e+00 4.76352399e+01] [ 1.22954012e-02 9.99924409e-01 0.00000000e+00 -3.03613344e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.84712786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:-0.30, Z:-0.01 [[ 9.99921107e-01 -1.25610312e-02 0.00000000e+00 4.76679254e+01] [ 1.25610312e-02 9.99921107e-01 0.00000000e+00 -3.04353963e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71003650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:-0.31, Z:-0.01 [[ 9.99924209e-01 -1.23116373e-02 0.00000000e+00 4.76999020e+01] [ 1.23116373e-02 9.99924209e-01 0.00000000e+00 -3.07642328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.74111724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:-0.32, Z:-0.01 [[ 9.99915724e-01 -1.29824548e-02 0.00000000e+00 4.77325084e+01] [ 1.29824548e-02 9.99915724e-01 0.00000000e+00 -3.18444266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39057197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:47.76, Y:-0.32, Z:-0.02 [[ 9.99909175e-01 -1.34774214e-02 0.00000000e+00 4.77648421e+01] [ 1.34774214e-02 9.99909175e-01 0.00000000e+00 -3.21974768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64850112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.80, Y:-0.32, Z:-0.02 [[ 9.99900078e-01 -1.41362481e-02 0.00000000e+00 4.77969214e+01] [ 1.41362481e-02 9.99900078e-01 0.00000000e+00 -3.23926332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52946581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:-0.33, Z:-0.01 [[ 9.99912230e-01 -1.32488298e-02 0.00000000e+00 4.78286019e+01] [ 1.32488298e-02 9.99912230e-01 0.00000000e+00 -3.25302239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46778501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:-0.33, Z:-0.01 [[ 9.99925562e-01 -1.22012804e-02 0.00000000e+00 4.78589091e+01] [ 1.22012804e-02 9.99925562e-01 0.00000000e+00 -3.30514894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21274830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:-0.33, Z:-0.01 [[ 9.99965042e-01 -8.36145047e-03 0.00000000e+00 4.78910368e+01] [ 8.36145047e-03 9.99965042e-01 0.00000000e+00 -3.33711209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10805973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:-0.34, Z:-0.01 [[ 9.99988387e-01 -4.81931507e-03 0.00000000e+00 4.79219050e+01] [ 4.81931507e-03 9.99988387e-01 0.00000000e+00 -3.36043230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19435908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.95, Y:-0.34, Z:-0.02 [[ 9.99993990e-01 3.46712613e-03 0.00000000e+00 4.79533921e+01] [-3.46712613e-03 9.99993990e-01 0.00000000e+00 -3.38074570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56006121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:-0.34, Z:-0.02 [[ 9.99984422e-01 5.58175263e-03 0.00000000e+00 4.79841422e+01] [-5.58175263e-03 9.99984422e-01 0.00000000e+00 -3.38347111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54105772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:-0.34, Z:-0.01 [[ 9.99969290e-01 7.83703466e-03 0.00000000e+00 4.80137681e+01] [-7.83703466e-03 9.99969290e-01 0.00000000e+00 -3.37876723e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48378480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.04, Y:-0.34, Z:-0.01 [[ 9.99960882e-01 8.84500163e-03 0.00000000e+00 4.80436283e+01] [-8.84500163e-03 9.99960882e-01 0.00000000e+00 -3.37119160e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40163692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:-0.34, Z:-0.01 [[ 9.99958156e-01 9.14806163e-03 0.00000000e+00 4.80736725e+01] [-9.14806163e-03 9.99958156e-01 0.00000000e+00 -3.35328242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32534750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:-0.34, Z:-0.01 [[ 9.99968455e-01 7.94288535e-03 0.00000000e+00 4.81035599e+01] [-7.94288535e-03 9.99968455e-01 0.00000000e+00 -3.35133249e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39035574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:-0.34, Z:-0.01 [[ 9.99984177e-01 5.62554331e-03 0.00000000e+00 4.81337341e+01] [-5.62554331e-03 9.99984177e-01 0.00000000e+00 -3.35620294e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39261038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:-0.34, Z:-0.01 [[ 9.99990883e-01 4.27008618e-03 0.00000000e+00 4.81632952e+01] [-4.27008618e-03 9.99990883e-01 0.00000000e+00 -3.36528699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35031708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:-0.34, Z:-0.01 [[ 9.99992935e-01 3.75903975e-03 0.00000000e+00 4.81924778e+01] [-3.75903975e-03 9.99992935e-01 0.00000000e+00 -3.37060795e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16352325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:-0.34, Z:-0.01 [[ 9.99992188e-01 3.95276863e-03 0.00000000e+00 4.82226780e+01] [-3.95276863e-03 9.99992188e-01 0.00000000e+00 -3.36079292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09852540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:-0.33, Z:-0.01 [[ 9.99976960e-01 6.78819921e-03 0.00000000e+00 4.82533329e+01] [-6.78819921e-03 9.99976960e-01 0.00000000e+00 -3.30945279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.77044773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.28, Y:-0.33, Z:-0.01 [[ 9.99950672e-01 9.93249403e-03 0.00000000e+00 4.82832320e+01] [-9.93249403e-03 9.99950672e-01 0.00000000e+00 -3.29175980e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12845701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:-0.33, Z:-0.01 [[ 9.99920350e-01 1.26211892e-02 0.00000000e+00 4.83132594e+01] [-1.26211892e-02 9.99920350e-01 0.00000000e+00 -3.28459907e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14580308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:-0.33, Z:-0.01 [[ 9.99880138e-01 1.54825658e-02 0.00000000e+00 4.83421150e+01] [-1.54825658e-02 9.99880138e-01 0.00000000e+00 -3.25738913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21083496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.37, Y:-0.32, Z:-0.01 [[ 9.99879332e-01 1.55345442e-02 0.00000000e+00 4.83709491e+01] [-1.55345442e-02 9.99879332e-01 0.00000000e+00 -3.24741927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14618423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:-0.33, Z:-0.01 [[ 9.99903577e-01 1.38865474e-02 0.00000000e+00 4.83997520e+01] [-1.38865474e-02 9.99903577e-01 0.00000000e+00 -3.25044928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64715795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:-0.32, Z:-0.01 [[ 9.99933539e-01 1.15290094e-02 0.00000000e+00 4.84283246e+01] [-1.15290094e-02 9.99933539e-01 0.00000000e+00 -3.22848380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57719788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:-0.32, Z:-0.01 [[ 9.99938938e-01 1.10508373e-02 0.00000000e+00 4.84570899e+01] [-1.10508373e-02 9.99938938e-01 0.00000000e+00 -3.18884128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06835565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.852320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.49, Y:-0.32, Z:-0.01 [[ 9.99945017e-01 1.04862863e-02 0.00000000e+00 4.84861605e+01] [-1.04862863e-02 9.99945017e-01 0.00000000e+00 -3.15209954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72034945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:-0.31, Z:-0.01 [[ 9.99949415e-01 1.00582030e-02 0.00000000e+00 4.85158690e+01] [-1.00582030e-02 9.99949415e-01 0.00000000e+00 -3.14746129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18026797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:-0.32, Z:-0.01 [[ 9.99960662e-01 8.86987161e-03 0.00000000e+00 4.85457592e+01] [-8.86987161e-03 9.99960662e-01 0.00000000e+00 -3.20190214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28505966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.58, Y:-0.32, Z:-0.01 [[ 9.99968352e-01 7.95578219e-03 0.00000000e+00 4.85751094e+01] [-7.95578219e-03 9.99968352e-01 0.00000000e+00 -3.20351153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13722448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:-0.32, Z:-0.01 [[ 9.99975966e-01 6.93299986e-03 0.00000000e+00 4.86051328e+01] [-6.93299986e-03 9.99975966e-01 0.00000000e+00 -3.17503544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08747907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.63, Y:-0.31, Z:-0.01 [[ 9.99976329e-01 6.88055580e-03 0.00000000e+00 4.86348021e+01] [-6.88055580e-03 9.99976329e-01 0.00000000e+00 -3.13855387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.82026309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.66, Y:-0.31, Z:-0.01 [[ 9.99978567e-01 6.54721326e-03 0.00000000e+00 4.86644277e+01] [-6.54721326e-03 9.99978567e-01 0.00000000e+00 -3.13372430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16999707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.69, Y:-0.31, Z:-0.01 [[ 9.99982115e-01 5.98074964e-03 0.00000000e+00 4.86936626e+01] [-5.98074964e-03 9.99982115e-01 0.00000000e+00 -3.13136716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19162092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.72, Y:-0.31, Z:-0.01 [[ 9.99985690e-01 5.34979414e-03 0.00000000e+00 4.87234497e+01] [-5.34979414e-03 9.99985690e-01 0.00000000e+00 -3.11818565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18832789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:-0.31, Z:-0.01 [[ 9.99990994e-01 4.24407013e-03 0.00000000e+00 4.87531521e+01] [-4.24407013e-03 9.99990994e-01 0.00000000e+00 -3.10876152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18589660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:-0.31, Z:-0.01 [[ 9.99993438e-01 3.62278833e-03 0.00000000e+00 4.87824876e+01] [-3.62278833e-03 9.99993438e-01 0.00000000e+00 -3.12333554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31748471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.81, Y:-0.31, Z:-0.01 [[ 9.99991980e-01 4.00503450e-03 0.00000000e+00 4.88120113e+01] [-4.00503450e-03 9.99991980e-01 0.00000000e+00 -3.13629271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40113171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:-0.31, Z:-0.01 [[ 9.99989401e-01 4.60421857e-03 0.00000000e+00 4.88419858e+01] [-4.60421857e-03 9.99989401e-01 0.00000000e+00 -3.11993131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41142882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.87, Y:-0.31, Z:-0.01 [[ 9.99983265e-01 5.78536172e-03 0.00000000e+00 4.88718168e+01] [-5.78536172e-03 9.99983265e-01 0.00000000e+00 -3.07521481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36925859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.90, Y:-0.30, Z:-0.01 [[ 9.99942056e-01 1.07649907e-02 0.00000000e+00 4.89016629e+01] [-1.07649907e-02 9.99942056e-01 0.00000000e+00 -3.00775722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37643289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:-0.30, Z:-0.01 [[ 9.99913252e-01 1.31715312e-02 0.00000000e+00 4.89300199e+01] [-1.31715312e-02 9.99913252e-01 0.00000000e+00 -3.00337463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47075949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:-0.30, Z:-0.01 [[ 9.99861090e-01 1.66673623e-02 0.00000000e+00 4.89600176e+01] [-1.66673623e-02 9.99861090e-01 0.00000000e+00 -3.00581469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46315491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:-0.30, Z:-0.02 [[ 9.99846986e-01 1.74930011e-02 0.00000000e+00 4.89882974e+01] [-1.74930011e-02 9.99846986e-01 0.00000000e+00 -3.00533694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72128200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:-0.30, Z:-0.01 [[ 9.99805856e-01 1.97040823e-02 0.00000000e+00 4.90188032e+01] [-1.97040823e-02 9.99805856e-01 0.00000000e+00 -2.96501409e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78124654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.05, Y:-0.29, Z:-0.01 [[ 9.99807770e-01 1.96066861e-02 0.00000000e+00 4.90477606e+01] [-1.96066861e-02 9.99807770e-01 0.00000000e+00 -2.93590843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37888326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.08, Y:-0.29, Z:-0.01 [[ 9.99817801e-01 1.90883346e-02 0.00000000e+00 4.90761570e+01] [-1.90883346e-02 9.99817801e-01 0.00000000e+00 -2.93861777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37888326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:-0.29, Z:-0.01 [[ 9.99855748e-01 1.69847857e-02 0.00000000e+00 4.91044093e+01] [-1.69847857e-02 9.99855748e-01 0.00000000e+00 -2.89673896e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21682643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:-0.28, Z:-0.02 [[ 9.99888106e-01 1.49591371e-02 0.00000000e+00 4.91324510e+01] [-1.49591371e-02 9.99888106e-01 0.00000000e+00 -2.79350222e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53219689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:-0.27, Z:-0.02 [[ 9.99878396e-01 1.55946801e-02 0.00000000e+00 4.91606769e+01] [-1.55946801e-02 9.99878396e-01 0.00000000e+00 -2.73611490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65900585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.19, Y:-0.27, Z:-0.02 [[ 9.99871554e-01 1.60273498e-02 0.00000000e+00 4.91893307e+01] [-1.60273498e-02 9.99871554e-01 0.00000000e+00 -2.68685687e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62894273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.22, Y:-0.26, Z:-0.01 [[ 9.99932743e-01 1.15978129e-02 0.00000000e+00 4.92174451e+01] [-1.15978129e-02 9.99932743e-01 0.00000000e+00 -2.64280547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28283809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.25, Y:-0.26, Z:-0.01 [[ 9.99975313e-01 7.02660488e-03 0.00000000e+00 4.92460993e+01] [-7.02660488e-03 9.99975313e-01 0.00000000e+00 -2.64311434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24346756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.28, Y:-0.26, Z:-0.01 [[ 9.99998555e-01 1.69988683e-03 0.00000000e+00 4.92752642e+01] [-1.69988683e-03 9.99998555e-01 0.00000000e+00 -2.64399717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39675417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.31, Y:-0.26, Z:-0.01 [[ 9.99975680e-01 -6.97424324e-03 0.00000000e+00 4.93053766e+01] [ 6.97424324e-03 9.99975680e-01 0.00000000e+00 -2.60409235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49508328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:-0.26, Z:-0.01 [[ 9.99944028e-01 -1.05801754e-02 0.00000000e+00 4.93370328e+01] [ 1.05801754e-02 9.99944028e-01 0.00000000e+00 -2.57161878e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27331306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:-0.25, Z:-0.01 [[ 9.99916042e-01 -1.29579482e-02 0.00000000e+00 4.93696587e+01] [ 1.29579482e-02 9.99916042e-01 0.00000000e+00 -2.53707733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08084254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:-0.25, Z:-0.01 [[ 9.99859719e-01 -1.67494135e-02 0.00000000e+00 4.94022991e+01] [ 1.67494135e-02 9.99859719e-01 0.00000000e+00 -2.50257164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71301024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.44, Y:-0.25, Z:-0.01 [[ 9.99806073e-01 -1.96930357e-02 0.00000000e+00 4.94353127e+01] [ 1.96930357e-02 9.99806073e-01 0.00000000e+00 -2.52988575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83229307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:-0.26, Z:-0.01 [[ 9.99719597e-01 -2.36796865e-02 0.00000000e+00 4.94684139e+01] [ 2.36796865e-02 9.99719597e-01 0.00000000e+00 -2.58824672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19649163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:-0.27, Z:-0.01 [[ 9.99493220e-01 -3.18324379e-02 0.00000000e+00 4.95019565e+01] [ 3.18324379e-02 9.99493220e-01 0.00000000e+00 -2.72171667e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48167769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.53, Y:-0.27, Z:-0.01 [[ 9.99434608e-01 -3.36223830e-02 0.00000000e+00 4.95345709e+01] [ 3.36223830e-02 9.99434608e-01 0.00000000e+00 -2.72439576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25438540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:-0.27, Z:-0.00 [[ 9.99327614e-01 -3.66649582e-02 0.00000000e+00 4.95646443e+01] [ 3.66649582e-02 9.99327614e-01 0.00000000e+00 -2.70797872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02504268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.60, Y:-0.27, Z:-0.01 [[ 9.99361430e-01 -3.57313973e-02 0.00000000e+00 4.95978932e+01] [ 3.57313973e-02 9.99361430e-01 0.00000000e+00 -2.70323364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58289196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.63, Y:-0.28, Z:-0.01 [[ 9.99416831e-01 -3.41467038e-02 0.00000000e+00 4.96298926e+01] [ 3.41467038e-02 9.99416831e-01 0.00000000e+00 -2.77012027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12594635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.66, Y:-0.28, Z:-0.01 [[ 9.99463071e-01 -3.27653773e-02 0.00000000e+00 4.96619042e+01] [ 3.27653773e-02 9.99463071e-01 0.00000000e+00 -2.83333337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41162917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.70, Y:-0.29, Z:-0.02 [[ 9.99491318e-01 -3.18920886e-02 0.00000000e+00 4.96952226e+01] [ 3.18920886e-02 9.99491318e-01 0.00000000e+00 -2.89069808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61522858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.73, Y:-0.30, Z:-0.02 [[ 9.99549200e-01 -3.00232615e-02 0.00000000e+00 4.97283674e+01] [ 3.00232615e-02 9.99549200e-01 0.00000000e+00 -2.98405392e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55565263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.76, Y:-0.30, Z:-0.01 [[ 9.99541291e-01 -3.02854499e-02 0.00000000e+00 4.97617449e+01] [ 3.02854499e-02 9.99541291e-01 0.00000000e+00 -3.00422615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39703962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:-0.30, Z:-0.01 [[ 9.99541710e-01 -3.02715897e-02 0.00000000e+00 4.97949295e+01] [ 3.02715897e-02 9.99541710e-01 0.00000000e+00 -3.01864905e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28032136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.83, Y:-0.30, Z:-0.01 [[ 9.99565742e-01 -2.94673867e-02 0.00000000e+00 4.98280317e+01] [ 2.94673867e-02 9.99565742e-01 0.00000000e+00 -3.04868326e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26206429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.86, Y:-0.32, Z:-0.01 [[ 9.99637126e-01 -2.69372678e-02 0.00000000e+00 4.98612077e+01] [ 2.69372678e-02 9.99637126e-01 0.00000000e+00 -3.16841008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47470474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.89, Y:-0.32, Z:-0.01 [[ 9.99685696e-01 -2.50700755e-02 0.00000000e+00 4.98942187e+01] [ 2.50700755e-02 9.99685696e-01 0.00000000e+00 -3.22126949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49768903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:-0.32, Z:-0.01 [[ 9.99722153e-01 -2.35715117e-02 0.00000000e+00 4.99261398e+01] [ 2.35715117e-02 9.99722153e-01 0.00000000e+00 -3.24925653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46363884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:-0.33, Z:-0.01 [[ 9.99770680e-01 -2.14146599e-02 0.00000000e+00 4.99588354e+01] [ 2.14146599e-02 9.99770680e-01 0.00000000e+00 -3.25915153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36534080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.99, Y:-0.33, Z:-0.02 [[ 9.99877082e-01 -1.56787081e-02 0.00000000e+00 4.99918219e+01] [ 1.56787081e-02 9.99877082e-01 0.00000000e+00 -3.29331484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50604237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:-0.33, Z:-0.02 [[ 9.99918634e-01 -1.27563742e-02 0.00000000e+00 5.00243685e+01] [ 1.27563742e-02 9.99918634e-01 0.00000000e+00 -3.32177289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58860473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:-0.33, Z:-0.02 [[ 9.99958064e-01 -9.15804578e-03 0.00000000e+00 5.00570881e+01] [ 9.15804578e-03 9.99958064e-01 0.00000000e+00 -3.33976288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68551480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:-0.34, Z:-0.02 [[ 9.99991961e-01 -4.00974488e-03 0.00000000e+00 5.00879576e+01] [ 4.00974488e-03 9.99991961e-01 0.00000000e+00 -3.36659338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53930470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:-0.34, Z:-0.01 [[ 9.99999726e-01 -7.40155008e-04 0.00000000e+00 5.01185346e+01] [ 7.40155008e-04 9.99999726e-01 0.00000000e+00 -3.37680119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30232359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:-0.34, Z:-0.01 [[ 9.99995427e-01 3.02407576e-03 0.00000000e+00 5.01491634e+01] [-3.02407576e-03 9.99995427e-01 0.00000000e+00 -3.38485768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03634692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:-0.34, Z:-0.01 [[ 9.99976956e-01 6.78874924e-03 0.00000000e+00 5.01797241e+01] [-6.78874924e-03 9.99976956e-01 0.00000000e+00 -3.37797693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72058566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.21, Y:-0.33, Z:-0.01 [[ 9.99911200e-01 1.33263803e-02 0.00000000e+00 5.02096777e+01] [-1.33263803e-02 9.99911200e-01 0.00000000e+00 -3.31516163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40643839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.24, Y:-0.33, Z:-0.02 [[ 9.99870630e-01 1.60848751e-02 0.00000000e+00 5.02384068e+01] [-1.60848751e-02 9.99870630e-01 0.00000000e+00 -3.28358705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74968347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:-0.33, Z:-0.02 [[ 9.99818557e-01 1.90486936e-02 0.00000000e+00 5.02667041e+01] [-1.90486936e-02 9.99818557e-01 0.00000000e+00 -3.25488762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80949727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.29, Y:-0.32, Z:-0.01 [[ 9.99777120e-01 2.11118636e-02 0.00000000e+00 5.02942111e+01] [-2.11118636e-02 9.99777120e-01 0.00000000e+00 -3.17888288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37851723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.32, Y:-0.32, Z:-0.01 [[ 9.99791765e-01 2.04065373e-02 0.00000000e+00 5.03229376e+01] [-2.04065373e-02 9.99791765e-01 0.00000000e+00 -3.15409918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04445942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.35, Y:-0.32, Z:-0.01 [[ 9.99841724e-01 1.77911827e-02 0.00000000e+00 5.03511676e+01] [-1.77911827e-02 9.99841724e-01 0.00000000e+00 -3.15930173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00660309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:-0.32, Z:-0.01 [[ 9.99907598e-01 1.35939397e-02 0.00000000e+00 5.03795301e+01] [-1.35939397e-02 9.99907598e-01 0.00000000e+00 -3.18778477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09891733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.41, Y:-0.32, Z:-0.02 [[ 9.99986956e-01 5.10758922e-03 0.00000000e+00 5.04088564e+01] [-5.10758922e-03 9.99986956e-01 0.00000000e+00 -3.20778272e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62267766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.44, Y:-0.32, Z:-0.02 [[ 9.99999227e-01 1.24316131e-03 0.00000000e+00 5.04387773e+01] [-1.24316131e-03 9.99999227e-01 0.00000000e+00 -3.20219535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77903931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.47, Y:-0.32, Z:-0.02 [[ 9.99998295e-01 -1.84650959e-03 0.00000000e+00 5.04680675e+01] [ 1.84650959e-03 9.99998295e-01 0.00000000e+00 -3.21211512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72446620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:-0.33, Z:-0.02 [[ 9.99983386e-01 -5.76440188e-03 0.00000000e+00 5.04982267e+01] [ 5.76440188e-03 9.99983386e-01 0.00000000e+00 -3.27632121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59336181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:-0.33, Z:-0.01 [[ 9.99984754e-01 -5.52193742e-03 0.00000000e+00 5.05299656e+01] [ 5.52193742e-03 9.99984754e-01 0.00000000e+00 -3.28096801e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48316265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:-0.33, Z:-0.02 [[ 9.99989873e-01 -4.50041921e-03 0.00000000e+00 5.05609269e+01] [ 4.50041921e-03 9.99989873e-01 0.00000000e+00 -3.26520233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50674890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:-0.33, Z:-0.02 [[ 9.99997660e-01 -2.16344327e-03 0.00000000e+00 5.05922286e+01] [ 2.16344327e-03 9.99997660e-01 0.00000000e+00 -3.26327000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51943922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.33, Z:-0.02 [[ 9.99999288e-01 1.19297474e-03 0.00000000e+00 5.06231005e+01] [-1.19297474e-03 9.99999288e-01 0.00000000e+00 -3.34775654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54650059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:-0.34, Z:-0.02 [[ 9.99999168e-01 1.29014499e-03 0.00000000e+00 5.06539922e+01] [-1.29014499e-03 9.99999168e-01 0.00000000e+00 -3.40066021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52386264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:-0.34, Z:-0.02 [[ 9.99999998e-01 5.81313707e-05 0.00000000e+00 5.06844946e+01] [-5.81313707e-05 9.99999998e-01 0.00000000e+00 -3.43163248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56500915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:-0.35, Z:-0.02 [[ 9.99997065e-01 -2.42282893e-03 0.00000000e+00 5.07150822e+01] [ 2.42282893e-03 9.99997065e-01 0.00000000e+00 -3.46641890e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70782576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:-0.35, Z:-0.02 [[ 9.99997146e-01 -2.38897592e-03 0.00000000e+00 5.07452692e+01] [ 2.38897592e-03 9.99997146e-01 0.00000000e+00 -3.51111148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72303367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.78, Y:-0.36, Z:-0.02 [[ 9.99998474e-01 -1.74678793e-03 0.00000000e+00 5.07757653e+01] [ 1.74678793e-03 9.99998474e-01 0.00000000e+00 -3.56031239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66358036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.81, Y:-0.36, Z:-0.01 [[ 9.99999920e-01 3.99477240e-04 0.00000000e+00 5.08063894e+01] [-3.99477240e-04 9.99999920e-01 0.00000000e+00 -3.58972731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.89174674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.84, Y:-0.36, Z:-0.01 [[ 9.99993637e-01 3.56722742e-03 0.00000000e+00 5.08373423e+01] [-3.56722742e-03 9.99993637e-01 0.00000000e+00 -3.57028914e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22462438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.87, Y:-0.36, Z:-0.01 [[ 9.99980876e-01 6.18447171e-03 0.00000000e+00 5.08677993e+01] [-6.18447171e-03 9.99980876e-01 0.00000000e+00 -3.57681649e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31686348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:50.90, Y:-0.36, Z:-0.01 [[ 9.99966180e-01 8.22427976e-03 0.00000000e+00 5.08973635e+01] [-8.22427976e-03 9.99966180e-01 0.00000000e+00 -3.61912208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44295415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:-0.37, Z:-0.02 [[ 9.99937258e-01 1.12017789e-02 0.00000000e+00 5.09272759e+01] [-1.12017789e-02 9.99937258e-01 0.00000000e+00 -3.66346668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62236780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:-0.36, Z:-0.01 [[ 9.99812584e-01 1.93596488e-02 0.00000000e+00 5.09567190e+01] [-1.93596488e-02 9.99812584e-01 0.00000000e+00 -3.61488507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26477250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:-0.35, Z:-0.01 [[ 9.99713751e-01 2.39252076e-02 0.00000000e+00 5.09855926e+01] [-2.39252076e-02 9.99713751e-01 0.00000000e+00 -3.53972063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03383133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.01, Y:-0.35, Z:-0.01 [[ 9.99724724e-01 2.34622510e-02 0.00000000e+00 5.10148593e+01] [-2.34622510e-02 9.99724724e-01 0.00000000e+00 -3.54274706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03383133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:-0.35, Z:-0.01 [[ 9.99614571e-01 2.77616367e-02 0.00000000e+00 5.10433265e+01] [-2.77616367e-02 9.99614571e-01 0.00000000e+00 -3.47399551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57591328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:-0.34, Z:-0.01 [[ 9.99377093e-01 3.52905933e-02 0.00000000e+00 5.10713114e+01] [-3.52905933e-02 9.99377093e-01 0.00000000e+00 -3.39690715e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86645495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:-0.34, Z:-0.01 [[ 9.99266434e-01 3.82961279e-02 0.00000000e+00 5.10991168e+01] [-3.82961279e-02 9.99266434e-01 0.00000000e+00 -3.36916615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18462672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:-0.33, Z:-0.01 [[ 9.99193173e-01 4.01622206e-02 0.00000000e+00 5.11283129e+01] [-4.01622206e-02 9.99193173e-01 0.00000000e+00 -3.34267725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31210271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.16, Y:-0.33, Z:-0.01 [[ 9.99165081e-01 4.08551256e-02 0.00000000e+00 5.11557962e+01] [-4.08551256e-02 9.99165081e-01 0.00000000e+00 -3.31329638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37092864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.18, Y:-0.32, Z:-0.01 [[ 9.99258666e-01 3.84982945e-02 0.00000000e+00 5.11847831e+01] [-3.84982945e-02 9.99258666e-01 0.00000000e+00 -3.22407741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24139006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:-0.32, Z:-0.01 [[ 9.99377761e-01 3.52716590e-02 0.00000000e+00 5.12135192e+01] [-3.52716590e-02 9.99377761e-01 0.00000000e+00 -3.16792017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16703644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:-0.31, Z:-0.01 [[ 9.99494813e-01 3.17823515e-02 0.00000000e+00 5.12426552e+01] [-3.17823515e-02 9.99494813e-01 0.00000000e+00 -3.11734301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23570463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.27, Y:-0.31, Z:-0.02 [[ 9.99667102e-01 2.58008850e-02 0.00000000e+00 5.12715794e+01] [-2.58008850e-02 9.99667102e-01 0.00000000e+00 -3.08235908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68061457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:-0.31, Z:-0.02 [[ 9.99734388e-01 2.30467492e-02 0.00000000e+00 5.12991925e+01] [-2.30467492e-02 9.99734388e-01 0.00000000e+00 -3.07601109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75697930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:-0.31, Z:-0.02 [[ 9.99797459e-01 2.01256397e-02 0.00000000e+00 5.13280909e+01] [-2.01256397e-02 9.99797459e-01 0.00000000e+00 -3.05453535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55902654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.36, Y:-0.30, Z:-0.01 [[ 9.99880979e-01 1.54281329e-02 0.00000000e+00 5.13566572e+01] [-1.54281329e-02 9.99880979e-01 0.00000000e+00 -2.96993636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50693839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.38, Y:-0.29, Z:-0.01 [[ 9.99924679e-01 1.22734164e-02 0.00000000e+00 5.13846005e+01] [-1.22734164e-02 9.99924679e-01 0.00000000e+00 -2.93509648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62468691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.41, Y:-0.29, Z:-0.00 [[ 9.99980754e-01 6.20415266e-03 0.00000000e+00 5.14131865e+01] [-6.20415266e-03 9.99980754e-01 0.00000000e+00 -2.92438862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46437429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.44, Y:-0.29, Z:-0.02 [[ 9.99980063e-01 6.31459799e-03 0.00000000e+00 5.14447746e+01] [-6.31459799e-03 9.99980063e-01 0.00000000e+00 -2.94112176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68538604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.47, Y:-0.30, Z:-0.02 [[ 9.99998588e-01 1.68045073e-03 0.00000000e+00 5.14741328e+01] [-1.68045073e-03 9.99998588e-01 0.00000000e+00 -2.99386468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93564814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.852320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:51.50, Y:-0.30, Z:-0.02 [[ 9.99999924e-01 3.90321970e-04 0.00000000e+00 5.15044826e+01] [-3.90321970e-04 9.99999924e-01 0.00000000e+00 -2.97615149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52451945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:-0.29, Z:-0.01 [[ 9.99999693e-01 7.83547354e-04 0.00000000e+00 5.15344773e+01] [-7.83547354e-04 9.99999693e-01 0.00000000e+00 -2.93366660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05712606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:-0.28, Z:-0.01 [[ 9.99994549e-01 3.30173135e-03 0.00000000e+00 5.15647226e+01] [-3.30173135e-03 9.99994549e-01 0.00000000e+00 -2.83516956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.82660610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:-0.28, Z:-0.01 [[ 9.99992614e-01 3.84333750e-03 0.00000000e+00 5.15947115e+01] [-3.84333750e-03 9.99992614e-01 0.00000000e+00 -2.80133981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13266249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.62, Y:-0.28, Z:-0.01 [[ 9.99996440e-01 2.66842649e-03 0.00000000e+00 5.16237253e+01] [-2.66842649e-03 9.99996440e-01 0.00000000e+00 -2.78289514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07204050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.65, Y:-0.28, Z:-0.02 [[ 9.99995804e-01 2.89674235e-03 0.00000000e+00 5.16541118e+01] [-2.89674235e-03 9.99995804e-01 0.00000000e+00 -2.77848120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66581553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:-0.28, Z:-0.02 [[ 9.99999177e-01 1.28316807e-03 0.00000000e+00 5.16835011e+01] [-1.28316807e-03 9.99999177e-01 0.00000000e+00 -2.77930523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52941593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:-0.28, Z:-0.01 [[ 9.99998085e-01 -1.95679274e-03 0.00000000e+00 5.17135959e+01] [ 1.95679274e-03 9.99998085e-01 0.00000000e+00 -2.77566754e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23801870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:-0.28, Z:-0.02 [[ 9.99984891e-01 -5.49701752e-03 0.00000000e+00 5.17443576e+01] [ 5.49701752e-03 9.99984891e-01 0.00000000e+00 -2.76835872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51505969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.78, Y:-0.27, Z:-0.02 [[ 9.99974896e-01 -7.08577667e-03 0.00000000e+00 5.17758284e+01] [ 7.08577667e-03 9.99974896e-01 0.00000000e+00 -2.74788610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61871432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:51.81, Y:-0.27, Z:-0.02 [[ 9.99973217e-01 -7.31878622e-03 0.00000000e+00 5.18070339e+01] [ 7.31878622e-03 9.99973217e-01 0.00000000e+00 -2.71602845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65787988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:-0.27, Z:-0.02 [[ 9.99981860e-01 -6.02331753e-03 0.00000000e+00 5.18383399e+01] [ 6.02331753e-03 9.99981860e-01 0.00000000e+00 -2.66357919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81153110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:-0.27, Z:-0.02 [[ 9.99988768e-01 -4.73964593e-03 0.00000000e+00 5.18695240e+01] [ 4.73964593e-03 9.99988768e-01 0.00000000e+00 -2.67364640e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75187576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.90, Y:-0.27, Z:-0.02 [[ 9.99992008e-01 -3.99787098e-03 0.00000000e+00 5.19013063e+01] [ 3.99787098e-03 9.99992008e-01 0.00000000e+00 -2.69575447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68955316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.93, Y:-0.27, Z:-0.02 [[ 9.99991893e-01 -4.02664077e-03 0.00000000e+00 5.19330854e+01] [ 4.02664077e-03 9.99991893e-01 0.00000000e+00 -2.70856716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57127833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.96, Y:-0.27, Z:-0.02 [[ 9.99988666e-01 -4.76100733e-03 0.00000000e+00 5.19639895e+01] [ 4.76100733e-03 9.99988666e-01 0.00000000e+00 -2.70624391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62587846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.00, Y:-0.27, Z:-0.02 [[ 9.99989270e-01 -4.63253604e-03 0.00000000e+00 5.19955438e+01] [ 4.63253604e-03 9.99989270e-01 0.00000000e+00 -2.70531849e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76876015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.03, Y:-0.27, Z:-0.02 [[ 9.99985678e-01 -5.35194747e-03 0.00000000e+00 5.20268196e+01] [ 5.35194747e-03 9.99985678e-01 0.00000000e+00 -2.71480700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83024535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:-0.27, Z:-0.02 [[ 9.99979479e-01 -6.40642058e-03 0.00000000e+00 5.20582766e+01] [ 6.40642058e-03 9.99979479e-01 0.00000000e+00 -2.73996213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58540122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:-0.27, Z:-0.02 [[ 9.99984468e-01 -5.57345943e-03 0.00000000e+00 5.20894953e+01] [ 5.57345943e-03 9.99984468e-01 0.00000000e+00 -2.73442187e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54405718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:-0.27, Z:-0.02 [[ 9.99989710e-01 -4.53649202e-03 0.00000000e+00 5.21205015e+01] [ 4.53649202e-03 9.99989710e-01 0.00000000e+00 -2.72814265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52468744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:-0.27, Z:-0.02 [[ 9.99995539e-01 -2.98697403e-03 0.00000000e+00 5.21516919e+01] [ 2.98697403e-03 9.99995539e-01 0.00000000e+00 -2.73133291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66230347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.18, Y:-0.28, Z:-0.02 [[ 9.99999609e-01 8.84630190e-04 0.00000000e+00 5.21831400e+01] [-8.84630190e-04 9.99999609e-01 0.00000000e+00 -2.75017164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79421194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:-0.27, Z:-0.01 [[ 9.99995783e-01 2.90398933e-03 0.00000000e+00 5.22131021e+01] [-2.90398933e-03 9.99995783e-01 0.00000000e+00 -2.73509492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10246755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.24, Y:-0.27, Z:-0.01 [[ 9.99991285e-01 4.17496324e-03 0.00000000e+00 5.22423573e+01] [-4.17496324e-03 9.99991285e-01 0.00000000e+00 -2.70338568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55539021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:-0.27, Z:-0.02 [[ 9.99978633e-01 6.53702684e-03 0.00000000e+00 5.22725766e+01] [-6.53702684e-03 9.99978633e-01 0.00000000e+00 -2.68319129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52117127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:-0.27, Z:-0.02 [[ 9.99983032e-01 5.82535145e-03 0.00000000e+00 5.23020724e+01] [-5.82535145e-03 9.99983032e-01 0.00000000e+00 -2.70795750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69242493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:-0.27, Z:-0.02 [[ 9.99990976e-01 4.24821536e-03 0.00000000e+00 5.23315771e+01] [-4.24821536e-03 9.99990976e-01 0.00000000e+00 -2.73045426e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67080994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:-0.27, Z:-0.02 [[ 9.99997860e-01 2.06902000e-03 0.00000000e+00 5.23611707e+01] [-2.06902000e-03 9.99997860e-01 0.00000000e+00 -2.73357811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85377193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:-0.27, Z:-0.02 [[ 9.99998721e-01 -1.59949665e-03 0.00000000e+00 5.23916560e+01] [ 1.59949665e-03 9.99998721e-01 0.00000000e+00 -2.69756813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71748030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:-0.27, Z:-0.02 [[ 9.99998847e-01 -1.51851156e-03 0.00000000e+00 5.24226746e+01] [ 1.51851156e-03 9.99998847e-01 0.00000000e+00 -2.67346936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73709715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:-0.26, Z:-0.02 [[ 9.99999326e-01 -1.16095477e-03 0.00000000e+00 5.24530081e+01] [ 1.16095477e-03 9.99999326e-01 0.00000000e+00 -2.64600643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59712938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:-0.26, Z:-0.01 [[ 9.99999959e-01 -2.87328396e-04 0.00000000e+00 5.24838335e+01] [ 2.87328396e-04 9.99999959e-01 0.00000000e+00 -2.61872101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46945737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:-0.26, Z:-0.02 [[ 9.99999908e-01 -4.28409207e-04 0.00000000e+00 5.25143217e+01] [ 4.28409207e-04 9.99999908e-01 0.00000000e+00 -2.63386996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57412251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.55, Y:-0.27, Z:-0.02 [[ 9.99999995e-01 9.50658471e-05 0.00000000e+00 5.25450213e+01] [-9.50658471e-05 9.99999995e-01 0.00000000e+00 -2.65895215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71010663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.58, Y:-0.27, Z:-0.02 [[ 9.99999879e-01 -4.91495824e-04 0.00000000e+00 5.25750690e+01] [ 4.91495824e-04 9.99999879e-01 0.00000000e+00 -2.67814399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74549308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.61, Y:-0.27, Z:-0.02 [[ 9.99992050e-01 -3.98750988e-03 0.00000000e+00 5.26057119e+01] [ 3.98750988e-03 9.99992050e-01 0.00000000e+00 -2.70289921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69172954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.64, Y:-0.27, Z:-0.02 [[ 9.99982282e-01 -5.95278226e-03 0.00000000e+00 5.26374133e+01] [ 5.95278226e-03 9.99982282e-01 0.00000000e+00 -2.72538527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69379998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:-0.28, Z:-0.02 [[ 9.99973903e-01 -7.22451529e-03 0.00000000e+00 5.26690020e+01] [ 7.22451529e-03 9.99973903e-01 0.00000000e+00 -2.75573816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65119322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.70, Y:-0.28, Z:-0.02 [[ 9.99972593e-01 -7.40363951e-03 0.00000000e+00 5.27003995e+01] [ 7.40363951e-03 9.99972593e-01 0.00000000e+00 -2.78458848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66889411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.73, Y:-0.28, Z:-0.02 [[ 9.99987812e-01 -4.93712096e-03 0.00000000e+00 5.27314706e+01] [ 4.93712096e-03 9.99987812e-01 0.00000000e+00 -2.77945152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54274509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.76, Y:-0.28, Z:-0.02 [[ 9.99995544e-01 -2.98541791e-03 0.00000000e+00 5.27624302e+01] [ 2.98541791e-03 9.99995544e-01 0.00000000e+00 -2.76619077e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53516922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:-0.28, Z:-0.01 [[ 9.99999531e-01 -9.68794023e-04 0.00000000e+00 5.27937242e+01] [ 9.68794023e-04 9.99999531e-01 0.00000000e+00 -2.77696597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72693740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.82, Y:-0.28, Z:-0.02 [[ 9.99992751e-01 3.80756603e-03 0.00000000e+00 5.28238972e+01] [-3.80756603e-03 9.99992751e-01 0.00000000e+00 -2.84545985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75790829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:-0.29, Z:-0.02 [[ 9.99979715e-01 6.36943187e-03 0.00000000e+00 5.28533421e+01] [-6.36943187e-03 9.99979715e-01 0.00000000e+00 -2.85629678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76968380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:-0.28, Z:-0.02 [[ 9.99954041e-01 9.58723650e-03 0.00000000e+00 5.28826965e+01] [-9.58723650e-03 9.99954041e-01 0.00000000e+00 -2.84121679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69353277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.91, Y:-0.28, Z:-0.02 [[ 9.99958280e-01 9.13446781e-03 0.00000000e+00 5.29119360e+01] [-9.13446781e-03 9.99958280e-01 0.00000000e+00 -2.84267845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69353277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:-0.28, Z:-0.01 [[ 9.99903800e-01 1.38705023e-02 0.00000000e+00 5.29406577e+01] [-1.38705023e-02 9.99903800e-01 0.00000000e+00 -2.77889484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48584341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.97, Y:-0.28, Z:-0.01 [[ 9.99888015e-01 1.49652372e-02 0.00000000e+00 5.29690795e+01] [-1.49652372e-02 9.99888015e-01 0.00000000e+00 -2.75304246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35909637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322320588000004 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:53.00, Y:-0.27, Z:-0.02 [[ 9.99875359e-01 1.57881913e-02 0.00000000e+00 5.29969331e+01] [-1.57881913e-02 9.99875359e-01 0.00000000e+00 -2.73324762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51787758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:-0.27, Z:-0.01 [[ 9.99841932e-01 1.77795127e-02 0.00000000e+00 5.30252148e+01] [-1.77795127e-02 9.99841932e-01 0.00000000e+00 -2.68841255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46965397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:53.05, Y:-0.27, Z:-0.01 [[ 9.99861188e-01 1.66614777e-02 0.00000000e+00 5.30539422e+01] [-1.66614777e-02 9.99861188e-01 0.00000000e+00 -2.66101481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45601406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:-0.26, Z:-0.01 [[ 9.99889506e-01 1.48652490e-02 0.00000000e+00 5.30818164e+01] [-1.48652490e-02 9.99889506e-01 0.00000000e+00 -2.62392081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41733754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:-0.25, Z:-0.02 [[ 9.99934553e-01 1.14407247e-02 0.00000000e+00 5.31103568e+01] [-1.14407247e-02 9.99934553e-01 0.00000000e+00 -2.52546426e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55479111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:-0.25, Z:-0.02 [[ 9.99949329e-01 1.00667656e-02 0.00000000e+00 5.31389404e+01] [-1.00667656e-02 9.99949329e-01 0.00000000e+00 -2.47133313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60236464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:-0.24, Z:-0.02 [[ 9.99958001e-01 9.16494306e-03 0.00000000e+00 5.31673788e+01] [-9.16494306e-03 9.99958001e-01 0.00000000e+00 -2.41441159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56136862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.532320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:53.20, Y:-0.24, Z:-0.01 [[ 9.99970124e-01 7.72992721e-03 0.00000000e+00 5.31963264e+01] [-7.72992721e-03 9.99970124e-01 0.00000000e+00 -2.36911158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48287599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.22, Y:-0.23, Z:-0.01 [[ 9.99999197e-01 1.26714210e-03 0.00000000e+00 5.32246313e+01] [-1.26714210e-03 9.99999197e-01 0.00000000e+00 -2.33846766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77660002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.26, Y:-0.23, Z:-0.01 [[ 9.99999991e-01 -1.32519384e-04 0.00000000e+00 5.32559087e+01] [ 1.32519384e-04 9.99999991e-01 0.00000000e+00 -2.33704054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16661834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:53.29, Y:-0.23, Z:-0.01 [[ 9.99992879e-01 -3.77374780e-03 0.00000000e+00 5.32866499e+01] [ 3.77374780e-03 9.99992879e-01 0.00000000e+00 -2.33204651e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14463033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:-0.23, Z:-0.01 [[ 9.99937948e-01 -1.11400644e-02 0.00000000e+00 5.33176445e+01] [ 1.11400644e-02 9.99937948e-01 0.00000000e+00 -2.31217922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31381720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:53.35, Y:-0.23, Z:-0.02 [[ 9.99907992e-01 -1.35649149e-02 0.00000000e+00 5.33501594e+01] [ 1.35649149e-02 9.99907992e-01 0.00000000e+00 -2.30662752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52606527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:-0.23, Z:-0.02 [[ 9.99884750e-01 -1.51817828e-02 0.00000000e+00 5.33833047e+01] [ 1.51817828e-02 9.99884750e-01 0.00000000e+00 -2.30486811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57332765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.42, Y:-0.23, Z:-0.01 [[ 9.99849518e-01 -1.73476767e-02 0.00000000e+00 5.34168110e+01] [ 1.73476767e-02 9.99849518e-01 0.00000000e+00 -2.30810566e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45992272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:-0.23, Z:-0.01 [[ 9.99847284e-01 -1.74759682e-02 0.00000000e+00 5.34487278e+01] [ 1.74759682e-02 9.99847284e-01 0.00000000e+00 -2.31675900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25087173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:-0.23, Z:-0.01 [[ 9.99826640e-01 -1.86195912e-02 0.00000000e+00 5.34813956e+01] [ 1.86195912e-02 9.99826640e-01 0.00000000e+00 -2.34419162e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25683389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:-0.24, Z:-0.01 [[ 9.99805419e-01 -1.97262504e-02 0.00000000e+00 5.35142907e+01] [ 1.97262504e-02 9.99805419e-01 0.00000000e+00 -2.38762870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26407372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.55, Y:-0.25, Z:-0.02 [[ 9.99718265e-01 -2.37358304e-02 0.00000000e+00 5.35479531e+01] [ 2.37358304e-02 9.99718265e-01 0.00000000e+00 -2.48024947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57225122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.58, Y:-0.25, Z:-0.02 [[ 9.99670808e-01 -2.56568938e-02 0.00000000e+00 5.35812454e+01] [ 2.56568938e-02 9.99670808e-01 0.00000000e+00 -2.49970042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61214220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.61, Y:-0.25, Z:-0.02 [[ 9.99639311e-01 -2.68560704e-02 0.00000000e+00 5.36146723e+01] [ 2.68560704e-02 9.99639311e-01 0.00000000e+00 -2.50905505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70443894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:-0.25, Z:-0.02 [[ 9.99636858e-01 -2.69471965e-02 0.00000000e+00 5.36476366e+01] [ 2.69471965e-02 9.99636858e-01 0.00000000e+00 -2.52093931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66501594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:-0.25, Z:-0.01 [[ 9.99706513e-01 -2.42257514e-02 0.00000000e+00 5.36807801e+01] [ 2.42257514e-02 9.99706513e-01 0.00000000e+00 -2.54219508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29706456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:-0.25, Z:-0.01 [[ 9.99769872e-01 -2.14523309e-02 0.00000000e+00 5.37143500e+01] [ 2.14523309e-02 9.99769872e-01 0.00000000e+00 -2.54509376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17074840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.75, Y:-0.26, Z:-0.01 [[ 9.99921217e-01 -1.25522655e-02 0.00000000e+00 5.37477931e+01] [ 1.25522655e-02 9.99921217e-01 0.00000000e+00 -2.58095904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11918152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.78, Y:-0.26, Z:-0.01 [[ 9.99963139e-01 -8.58604213e-03 0.00000000e+00 5.37801341e+01] [ 8.58604213e-03 9.99963139e-01 0.00000000e+00 -2.61858874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21237276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:-0.27, Z:-0.01 [[ 9.99984285e-01 -5.60630080e-03 0.00000000e+00 5.38119839e+01] [ 5.60630080e-03 9.99984285e-01 0.00000000e+00 -2.65111435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31444622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:-0.27, Z:-0.01 [[ 9.99992527e-01 -3.86588584e-03 0.00000000e+00 5.38437946e+01] [ 3.86588584e-03 9.99992527e-01 0.00000000e+00 -2.66980430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23523181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:-0.27, Z:-0.01 [[ 9.99999806e-01 -6.23457455e-04 0.00000000e+00 5.38746806e+01] [ 6.23457455e-04 9.99999806e-01 0.00000000e+00 -2.67416118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15390386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.91, Y:-0.27, Z:-0.01 [[ 9.99997977e-01 2.01139291e-03 0.00000000e+00 5.39052734e+01] [-2.01139291e-03 9.99997977e-01 0.00000000e+00 -2.67246222e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23387369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.94, Y:-0.27, Z:-0.01 [[ 9.99983645e-01 5.71921511e-03 0.00000000e+00 5.39357719e+01] [-5.71921511e-03 9.99983645e-01 0.00000000e+00 -2.66912994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25864258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.97, Y:-0.27, Z:-0.01 [[ 9.99947653e-01 1.02319003e-02 0.00000000e+00 5.39650723e+01] [-1.02319003e-02 9.99947653e-01 0.00000000e+00 -2.65968867e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33862773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.99, Y:-0.26, Z:-0.01 [[ 9.99805950e-01 1.96993209e-02 0.00000000e+00 5.39937959e+01] [-1.96993209e-02 9.99805950e-01 0.00000000e+00 -2.62519664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36023062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:-0.26, Z:-0.01 [[ 9.99729850e-01 2.32427982e-02 0.00000000e+00 5.40224501e+01] [-2.32427982e-02 9.99729850e-01 0.00000000e+00 -2.60574495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29871486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:-0.26, Z:-0.01 [[ 9.99685131e-01 2.50926110e-02 0.00000000e+00 5.40517536e+01] [-2.50926110e-02 9.99685131e-01 0.00000000e+00 -2.58807867e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24539912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:-0.25, Z:-0.01 [[ 9.99637553e-01 2.69214049e-02 0.00000000e+00 5.40800102e+01] [-2.69214049e-02 9.99637553e-01 0.00000000e+00 -2.53880024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11785728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:-0.25, Z:-0.01 [[ 9.99610391e-01 2.79117548e-02 0.00000000e+00 5.41091361e+01] [-2.79117548e-02 9.99610391e-01 0.00000000e+00 -2.50869241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17497397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:-0.25, Z:-0.01 [[ 9.99595117e-01 2.84535064e-02 0.00000000e+00 5.41365884e+01] [-2.84535064e-02 9.99595117e-01 0.00000000e+00 -2.48390151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37602116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:-0.25, Z:-0.01 [[ 9.99608765e-01 2.79699280e-02 0.00000000e+00 5.41646502e+01] [-2.79699280e-02 9.99608765e-01 0.00000000e+00 -2.45869855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48950603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.19, Y:-0.24, Z:-0.01 [[ 9.99656684e-01 2.62013988e-02 0.00000000e+00 5.41937031e+01] [-2.62013988e-02 9.99656684e-01 0.00000000e+00 -2.40263098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27666929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:-0.24, Z:-0.01 [[ 9.99679157e-01 2.53294758e-02 0.00000000e+00 5.42217770e+01] [-2.53294758e-02 9.99679157e-01 0.00000000e+00 -2.36705716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08476643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.25, Y:-0.23, Z:-0.01 [[ 9.99721398e-01 2.36035209e-02 0.00000000e+00 5.42499820e+01] [-2.36035209e-02 9.99721398e-01 0.00000000e+00 -2.33736957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22251026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:-0.23, Z:-0.01 [[ 9.99784921e-01 2.07391238e-02 0.00000000e+00 5.42775094e+01] [-2.07391238e-02 9.99784921e-01 0.00000000e+00 -2.31945862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66335814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:-0.23, Z:-0.01 [[ 9.99796313e-01 2.01824717e-02 0.00000000e+00 5.43065550e+01] [-2.01824717e-02 9.99796313e-01 0.00000000e+00 -2.31486732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11041001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.33, Y:-0.23, Z:-0.01 [[ 9.99788809e-01 2.05508373e-02 0.00000000e+00 5.43348182e+01] [-2.05508373e-02 9.99788809e-01 0.00000000e+00 -2.27946254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20865008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.36, Y:-0.22, Z:-0.01 [[ 9.99689162e-01 2.49314982e-02 0.00000000e+00 5.43632801e+01] [-2.49314982e-02 9.99689162e-01 0.00000000e+00 -2.16249522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27706549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.39, Y:-0.21, Z:-0.01 [[ 9.99644967e-01 2.66447149e-02 0.00000000e+00 5.43913064e+01] [-2.66447149e-02 9.99644967e-01 0.00000000e+00 -2.12934155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23852815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.42, Y:-0.21, Z:-0.01 [[ 9.99690151e-01 2.48917874e-02 0.00000000e+00 5.44200591e+01] [-2.48917874e-02 9.99690151e-01 0.00000000e+00 -2.13523380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14723937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.45, Y:-0.21, Z:-0.01 [[ 9.99767950e-01 2.15417122e-02 0.00000000e+00 5.44483184e+01] [-2.15417122e-02 9.99767950e-01 0.00000000e+00 -2.14043315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17982797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.48, Y:-0.21, Z:-0.01 [[ 9.99851652e-01 1.72242144e-02 0.00000000e+00 5.44764165e+01] [-1.72242144e-02 9.99851652e-01 0.00000000e+00 -2.13125330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30397267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:-0.21, Z:-0.02 [[ 9.99917552e-01 1.28408821e-02 0.00000000e+00 5.45045912e+01] [-1.28408821e-02 9.99917552e-01 0.00000000e+00 -2.11274536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55313496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:-0.20, Z:-0.02 [[ 9.99976488e-01 6.85740642e-03 0.00000000e+00 5.45330697e+01] [-6.85740642e-03 9.99976488e-01 0.00000000e+00 -2.03342607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72759227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.56, Y:-0.20, Z:-0.02 [[ 9.99990676e-01 4.31835187e-03 0.00000000e+00 5.45619181e+01] [-4.31835187e-03 9.99990676e-01 0.00000000e+00 -1.99374887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64241201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:-0.20, Z:-0.01 [[ 9.99997561e-01 2.20859910e-03 0.00000000e+00 5.45912977e+01] [-2.20859910e-03 9.99997561e-01 0.00000000e+00 -1.97023216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46378177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.62, Y:-0.20, Z:-0.01 [[ 9.99999875e-01 4.99645199e-04 0.00000000e+00 5.46206872e+01] [-4.99645199e-04 9.99999875e-01 0.00000000e+00 -1.95883403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14685752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:-0.20, Z:-0.01 [[ 9.99998838e-01 -1.52461744e-03 0.00000000e+00 5.46516209e+01] [ 1.52461744e-03 9.99998838e-01 0.00000000e+00 -1.96486942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39518657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.68, Y:-0.20, Z:-0.01 [[ 9.99993680e-01 -3.55518532e-03 0.00000000e+00 5.46821247e+01] [ 3.55518532e-03 9.99993680e-01 0.00000000e+00 -1.97890759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41899302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.71, Y:-0.20, Z:-0.01 [[ 9.99962195e-01 -8.69534104e-03 0.00000000e+00 5.47135122e+01] [ 8.69534104e-03 9.99962195e-01 0.00000000e+00 -1.99299114e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17705920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:-0.20, Z:-0.01 [[ 9.99953098e-01 -9.68515411e-03 0.00000000e+00 5.47457586e+01] [ 9.68515411e-03 9.99953098e-01 0.00000000e+00 -1.95543217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28113281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.78, Y:-0.19, Z:-0.01 [[ 9.99945867e-01 -1.04049290e-02 0.00000000e+00 5.47790015e+01] [ 1.04049290e-02 9.99945867e-01 0.00000000e+00 -1.89131245e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17703025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:-0.18, Z:-0.01 [[ 9.99941208e-01 -1.08434823e-02 0.00000000e+00 5.48122440e+01] [ 1.08434823e-02 9.99941208e-01 0.00000000e+00 -1.83685080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04984673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:-0.19, Z:-0.01 [[ 9.99915462e-01 -1.30026511e-02 0.00000000e+00 5.48442656e+01] [ 1.30026511e-02 9.99915462e-01 0.00000000e+00 -1.86865772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86631086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:-0.19, Z:-0.01 [[ 9.99921899e-01 -1.24978365e-02 0.00000000e+00 5.48779098e+01] [ 1.24978365e-02 9.99921899e-01 0.00000000e+00 -1.86232378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86631086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:-0.19, Z:-0.01 [[ 9.99898703e-01 -1.42331950e-02 0.00000000e+00 5.49110542e+01] [ 1.42331950e-02 9.99898703e-01 0.00000000e+00 -1.92346464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05858227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:54.94, Y:-0.20, Z:-0.01 [[ 9.99848077e-01 -1.74305110e-02 0.00000000e+00 5.49438279e+01] [ 1.74305110e-02 9.99848077e-01 0.00000000e+00 -1.95969324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04420756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:-0.20, Z:-0.01 [[ 9.99774760e-01 -2.12233308e-02 0.00000000e+00 5.49772415e+01] [ 2.12233308e-02 9.99774760e-01 0.00000000e+00 -1.97076572e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02105666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.01, Y:-0.20, Z:-0.01 [[ 9.99690107e-01 -2.48935762e-02 0.00000000e+00 5.50099002e+01] [ 2.48935762e-02 9.99690107e-01 0.00000000e+00 -1.97944313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06704259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.04, Y:-0.20, Z:-0.01 [[ 9.99532405e-01 -3.05773008e-02 0.00000000e+00 5.50420028e+01] [ 3.05773008e-02 9.99532405e-01 0.00000000e+00 -2.01497046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44791584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:-0.20, Z:-0.01 [[ 9.99529279e-01 -3.06793249e-02 0.00000000e+00 5.50754713e+01] [ 3.06793249e-02 9.99529279e-01 0.00000000e+00 -2.01797564e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45776347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:-0.20, Z:-0.01 [[ 9.99554287e-01 -2.98534178e-02 0.00000000e+00 5.51083343e+01] [ 2.98534178e-02 9.99554287e-01 0.00000000e+00 -2.00891185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36450692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:-0.20, Z:-0.01 [[ 9.99698744e-01 -2.45442680e-02 0.00000000e+00 5.51433651e+01] [ 2.45442680e-02 9.99698744e-01 0.00000000e+00 -2.00558758e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37105645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:-0.20, Z:-0.01 [[ 9.99647685e-01 -2.65425160e-02 0.00000000e+00 5.51719455e+01] [ 2.65425160e-02 9.99647685e-01 0.00000000e+00 -2.03148328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30051714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:-0.21, Z:-0.01 [[ 9.99687346e-01 -2.50042241e-02 0.00000000e+00 5.52048112e+01] [ 2.50042241e-02 9.99687346e-01 0.00000000e+00 -2.07165148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09080299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:-0.22, Z:-0.01 [[ 9.99726375e-01 -2.33917962e-02 0.00000000e+00 5.52369007e+01] [ 2.33917962e-02 9.99726375e-01 0.00000000e+00 -2.16091809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58231705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:-0.22, Z:-0.01 [[ 9.99729908e-01 -2.32403095e-02 0.00000000e+00 5.52693487e+01] [ 2.32403095e-02 9.99729908e-01 0.00000000e+00 -2.18164441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01163391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.30, Y:-0.22, Z:-0.01 [[ 9.99684322e-01 -2.51248246e-02 0.00000000e+00 5.53010720e+01] [ 2.51248246e-02 9.99684322e-01 0.00000000e+00 -2.19068258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31538331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.33, Y:-0.22, Z:-0.01 [[ 9.99644563e-01 -2.66598588e-02 0.00000000e+00 5.53339154e+01] [ 2.66598588e-02 9.99644563e-01 0.00000000e+00 -2.20723737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11103258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.37, Y:-0.23, Z:-0.01 [[ 9.99597695e-01 -2.83628003e-02 0.00000000e+00 5.53672291e+01] [ 2.83628003e-02 9.99597695e-01 0.00000000e+00 -2.29259508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32113574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:-0.23, Z:-0.01 [[ 9.99631368e-01 -2.71501154e-02 0.00000000e+00 5.54000875e+01] [ 2.71501154e-02 9.99631368e-01 0.00000000e+00 -2.34447653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27596023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.43, Y:-0.24, Z:-0.01 [[ 9.99664398e-01 -2.59054449e-02 0.00000000e+00 5.54336765e+01] [ 2.59054449e-02 9.99664398e-01 0.00000000e+00 -2.38570006e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19404696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:55.47, Y:-0.24, Z:-0.01 [[ 9.99731220e-01 -2.31837685e-02 0.00000000e+00 5.54667962e+01] [ 2.31837685e-02 9.99731220e-01 0.00000000e+00 -2.40656887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02426336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:-0.24, Z:-0.01 [[ 9.99783593e-01 -2.08030356e-02 0.00000000e+00 5.55003344e+01] [ 2.08030356e-02 9.99783593e-01 0.00000000e+00 -2.41694839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71322906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.24, Z:-0.00 [[ 9.99796763e-01 -2.01601966e-02 0.00000000e+00 5.55298812e+01] [ 2.01601966e-02 9.99796763e-01 0.00000000e+00 -2.42205414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88787342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:-0.24, Z:-0.01 [[ 9.99947895e-01 -1.02081939e-02 0.00000000e+00 5.55628813e+01] [ 1.02081939e-02 9.99947895e-01 0.00000000e+00 -2.44618260e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34336300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:-0.25, Z:-0.01 [[ 9.99985284e-01 -5.42507210e-03 0.00000000e+00 5.55947593e+01] [ 5.42507210e-03 9.99985284e-01 0.00000000e+00 -2.46847309e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39135485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:-0.25, Z:-0.01 [[ 9.99999714e-01 -7.56248043e-04 0.00000000e+00 5.56261669e+01] [ 7.56248043e-04 9.99999714e-01 0.00000000e+00 -2.49410711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26333784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.66, Y:-0.25, Z:-0.01 [[ 9.99994630e-01 3.27721730e-03 0.00000000e+00 5.56562794e+01] [-3.27721730e-03 9.99994630e-01 0.00000000e+00 -2.50794838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13763534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:-0.25, Z:-0.01 [[ 9.99975718e-01 6.96869284e-03 0.00000000e+00 5.56855621e+01] [-6.96869284e-03 9.99975718e-01 0.00000000e+00 -2.49718138e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06800439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:-0.24, Z:-0.01 [[ 9.99892185e-01 1.46839482e-02 0.00000000e+00 5.57156832e+01] [-1.46839482e-02 9.99892185e-01 0.00000000e+00 -2.42390825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25804091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.74, Y:-0.24, Z:-0.01 [[ 9.99835803e-01 1.81209196e-02 0.00000000e+00 5.57441215e+01] [-1.81209196e-02 9.99835803e-01 0.00000000e+00 -2.38696599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36839340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.77, Y:-0.24, Z:-0.01 [[ 9.99758026e-01 2.19975017e-02 0.00000000e+00 5.57724017e+01] [-2.19975017e-02 9.99758026e-01 0.00000000e+00 -2.37418404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34640800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:-0.24, Z:-0.01 [[ 9.99595957e-01 2.84239938e-02 0.00000000e+00 5.58007264e+01] [-2.84239938e-02 9.99595957e-01 0.00000000e+00 -2.37716242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04408742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.83, Y:-0.23, Z:-0.01 [[ 9.99537618e-01 3.04064287e-02 0.00000000e+00 5.58290186e+01] [-3.04064287e-02 9.99537618e-01 0.00000000e+00 -2.33630454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71415079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.86, Y:-0.23, Z:-0.01 [[ 9.99493816e-01 3.18136901e-02 0.00000000e+00 5.58565285e+01] [-3.18136901e-02 9.99493816e-01 0.00000000e+00 -2.26852957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75079637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:-0.22, Z:-0.01 [[ 9.99451843e-01 3.31060987e-02 0.00000000e+00 5.58843940e+01] [-3.31060987e-02 9.99451843e-01 0.00000000e+00 -2.20280658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91474228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.91, Y:-0.21, Z:-0.01 [[ 9.99375161e-01 3.53452651e-02 0.00000000e+00 5.59118276e+01] [-3.53452651e-02 9.99375161e-01 0.00000000e+00 -2.14774179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17450920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:-0.21, Z:-0.01 [[ 9.99365614e-01 3.56141771e-02 0.00000000e+00 5.59393267e+01] [-3.56141771e-02 9.99365614e-01 0.00000000e+00 -2.12065273e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18706634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:-0.21, Z:-0.01 [[ 9.99375197e-01 3.53442555e-02 0.00000000e+00 5.59670553e+01] [-3.53442555e-02 9.99375197e-01 0.00000000e+00 -2.06226317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21714670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.99, Y:-0.20, Z:-0.01 [[ 9.99470052e-01 3.25517313e-02 0.00000000e+00 5.59938818e+01] [-3.25517313e-02 9.99470052e-01 0.00000000e+00 -1.97946879e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96081555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:-0.19, Z:-0.01 [[ 9.99382926e-01 3.51250188e-02 0.00000000e+00 5.60269144e+01] [-3.51250188e-02 9.99382926e-01 0.00000000e+00 -1.90889175e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18282563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.05, Y:-0.19, Z:-0.01 [[ 9.99567712e-01 2.94005048e-02 0.00000000e+00 5.60539298e+01] [-2.94005048e-02 9.99567712e-01 0.00000000e+00 -1.87606000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92517149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:-0.19, Z:-0.01 [[ 9.99657830e-01 2.61576380e-02 0.00000000e+00 5.60861419e+01] [-2.61576380e-02 9.99657830e-01 0.00000000e+00 -1.87292703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07538586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.12, Y:-0.19, Z:-0.01 [[ 9.99768134e-01 2.15332057e-02 0.00000000e+00 5.61151685e+01] [-2.15332057e-02 9.99768134e-01 0.00000000e+00 -1.85614011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70493595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.14, Y:-0.18, Z:-0.01 [[ 9.99879090e-01 1.55500674e-02 0.00000000e+00 5.61438316e+01] [-1.55500674e-02 9.99879090e-01 0.00000000e+00 -1.83149165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75244816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.17, Y:-0.18, Z:-0.01 [[ 9.99986849e-01 5.12860044e-03 0.00000000e+00 5.61727327e+01] [-5.12860044e-03 9.99986849e-01 0.00000000e+00 -1.84275135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28552780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:-0.19, Z:-0.02 [[ 9.99999251e-01 1.22426667e-03 0.00000000e+00 5.62025247e+01] [-1.22426667e-03 9.99999251e-01 0.00000000e+00 -1.86851280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62923367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.23, Y:-0.19, Z:-0.02 [[ 9.99999901e-01 -4.45620939e-04 0.00000000e+00 5.62327317e+01] [ 4.45620939e-04 9.99999901e-01 0.00000000e+00 -1.85923544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67100583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:-0.18, Z:-0.01 [[ 9.99998305e-01 -1.84098840e-03 0.00000000e+00 5.62635928e+01] [ 1.84098840e-03 9.99998305e-01 0.00000000e+00 -1.81489735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35913273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.29, Y:-0.18, Z:-0.01 [[ 9.99997622e-01 -2.18072996e-03 0.00000000e+00 5.62940077e+01] [ 2.18072996e-03 9.99997622e-01 0.00000000e+00 -1.76978044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01243215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:-0.18, Z:-0.01 [[ 9.99996202e-01 -2.75624197e-03 0.00000000e+00 5.63249792e+01] [ 2.75624197e-03 9.99996202e-01 0.00000000e+00 -1.76230501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.65186046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:-0.19, Z:-0.01 [[ 9.99980583e-01 -6.23163400e-03 0.00000000e+00 5.63559939e+01] [ 6.23163400e-03 9.99980583e-01 0.00000000e+00 -1.85278909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11975556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:-0.19, Z:-0.01 [[ 9.99970657e-01 -7.66057170e-03 0.00000000e+00 5.63883858e+01] [ 7.66057170e-03 9.99970657e-01 0.00000000e+00 -1.88850424e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38250129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:-0.19, Z:-0.02 [[ 9.99945611e-01 -1.04294835e-02 0.00000000e+00 5.64211005e+01] [ 1.04294835e-02 9.99945611e-01 0.00000000e+00 -1.89650624e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50705346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.45, Y:-0.19, Z:-0.02 [[ 9.99922329e-01 -1.24633710e-02 0.00000000e+00 5.64534862e+01] [ 1.24633710e-02 9.99922329e-01 0.00000000e+00 -1.88562111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52744361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.49, Y:-0.19, Z:-0.01 [[ 9.99866963e-01 -1.63112228e-02 0.00000000e+00 5.64853125e+01] [ 1.63112228e-02 9.99866963e-01 0.00000000e+00 -1.92199355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12475206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:-0.20, Z:-0.01 [[ 9.99847610e-01 -1.74572659e-02 0.00000000e+00 5.65183746e+01] [ 1.74572659e-02 9.99847610e-01 0.00000000e+00 -1.95284623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11824173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:-0.20, Z:-0.01 [[ 9.99822910e-01 -1.88188595e-02 0.00000000e+00 5.65502059e+01] [ 1.88188595e-02 9.99822910e-01 0.00000000e+00 -1.98255721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54522120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:-0.20, Z:-0.01 [[ 9.99812117e-01 -1.93837850e-02 0.00000000e+00 5.65834550e+01] [ 1.93837850e-02 9.99812117e-01 0.00000000e+00 -2.00419564e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26803447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.62, Y:-0.20, Z:-0.01 [[ 9.99815658e-01 -1.92002779e-02 0.00000000e+00 5.66170295e+01] [ 1.92002779e-02 9.99815658e-01 0.00000000e+00 -2.03095448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35327830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.65, Y:-0.21, Z:-0.01 [[ 9.99776136e-01 -2.11584214e-02 0.00000000e+00 5.66464025e+01] [ 2.11584214e-02 9.99776136e-01 0.00000000e+00 -2.07677170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58299520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:-0.22, Z:-0.02 [[ 9.99937610e-01 -1.11702934e-02 0.00000000e+00 5.66804269e+01] [ 1.11702934e-02 9.99937610e-01 0.00000000e+00 -2.16149266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53445759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:-0.22, Z:-0.02 [[ 9.99969791e-01 -7.77282416e-03 0.00000000e+00 5.67130686e+01] [ 7.77282416e-03 9.99969791e-01 0.00000000e+00 -2.16977642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50874747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:-0.22, Z:-0.01 [[ 9.99990341e-01 -4.39521698e-03 0.00000000e+00 5.67457484e+01] [ 4.39521698e-03 9.99990341e-01 0.00000000e+00 -2.15898631e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49827766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.78, Y:-0.22, Z:-0.02 [[ 9.99999614e-01 -8.78662713e-04 0.00000000e+00 5.67768934e+01] [ 8.78662713e-04 9.99999614e-01 0.00000000e+00 -2.15452697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56032322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.81, Y:-0.22, Z:-0.02 [[ 9.99995714e-01 2.92763589e-03 0.00000000e+00 5.68078946e+01] [-2.92763589e-03 9.99995714e-01 0.00000000e+00 -2.16971400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51882009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:-0.22, Z:-0.02 [[ 9.99995898e-01 2.86442850e-03 0.00000000e+00 5.68380438e+01] [-2.86442850e-03 9.99995898e-01 0.00000000e+00 -2.16965637e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51882009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:-0.22, Z:-0.02 [[ 9.99956022e-01 9.37835717e-03 0.00000000e+00 5.68676540e+01] [-9.37835717e-03 9.99956022e-01 0.00000000e+00 -2.24145015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52631996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:-0.23, Z:-0.02 [[ 9.99930451e-01 1.17937538e-02 0.00000000e+00 5.68961548e+01] [-1.17937538e-02 9.99930451e-01 0.00000000e+00 -2.26513291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59693417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.92, Y:-0.23, Z:-0.02 [[ 9.99885838e-01 1.51099913e-02 0.00000000e+00 5.69244892e+01] [-1.51099913e-02 9.99885838e-01 0.00000000e+00 -2.26923494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68820382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:-0.23, Z:-0.02 [[ 9.99851767e-01 1.72175244e-02 0.00000000e+00 5.69527045e+01] [-1.72175244e-02 9.99851767e-01 0.00000000e+00 -2.26687097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68078613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:-0.22, Z:-0.01 [[ 9.99732534e-01 2.31270443e-02 0.00000000e+00 5.69812200e+01] [-2.31270443e-02 9.99732534e-01 0.00000000e+00 -2.24369588e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41929530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.01, Y:-0.22, Z:-0.01 [[ 9.99689383e-01 2.49226244e-02 0.00000000e+00 5.70092109e+01] [-2.49226244e-02 9.99689383e-01 0.00000000e+00 -2.21865454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35343796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.04, Y:-0.22, Z:-0.01 [[ 9.99673086e-01 2.55679522e-02 0.00000000e+00 5.70369182e+01] [-2.55679522e-02 9.99673086e-01 0.00000000e+00 -2.20539523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38951613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:-0.22, Z:-0.02 [[ 9.99682241e-01 2.52074765e-02 0.00000000e+00 5.70649090e+01] [-2.52074765e-02 9.99682241e-01 0.00000000e+00 -2.20668607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61481800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:-0.22, Z:-0.02 [[ 9.99675867e-01 2.54590001e-02 0.00000000e+00 5.70931696e+01] [-2.54590001e-02 9.99675867e-01 0.00000000e+00 -2.21532423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79779484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:-0.22, Z:-0.02 [[ 9.99683975e-01 2.51386373e-02 0.00000000e+00 5.71219050e+01] [-2.51386373e-02 9.99683975e-01 0.00000000e+00 -2.21628879e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84534576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:-0.22, Z:-0.01 [[ 9.99711099e-01 2.40357581e-02 0.00000000e+00 5.71498162e+01] [-2.40357581e-02 9.99711099e-01 0.00000000e+00 -2.15362663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43375075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:-0.21, Z:-0.01 [[ 9.99761990e-01 2.18165906e-02 0.00000000e+00 5.71781353e+01] [-2.18165906e-02 9.99761990e-01 0.00000000e+00 -2.12017578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35589875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.21, Y:-0.21, Z:-0.01 [[ 9.99818346e-01 1.90597667e-02 0.00000000e+00 5.72069187e+01] [-1.90597667e-02 9.99818346e-01 0.00000000e+00 -2.09320793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34139219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.24, Y:-0.21, Z:-0.01 [[ 9.99855605e-01 1.69932193e-02 0.00000000e+00 5.72359184e+01] [-1.69932193e-02 9.99855605e-01 0.00000000e+00 -2.06712060e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41054708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.26, Y:-0.20, Z:-0.01 [[ 9.99904202e-01 1.38414949e-02 0.00000000e+00 5.72637242e+01] [-1.38414949e-02 9.99904202e-01 0.00000000e+00 -2.04198141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49718956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:-0.20, Z:-0.01 [[ 9.99944897e-01 1.04977336e-02 0.00000000e+00 5.72915353e+01] [-1.04977336e-02 9.99944897e-01 0.00000000e+00 -2.01686226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58038704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.32, Y:-0.20, Z:-0.01 [[ 9.99965665e-01 8.28666720e-03 0.00000000e+00 5.73215609e+01] [-8.28666720e-03 9.99965665e-01 0.00000000e+00 -1.98572186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33416401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:-0.20, Z:-0.01 [[ 9.99979473e-01 6.40726267e-03 0.00000000e+00 5.73499219e+01] [-6.40726267e-03 9.99979473e-01 0.00000000e+00 -1.96667521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28052395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.38, Y:-0.19, Z:-0.01 [[ 9.99990465e-01 4.36684380e-03 0.00000000e+00 5.73787903e+01] [-4.36684380e-03 9.99990465e-01 0.00000000e+00 -1.94113082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26694327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:-0.19, Z:-0.01 [[ 9.99999358e-01 1.13341368e-03 0.00000000e+00 5.74083128e+01] [-1.13341368e-03 9.99999358e-01 0.00000000e+00 -1.91359634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33166453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:-0.19, Z:-0.02 [[ 9.99970717e-01 -7.65280998e-03 0.00000000e+00 5.74387937e+01] [ 7.65280998e-03 9.99970717e-01 0.00000000e+00 -1.91945308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55521500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.47, Y:-0.20, Z:-0.02 [[ 9.99928829e-01 -1.19305292e-02 0.00000000e+00 5.74711262e+01] [ 1.19305292e-02 9.99928829e-01 0.00000000e+00 -1.95816814e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64370043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:-0.20, Z:-0.02 [[ 9.99874981e-01 -1.58120750e-02 0.00000000e+00 5.75046011e+01] [ 1.58120750e-02 9.99874981e-01 0.00000000e+00 -1.99501099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64272567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.54, Y:-0.20, Z:-0.02 [[ 9.99826677e-01 -1.86176160e-02 0.00000000e+00 5.75375879e+01] [ 1.86176160e-02 9.99826677e-01 0.00000000e+00 -2.00782088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54851512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:-0.20, Z:-0.01 [[ 9.99786920e-01 -2.06425414e-02 0.00000000e+00 5.75703356e+01] [ 2.06425414e-02 9.99786920e-01 0.00000000e+00 -2.00223513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43122726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:-0.20, Z:-0.01 [[ 9.99736161e-01 -2.29697322e-02 0.00000000e+00 5.76035786e+01] [ 2.29697322e-02 9.99736161e-01 0.00000000e+00 -2.00866470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25149814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:-0.20, Z:-0.01 [[ 9.99737012e-01 -2.29326622e-02 0.00000000e+00 5.76370195e+01] [ 2.29326622e-02 9.99737012e-01 0.00000000e+00 -2.03132738e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41251421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:-0.21, Z:-0.02 [[ 9.99737172e-01 -2.29256706e-02 0.00000000e+00 5.76699694e+01] [ 2.29256706e-02 9.99737172e-01 0.00000000e+00 -2.05629162e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51894654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:-0.21, Z:-0.02 [[ 9.99762224e-01 -2.18058391e-02 0.00000000e+00 5.77033028e+01] [ 2.18058391e-02 9.99762224e-01 0.00000000e+00 -2.08065445e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54202645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:-0.21, Z:-0.02 [[ 9.99768881e-01 -2.14984904e-02 0.00000000e+00 5.77368921e+01] [ 2.14984904e-02 9.99768881e-01 0.00000000e+00 -2.10631330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54713428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.77, Y:-0.21, Z:-0.01 [[ 9.99784654e-01 -2.07520067e-02 0.00000000e+00 5.77702282e+01] [ 2.07520067e-02 9.99784654e-01 0.00000000e+00 -2.13141698e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44157112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.80, Y:-0.22, Z:-0.00 [[ 9.99744396e-01 -2.26084819e-02 0.00000000e+00 5.78000739e+01] [ 2.26084819e-02 9.99744396e-01 0.00000000e+00 -2.20461200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41224400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:-0.22, Z:-0.01 [[ 9.99763406e-01 -2.17515981e-02 0.00000000e+00 5.78344984e+01] [ 2.17515981e-02 9.99763406e-01 0.00000000e+00 -2.23926591e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17576345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:-0.23, Z:-0.01 [[ 9.99737469e-01 -2.29127337e-02 0.00000000e+00 5.78671293e+01] [ 2.29127337e-02 9.99737469e-01 0.00000000e+00 -2.27881697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32727321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:-0.23, Z:-0.02 [[ 9.99706563e-01 -2.42237046e-02 0.00000000e+00 5.79005631e+01] [ 2.42237046e-02 9.99706563e-01 0.00000000e+00 -2.32744714e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51423334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.93, Y:-0.24, Z:-0.02 [[ 9.99711421e-01 -2.40223961e-02 0.00000000e+00 5.79338203e+01] [ 2.40223961e-02 9.99711421e-01 0.00000000e+00 -2.37066087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61609896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:-0.24, Z:-0.02 [[ 9.99720850e-01 -2.36267360e-02 0.00000000e+00 5.79657795e+01] [ 2.36267360e-02 9.99720850e-01 0.00000000e+00 -2.39912922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54138685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:-0.24, Z:-0.01 [[ 9.99799500e-01 -2.00240027e-02 0.00000000e+00 5.79979221e+01] [ 2.00240027e-02 9.99799500e-01 0.00000000e+00 -2.42114588e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07793136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:-0.24, Z:-0.01 [[ 9.99856655e-01 -1.69313100e-02 0.00000000e+00 5.80306896e+01] [ 1.69313100e-02 9.99856655e-01 0.00000000e+00 -2.44329056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.79535790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:-0.25, Z:-0.01 [[ 9.99909913e-01 -1.34225712e-02 0.00000000e+00 5.80642362e+01] [ 1.34225712e-02 9.99909913e-01 0.00000000e+00 -2.48063189e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06193535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.10, Y:-0.25, Z:-0.01 [[ 9.99950286e-01 -9.97119989e-03 0.00000000e+00 5.80958659e+01] [ 9.97119989e-03 9.99950286e-01 0.00000000e+00 -2.52922252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77708413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.13, Y:-0.26, Z:-0.02 [[ 9.99979862e-01 -6.34628228e-03 0.00000000e+00 5.81284609e+01] [ 6.34628228e-03 9.99979862e-01 0.00000000e+00 -2.57943444e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59028873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:-0.26, Z:-0.02 [[ 9.99998906e-01 -1.47901091e-03 0.00000000e+00 5.81601071e+01] [ 1.47901091e-03 9.99998906e-01 0.00000000e+00 -2.62592319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80067960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.19, Y:-0.26, Z:-0.01 [[ 9.99999905e-01 4.35881657e-04 0.00000000e+00 5.81902361e+01] [-4.35881657e-04 9.99999905e-01 0.00000000e+00 -2.60733737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46954852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.22, Y:-0.26, Z:-0.01 [[ 9.99997391e-01 2.28433223e-03 0.00000000e+00 5.82203939e+01] [-2.28433223e-03 9.99997391e-01 0.00000000e+00 -2.59024628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28326882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:-0.26, Z:-0.01 [[ 9.99991974e-01 4.00641454e-03 0.00000000e+00 5.82508842e+01] [-4.00641454e-03 9.99991974e-01 0.00000000e+00 -2.60059129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17128566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.28, Y:-0.27, Z:-0.01 [[ 9.99979032e-01 6.47576943e-03 0.00000000e+00 5.82808658e+01] [-6.47576943e-03 9.99979032e-01 0.00000000e+00 -2.68481006e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45175035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.31, Y:-0.27, Z:-0.02 [[ 9.99978605e-01 6.54130689e-03 0.00000000e+00 5.83100889e+01] [-6.54130689e-03 9.99978605e-01 0.00000000e+00 -2.71716609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58996512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:-0.27, Z:-0.02 [[ 9.99975347e-01 7.02177049e-03 0.00000000e+00 5.83397426e+01] [-7.02177049e-03 9.99975347e-01 0.00000000e+00 -2.73650402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60888406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:-0.27, Z:-0.01 [[ 9.99965439e-01 8.31388375e-03 0.00000000e+00 5.83690129e+01] [-8.31388375e-03 9.99965439e-01 0.00000000e+00 -2.74539829e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41881059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.40, Y:-0.27, Z:-0.01 [[ 9.99958530e-01 9.10709926e-03 0.00000000e+00 5.83983123e+01] [-9.10709926e-03 9.99958530e-01 0.00000000e+00 -2.74464385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33371456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.43, Y:-0.27, Z:-0.01 [[ 9.99948712e-01 1.01278759e-02 0.00000000e+00 5.84283585e+01] [-1.01278759e-02 9.99948712e-01 0.00000000e+00 -2.73162188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34781433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:-0.27, Z:-0.02 [[ 9.99930531e-01 1.17870017e-02 0.00000000e+00 5.84567368e+01] [-1.17870017e-02 9.99930531e-01 0.00000000e+00 -2.71200755e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60805811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:-0.28, Z:-0.02 [[ 9.99934051e-01 1.14845123e-02 0.00000000e+00 5.84854778e+01] [-1.14845123e-02 9.99934051e-01 0.00000000e+00 -2.75717442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83267340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:-0.28, Z:-0.02 [[ 9.99936389e-01 1.12791299e-02 0.00000000e+00 5.85145600e+01] [-1.12791299e-02 9.99936389e-01 0.00000000e+00 -2.83410411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91876348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.54, Y:-0.29, Z:-0.02 [[ 9.99943582e-01 1.06222481e-02 0.00000000e+00 5.85436082e+01] [-1.06222481e-02 9.99943582e-01 0.00000000e+00 -2.90289439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68484929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.57, Y:-0.29, Z:-0.01 [[ 9.99941578e-01 1.08092400e-02 0.00000000e+00 5.85729246e+01] [-1.08092400e-02 9.99941578e-01 0.00000000e+00 -2.92236957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38027488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.60, Y:-0.29, Z:-0.01 [[ 9.99934376e-01 1.14561401e-02 0.00000000e+00 5.86024739e+01] [-1.14561401e-02 9.99934376e-01 0.00000000e+00 -2.89012335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20887768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.63, Y:-0.28, Z:-0.01 [[ 9.99911271e-01 1.33210237e-02 0.00000000e+00 5.86311646e+01] [-1.33210237e-02 9.99911271e-01 0.00000000e+00 -2.81640783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37551101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:-0.28, Z:-0.02 [[ 9.99923729e-01 1.23505512e-02 0.00000000e+00 5.86595807e+01] [-1.23505512e-02 9.99923729e-01 0.00000000e+00 -2.82851683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59415984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:-0.29, Z:-0.02 [[ 9.99950996e-01 9.89981627e-03 0.00000000e+00 5.86880578e+01] [-9.89981627e-03 9.99950996e-01 0.00000000e+00 -2.86958281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74401912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:-0.29, Z:-0.02 [[ 9.99970443e-01 7.68853595e-03 0.00000000e+00 5.87178295e+01] [-7.68853595e-03 9.99970443e-01 0.00000000e+00 -2.91405202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69546401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:-0.30, Z:-0.02 [[ 9.99988700e-01 4.75394777e-03 0.00000000e+00 5.87477968e+01] [-4.75394777e-03 9.99988700e-01 0.00000000e+00 -2.95705678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50651647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:-0.30, Z:-0.02 [[ 9.99989008e-01 4.68879271e-03 0.00000000e+00 5.87779504e+01] [-4.68879271e-03 9.99989008e-01 0.00000000e+00 -2.95629802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50651647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:-0.30, Z:-0.01 [[ 9.99997633e-01 -2.17590807e-03 0.00000000e+00 5.88080289e+01] [ 2.17590807e-03 9.99997633e-01 0.00000000e+00 -3.04089537e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27746934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:-0.31, Z:-0.01 [[ 9.99983566e-01 -5.73300103e-03 0.00000000e+00 5.88383401e+01] [ 5.73300103e-03 9.99983566e-01 0.00000000e+00 -3.07791666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24851520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.87, Y:-0.31, Z:-0.01 [[ 9.99966090e-01 -8.23526418e-03 0.00000000e+00 5.88701493e+01] [ 8.23526418e-03 9.99966090e-01 0.00000000e+00 -3.09569013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25058459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.90, Y:-0.31, Z:-0.01 [[ 9.99963187e-01 -8.58043765e-03 0.00000000e+00 5.89019020e+01] [ 8.58043765e-03 9.99963187e-01 0.00000000e+00 -3.09059779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26779658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:-0.31, Z:-0.01 [[ 9.99977644e-01 -6.68661443e-03 0.00000000e+00 5.89329602e+01] [ 6.68661443e-03 9.99977644e-01 0.00000000e+00 -3.07957274e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35039728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:-0.31, Z:-0.01 [[ 9.99990353e-01 -4.39237317e-03 0.00000000e+00 5.89642902e+01] [ 4.39237317e-03 9.99990353e-01 0.00000000e+00 -3.08814897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47683016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:-0.31, Z:-0.01 [[ 9.99996823e-01 2.52066745e-03 0.00000000e+00 5.89952005e+01] [-2.52066745e-03 9.99996823e-01 0.00000000e+00 -3.14340527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98788920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.02, Y:-0.31, Z:-0.01 [[ 9.99990656e-01 4.32300381e-03 0.00000000e+00 5.90247926e+01] [-4.32300381e-03 9.99990656e-01 0.00000000e+00 -3.13288645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39397389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.05, Y:-0.31, Z:-0.01 [[ 9.99976007e-01 6.92713389e-03 0.00000000e+00 5.90548096e+01] [-6.92713389e-03 9.99976007e-01 0.00000000e+00 -3.09174535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24956160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:-0.31, Z:-0.01 [[ 9.99963400e-01 8.55564103e-03 0.00000000e+00 5.90845072e+01] [-8.55564103e-03 9.99963400e-01 0.00000000e+00 -3.05490190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28314695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.11, Y:-0.31, Z:-0.01 [[ 9.99963384e-01 8.55752655e-03 0.00000000e+00 5.91137807e+01] [-8.55752655e-03 9.99963384e-01 0.00000000e+00 -3.05297935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31914086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:-0.31, Z:-0.01 [[ 9.99967195e-01 8.09991504e-03 0.00000000e+00 5.91432515e+01] [-8.09991504e-03 9.99967195e-01 0.00000000e+00 -3.08806056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33463501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:59.17, Y:-0.31, Z:-0.01 [[ 9.99980857e-01 6.18748154e-03 0.00000000e+00 5.91728219e+01] [-6.18748154e-03 9.99980857e-01 0.00000000e+00 -3.13248770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39755086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:-0.31, Z:-0.02 [[ 9.99979177e-01 6.45327680e-03 0.00000000e+00 5.92024947e+01] [-6.45327680e-03 9.99979177e-01 0.00000000e+00 -3.09851682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52600412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.23, Y:-0.31, Z:-0.02 [[ 9.99975418e-01 7.01160891e-03 0.00000000e+00 5.92317149e+01] [-7.01160891e-03 9.99975418e-01 0.00000000e+00 -3.05120329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58576799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.26, Y:-0.30, Z:-0.02 [[ 9.99966780e-01 8.15104783e-03 0.00000000e+00 5.92610587e+01] [-8.15104783e-03 9.99966780e-01 0.00000000e+00 -3.02331438e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69958247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:-0.30, Z:-0.01 [[ 9.99903088e-01 1.39217555e-02 0.00000000e+00 5.92902890e+01] [-1.39217555e-02 9.99903088e-01 0.00000000e+00 -3.00579884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33855998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:-0.30, Z:-0.01 [[ 9.99864035e-01 1.64897396e-02 0.00000000e+00 5.93191434e+01] [-1.64897396e-02 9.99864035e-01 0.00000000e+00 -2.98359042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06709465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:-0.30, Z:-0.01 [[ 9.99830377e-01 1.84178411e-02 0.00000000e+00 5.93476570e+01] [-1.84178411e-02 9.99830377e-01 0.00000000e+00 -2.96086873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55256269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.38, Y:-0.30, Z:-0.01 [[ 9.99825828e-01 1.86631625e-02 0.00000000e+00 5.93763924e+01] [-1.86631625e-02 9.99825828e-01 0.00000000e+00 -2.95906895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10711890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:-0.30, Z:-0.01 [[ 9.99836926e-01 1.80588290e-02 0.00000000e+00 5.94050952e+01] [-1.80588290e-02 9.99836926e-01 0.00000000e+00 -2.97455256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17167818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:-0.29, Z:-0.01 [[ 9.99854078e-01 1.70828177e-02 0.00000000e+00 5.94339921e+01] [-1.70828177e-02 9.99854078e-01 0.00000000e+00 -2.93884028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24731289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:-0.29, Z:-0.01 [[ 9.99843161e-01 1.77102701e-02 0.00000000e+00 5.94625457e+01] [-1.77102701e-02 9.99843161e-01 0.00000000e+00 -2.88902336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33969273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.712320588000004 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:59.49, Y:-0.28, Z:-0.01 [[ 9.99823672e-01 1.87782990e-02 0.00000000e+00 5.94917645e+01] [-1.87782990e-02 9.99823672e-01 0.00000000e+00 -2.84126789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40788530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.52, Y:-0.28, Z:-0.01 [[ 9.99801994e-01 1.98990865e-02 0.00000000e+00 5.95192731e+01] [-1.98990865e-02 9.99801994e-01 0.00000000e+00 -2.81529300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40999549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.55, Y:-0.28, Z:-0.01 [[ 9.99785037e-01 2.07335493e-02 0.00000000e+00 5.95478794e+01] [-2.07335493e-02 9.99785037e-01 0.00000000e+00 -2.80666370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36766835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.58, Y:-0.28, Z:-0.01 [[ 9.99767231e-01 2.15750853e-02 0.00000000e+00 5.95755986e+01] [-2.15750853e-02 9.99767231e-01 0.00000000e+00 -2.80910604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29043403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:-0.28, Z:-0.01 [[ 9.99806311e-01 1.96809686e-02 0.00000000e+00 5.96038846e+01] [-1.96809686e-02 9.99806311e-01 0.00000000e+00 -2.81407514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16495330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:-0.28, Z:-0.01 [[ 9.99827544e-01 1.85709890e-02 0.00000000e+00 5.96321662e+01] [-1.85709890e-02 9.99827544e-01 0.00000000e+00 -2.79992082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12461474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:-0.28, Z:-0.01 [[ 9.99820316e-01 1.89561448e-02 0.00000000e+00 5.96611574e+01] [-1.89561448e-02 9.99820316e-01 0.00000000e+00 -2.76272862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13634445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:-0.27, Z:-0.01 [[ 9.99803033e-01 1.98467788e-02 0.00000000e+00 5.96897136e+01] [-1.98467788e-02 9.99803033e-01 0.00000000e+00 -2.69577397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13144262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:-0.26, Z:-0.01 [[ 9.99703112e-01 2.43657156e-02 0.00000000e+00 5.97183834e+01] [-2.43657156e-02 9.99703112e-01 0.00000000e+00 -2.56631029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28263911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.75, Y:-0.26, Z:-0.01 [[ 9.99673225e-01 2.55625470e-02 0.00000000e+00 5.97474546e+01] [-2.55625470e-02 9.99673225e-01 0.00000000e+00 -2.55316835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41306545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.78, Y:-0.25, Z:-0.01 [[ 9.99643335e-01 2.67058707e-02 0.00000000e+00 5.97766931e+01] [-2.67058707e-02 9.99643335e-01 0.00000000e+00 -2.54894782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38020597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:-0.25, Z:-0.01 [[ 9.99632623e-01 2.71038697e-02 0.00000000e+00 5.98045068e+01] [-2.71038697e-02 9.99632623e-01 0.00000000e+00 -2.53564579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28136578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:-0.25, Z:-0.01 [[ 9.99630879e-01 2.71681001e-02 0.00000000e+00 5.98324828e+01] [-2.71681001e-02 9.99630879e-01 0.00000000e+00 -2.49847599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16329118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:-0.24, Z:-0.01 [[ 9.99612924e-01 2.78209078e-02 0.00000000e+00 5.98598737e+01] [-2.78209078e-02 9.99612924e-01 0.00000000e+00 -2.44504501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07147038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:-0.23, Z:-0.01 [[ 9.99641415e-01 2.67776449e-02 0.00000000e+00 5.98882915e+01] [-2.67776449e-02 9.99641415e-01 0.00000000e+00 -2.34267256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12325784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:-0.23, Z:-0.01 [[ 9.99704253e-01 2.43188415e-02 0.00000000e+00 5.99170023e+01] [-2.43188415e-02 9.99704253e-01 0.00000000e+00 -2.29551334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09732559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.94, Y:-0.22, Z:-0.01 [[ 9.99754513e-01 2.21565590e-02 0.00000000e+00 5.99444535e+01] [-2.21565590e-02 9.99754513e-01 0.00000000e+00 -2.24529503e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05281559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.97, Y:-0.22, Z:-0.01 [[ 9.99786735e-01 2.06515175e-02 0.00000000e+00 5.99720403e+01] [-2.06515175e-02 9.99786735e-01 0.00000000e+00 -2.18964476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06292737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:-0.21, Z:-0.01 [[ 9.99836686e-01 1.80720889e-02 0.00000000e+00 6.00003338e+01] [-1.80720889e-02 9.99836686e-01 0.00000000e+00 -2.13360156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41659886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:-0.20, Z:-0.01 [[ 9.99921211e-01 1.25527206e-02 0.00000000e+00 6.00289509e+01] [-1.25527206e-02 9.99921211e-01 0.00000000e+00 -2.04121705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46926578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:-0.20, Z:-0.01 [[ 9.99961196e-01 8.80947829e-03 0.00000000e+00 6.00579912e+01] [-8.80947829e-03 9.99961196e-01 0.00000000e+00 -1.99898736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52681864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:-0.20, Z:-0.01 [[ 9.99986901e-01 5.11833542e-03 0.00000000e+00 6.00873984e+01] [-5.11833542e-03 9.99986901e-01 0.00000000e+00 -1.95710647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44976311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:-0.19, Z:-0.01 [[ 9.99999668e-01 8.15240458e-04 0.00000000e+00 6.01162764e+01] [-8.15240458e-04 9.99999668e-01 0.00000000e+00 -1.91762678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04407120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:-0.19, Z:-0.02 [[ 9.99991079e-01 -4.22397881e-03 0.00000000e+00 6.01468962e+01] [ 4.22397881e-03 9.99991079e-01 0.00000000e+00 -1.87217034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53132694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.18, Y:-0.19, Z:-0.02 [[ 9.99973749e-01 -7.24575328e-03 0.00000000e+00 6.01780539e+01] [ 7.24575328e-03 9.99973749e-01 0.00000000e+00 -1.86696679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59984662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.21, Y:-0.19, Z:-0.02 [[ 9.99948129e-01 -1.01852814e-02 0.00000000e+00 6.02099099e+01] [ 1.01852814e-02 9.99948129e-01 0.00000000e+00 -1.86543926e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66658213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:-0.19, Z:-0.02 [[ 9.99918228e-01 -1.27881384e-02 0.00000000e+00 6.02417880e+01] [ 1.27881384e-02 9.99918228e-01 0.00000000e+00 -1.85065167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60030823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:-0.18, Z:-0.01 [[ 9.99883541e-01 -1.52611860e-02 0.00000000e+00 6.02751989e+01] [ 1.52611860e-02 9.99883541e-01 0.00000000e+00 -1.82412500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46595305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:-0.18, Z:-0.01 [[ 9.99841423e-01 -1.78081358e-02 0.00000000e+00 6.03078827e+01] [ 1.78081358e-02 9.99841423e-01 0.00000000e+00 -1.80027777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25564942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:-0.18, Z:-0.01 [[ 9.99719445e-01 -2.36861002e-02 0.00000000e+00 6.03407905e+01] [ 2.36861002e-02 9.99719445e-01 0.00000000e+00 -1.80891413e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21569766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:-0.18, Z:-0.01 [[ 9.99666875e-01 -2.58096723e-02 0.00000000e+00 6.03740983e+01] [ 2.58096723e-02 9.99666875e-01 0.00000000e+00 -1.83052021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35882092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:-0.19, Z:-0.01 [[ 9.99588233e-01 -2.86943229e-02 0.00000000e+00 6.04062835e+01] [ 2.86943229e-02 9.99588233e-01 0.00000000e+00 -1.85739354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42213775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.44, Y:-0.19, Z:-0.01 [[ 9.99572314e-01 -2.92436130e-02 0.00000000e+00 6.04391878e+01] [ 2.92436130e-02 9.99572314e-01 0.00000000e+00 -1.88441405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30967896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:-0.19, Z:-0.01 [[ 9.99627344e-01 -2.72978626e-02 0.00000000e+00 6.04719604e+01] [ 2.72978626e-02 9.99627344e-01 0.00000000e+00 -1.89339825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24634685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:-0.19, Z:-0.01 [[ 9.99671307e-01 -2.56374227e-02 0.00000000e+00 6.05051843e+01] [ 2.56374227e-02 9.99671307e-01 0.00000000e+00 -1.89261067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21763709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:-0.19, Z:-0.01 [[ 9.99719574e-01 -2.36806343e-02 0.00000000e+00 6.05386708e+01] [ 2.36806343e-02 9.99719574e-01 0.00000000e+00 -1.88164349e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27945818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.57, Y:-0.19, Z:-0.01 [[ 9.99757414e-01 -2.20252627e-02 0.00000000e+00 6.05716121e+01] [ 2.20252627e-02 9.99757414e-01 0.00000000e+00 -1.88926876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36781207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:-0.19, Z:-0.01 [[ 9.99790164e-01 -2.04848271e-02 0.00000000e+00 6.06037394e+01] [ 2.04848271e-02 9.99790164e-01 0.00000000e+00 -1.91598954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32153303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.64, Y:-0.19, Z:-0.01 [[ 9.99800239e-01 -1.99870552e-02 0.00000000e+00 6.06373633e+01] [ 1.99870552e-02 9.99800239e-01 0.00000000e+00 -1.90949683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32153303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.67, Y:-0.19, Z:-0.01 [[ 9.99807950e-01 -1.95975272e-02 0.00000000e+00 6.06693936e+01] [ 1.95975272e-02 9.99807950e-01 0.00000000e+00 -1.94170494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17117687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:-0.20, Z:-0.01 [[ 9.99809169e-01 -1.95352253e-02 0.00000000e+00 6.07021596e+01] [ 1.95352253e-02 9.99809169e-01 0.00000000e+00 -1.96540831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00048637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.74, Y:-0.20, Z:-0.01 [[ 9.99793210e-01 -2.03356083e-02 0.00000000e+00 6.07355630e+01] [ 2.03356083e-02 9.99793210e-01 0.00000000e+00 -1.98378514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10485040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.77, Y:-0.20, Z:-0.02 [[ 9.99773415e-01 -2.12866031e-02 0.00000000e+00 6.07682359e+01] [ 2.12866031e-02 9.99773415e-01 0.00000000e+00 -2.00832446e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52733149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.80, Y:-0.21, Z:-0.02 [[ 9.99752928e-01 -2.22279900e-02 0.00000000e+00 6.08009241e+01] [ 2.22279900e-02 9.99752928e-01 0.00000000e+00 -2.07697538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06950650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.83, Y:-0.21, Z:-0.02 [[ 9.99780314e-01 -2.09600635e-02 0.00000000e+00 6.08340925e+01] [ 2.09600635e-02 9.99780314e-01 0.00000000e+00 -2.07360255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82081676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.87, Y:-0.20, Z:-0.01 [[ 9.99839826e-01 -1.78975593e-02 0.00000000e+00 6.08676066e+01] [ 1.78975593e-02 9.99839826e-01 0.00000000e+00 -2.04428611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48121363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:-0.20, Z:-0.01 [[ 9.99952201e-01 -9.77733351e-03 0.00000000e+00 6.09008421e+01] [ 9.77733351e-03 9.99952201e-01 0.00000000e+00 -2.00530412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08630562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.93, Y:-0.20, Z:-0.01 [[ 9.99987250e-01 -5.04975781e-03 0.00000000e+00 6.09330217e+01] [ 5.04975781e-03 9.99987250e-01 0.00000000e+00 -2.01912791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31973380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.96, Y:-0.20, Z:-0.01 [[ 9.99999595e-01 -9.00021412e-04 0.00000000e+00 6.09647703e+01] [ 9.00021412e-04 9.99999595e-01 0.00000000e+00 -2.03591560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40279746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:-0.20, Z:-0.02 [[ 9.99994846e-01 3.21056650e-03 0.00000000e+00 6.09950133e+01] [-3.21056650e-03 9.99994846e-01 0.00000000e+00 -2.03510773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51261901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.02, Y:-0.20, Z:-0.01 [[ 9.99976982e-01 6.78490307e-03 0.00000000e+00 6.10247897e+01] [-6.78490307e-03 9.99976982e-01 0.00000000e+00 -2.01874763e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43539733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:-0.20, Z:-0.01 [[ 9.99957225e-01 9.24918666e-03 0.00000000e+00 6.10546576e+01] [-9.24918666e-03 9.99957225e-01 0.00000000e+00 -2.00091883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33818809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.08, Y:-0.20, Z:-0.01 [[ 9.99954388e-01 9.55105052e-03 0.00000000e+00 6.10831839e+01] [-9.55105052e-03 9.99954388e-01 0.00000000e+00 -1.95283847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10162500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.11, Y:-0.19, Z:-0.01 [[ 9.99963129e-01 8.58721490e-03 0.00000000e+00 6.11116879e+01] [-8.58721490e-03 9.99963129e-01 0.00000000e+00 -1.92075809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08948908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:-0.19, Z:-0.01 [[ 9.99974537e-01 7.13618452e-03 0.00000000e+00 6.11405472e+01] [-7.13618452e-03 9.99974537e-01 0.00000000e+00 -1.89893180e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13460067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.17, Y:-0.19, Z:-0.01 [[ 9.99981591e-01 6.06775055e-03 0.00000000e+00 6.11692795e+01] [-6.06775055e-03 9.99981591e-01 0.00000000e+00 -1.90767741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26833311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:-0.19, Z:-0.01 [[ 9.99987647e-01 4.97040278e-03 0.00000000e+00 6.11984986e+01] [-4.97040278e-03 9.99987647e-01 0.00000000e+00 -1.93779991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13491092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:-0.19, Z:-0.01 [[ 9.99987218e-01 5.05609561e-03 0.00000000e+00 6.12278433e+01] [-5.05609561e-03 9.99987218e-01 0.00000000e+00 -1.91495016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66816230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.26, Y:-0.19, Z:-0.01 [[ 9.99990842e-01 4.27979523e-03 0.00000000e+00 6.12573651e+01] [-4.27979523e-03 9.99990842e-01 0.00000000e+00 -1.87750726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.84162807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.29, Y:-0.19, Z:-0.01 [[ 9.99987066e-01 5.08612311e-03 0.00000000e+00 6.12870503e+01] [-5.08612311e-03 9.99987066e-01 0.00000000e+00 -1.85219876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42100846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.32, Y:-0.19, Z:-0.01 [[ 9.99972496e-01 7.41671292e-03 0.00000000e+00 6.13167025e+01] [-7.41671292e-03 9.99972496e-01 0.00000000e+00 -1.87920565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07418850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:-0.19, Z:-0.01 [[ 9.99978749e-01 6.51935319e-03 0.00000000e+00 6.13455760e+01] [-6.51935319e-03 9.99978749e-01 0.00000000e+00 -1.86557877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08210552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.38, Y:-0.18, Z:-0.01 [[ 9.99972178e-01 7.45941228e-03 0.00000000e+00 6.13753033e+01] [-7.45941228e-03 9.99972178e-01 0.00000000e+00 -1.82216993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98159390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.40, Y:-0.18, Z:-0.01 [[ 9.99974230e-01 7.17904536e-03 0.00000000e+00 6.14043313e+01] [-7.17904536e-03 9.99974230e-01 0.00000000e+00 -1.78167216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00799907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.43, Y:-0.18, Z:-0.01 [[ 9.99985325e-01 5.41752362e-03 0.00000000e+00 6.14335083e+01] [-5.41752362e-03 9.99985325e-01 0.00000000e+00 -1.84090780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13739710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.46, Y:-0.19, Z:-0.01 [[ 9.99994203e-01 3.40505419e-03 0.00000000e+00 6.14636238e+01] [-3.40505419e-03 9.99994203e-01 0.00000000e+00 -1.88773590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06260234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.49, Y:-0.19, Z:-0.01 [[ 9.99999727e-01 7.38958094e-04 0.00000000e+00 6.14934545e+01] [-7.38958094e-04 9.99999727e-01 0.00000000e+00 -1.89013208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76459576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:-0.19, Z:-0.01 [[ 9.99998872e-01 -1.50225536e-03 0.00000000e+00 6.15236129e+01] [ 1.50225536e-03 9.99998872e-01 0.00000000e+00 -1.85398821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25252523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:-0.18, Z:-0.01 [[ 9.99994245e-01 -3.39262980e-03 0.00000000e+00 6.15539132e+01] [ 3.39262980e-03 9.99994245e-01 0.00000000e+00 -1.82097413e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.19541151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:-0.18, Z:-0.01 [[ 9.99979323e-01 -6.43069504e-03 0.00000000e+00 6.15855259e+01] [ 6.43069504e-03 9.99979323e-01 0.00000000e+00 -1.80772887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32114172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.62, Y:-0.18, Z:-0.01 [[ 9.99978589e-01 -6.54389171e-03 0.00000000e+00 6.16172622e+01] [ 6.54389171e-03 9.99978589e-01 0.00000000e+00 -1.79876302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34597130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.65, Y:-0.18, Z:-0.01 [[ 9.99984017e-01 -5.65386281e-03 0.00000000e+00 6.16485243e+01] [ 5.65386281e-03 9.99984017e-01 0.00000000e+00 -1.77961563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19737913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.68, Y:-0.18, Z:-0.01 [[ 9.99992049e-01 -3.98761167e-03 0.00000000e+00 6.16802982e+01] [ 3.98761167e-03 9.99992049e-01 0.00000000e+00 -1.77212807e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15620133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.71, Y:-0.18, Z:-0.01 [[ 9.99994557e-01 -3.29935029e-03 0.00000000e+00 6.17118094e+01] [ 3.29935029e-03 9.99994557e-01 0.00000000e+00 -1.78560587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15531162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.74, Y:-0.18, Z:-0.01 [[ 9.99998084e-01 -1.95752609e-03 0.00000000e+00 6.17428296e+01] [ 1.95752609e-03 9.99998084e-01 0.00000000e+00 -1.79693386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07099921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.77, Y:-0.18, Z:-0.01 [[ 9.99998921e-01 -1.46925882e-03 0.00000000e+00 6.17734425e+01] [ 1.46925882e-03 9.99998921e-01 0.00000000e+00 -1.76527040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17035889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.80, Y:-0.17, Z:-0.01 [[ 9.99999003e-01 -1.41222619e-03 0.00000000e+00 6.18038455e+01] [ 1.41222619e-03 9.99999003e-01 0.00000000e+00 -1.73620532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25252005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.83, Y:-0.18, Z:-0.01 [[ 9.99991949e-01 -4.01271357e-03 0.00000000e+00 6.18345516e+01] [ 4.01271357e-03 9.99991949e-01 0.00000000e+00 -1.76787019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45959175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.87, Y:-0.18, Z:-0.01 [[ 9.99983984e-01 -5.65959039e-03 0.00000000e+00 6.18660641e+01] [ 5.65959039e-03 9.99983984e-01 0.00000000e+00 -1.79237276e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30630511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.90, Y:-0.18, Z:-0.01 [[ 9.99967646e-01 -8.04408133e-03 0.00000000e+00 6.18975831e+01] [ 8.04408133e-03 9.99967646e-01 0.00000000e+00 -1.78230201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12050870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:-0.17, Z:-0.01 [[ 9.99957754e-01 -9.19181831e-03 0.00000000e+00 6.19300718e+01] [ 9.19181831e-03 9.99957754e-01 0.00000000e+00 -1.74264642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.93246536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.96, Y:-0.17, Z:-0.01 [[ 9.99941331e-01 -1.08321181e-02 0.00000000e+00 6.19620944e+01] [ 1.08321181e-02 9.99941331e-01 0.00000000e+00 -1.71069587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.76574788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.00, Y:-0.17, Z:-0.01 [[ 9.99930927e-01 -1.17533194e-02 0.00000000e+00 6.19951964e+01] [ 1.17533194e-02 9.99930927e-01 0.00000000e+00 -1.70986880e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18120107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.03, Y:-0.18, Z:-0.01 [[ 9.99907516e-01 -1.35999693e-02 0.00000000e+00 6.20281577e+01] [ 1.35999693e-02 9.99907516e-01 0.00000000e+00 -1.78262402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41598416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.06, Y:-0.18, Z:-0.01 [[ 9.99891115e-01 -1.47566632e-02 0.00000000e+00 6.20612019e+01] [ 1.47566632e-02 9.99891115e-01 0.00000000e+00 -1.80595391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36835805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.09, Y:-0.18, Z:-0.01 [[ 9.99882350e-01 -1.53390356e-02 0.00000000e+00 6.20942996e+01] [ 1.53390356e-02 9.99882350e-01 0.00000000e+00 -1.81687872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15722933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.13, Y:-0.18, Z:-0.01 [[ 9.99862146e-01 -1.66038559e-02 0.00000000e+00 6.21270311e+01] [ 1.66038559e-02 9.99862146e-01 0.00000000e+00 -1.82036094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03021488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.16, Y:-0.19, Z:-0.01 [[ 9.99860506e-01 -1.67023726e-02 0.00000000e+00 6.21590595e+01] [ 1.67023726e-02 9.99860506e-01 0.00000000e+00 -1.85151956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96260561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.19, Y:-0.19, Z:-0.01 [[ 9.99868831e-01 -1.61963094e-02 0.00000000e+00 6.21910967e+01] [ 1.61963094e-02 9.99868831e-01 0.00000000e+00 -1.86452594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15048705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.22, Y:-0.19, Z:-0.01 [[ 9.99859905e-01 -1.67382964e-02 0.00000000e+00 6.22237722e+01] [ 1.67382964e-02 9.99859905e-01 0.00000000e+00 -1.87566583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30263813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.26, Y:-0.19, Z:-0.01 [[ 9.99838674e-01 -1.79618146e-02 0.00000000e+00 6.22562523e+01] [ 1.79618146e-02 9.99838674e-01 0.00000000e+00 -1.88050382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48104279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:-0.19, Z:-0.02 [[ 9.99803175e-01 -1.98396588e-02 0.00000000e+00 6.22882467e+01] [ 1.98396588e-02 9.99803175e-01 0.00000000e+00 -1.89426806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67435473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.32, Y:-0.19, Z:-0.02 [[ 9.99740056e-01 -2.27995741e-02 0.00000000e+00 6.23209003e+01] [ 2.27995741e-02 9.99740056e-01 0.00000000e+00 -1.93532520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69206117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.35, Y:-0.20, Z:-0.01 [[ 9.99660610e-01 -2.60511843e-02 0.00000000e+00 6.23528834e+01] [ 2.60511843e-02 9.99660610e-01 0.00000000e+00 -2.04672317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30795163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.532320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.39, Y:-0.21, Z:-0.01 [[ 9.99692718e-01 -2.47885148e-02 0.00000000e+00 6.23852874e+01] [ 2.47885148e-02 9.99692718e-01 0.00000000e+00 -2.07857354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08878215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.42, Y:-0.21, Z:-0.01 [[ 9.99758616e-01 -2.19706690e-02 0.00000000e+00 6.24175634e+01] [ 2.19706690e-02 9.99758616e-01 0.00000000e+00 -2.08586697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06581108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.45, Y:-0.21, Z:-0.01 [[ 9.99825447e-01 -1.86835694e-02 0.00000000e+00 6.24511423e+01] [ 1.86835694e-02 9.99825447e-01 0.00000000e+00 -2.07338810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52062434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.48, Y:-0.20, Z:-0.01 [[ 9.99941032e-01 -1.08597162e-02 0.00000000e+00 6.24838321e+01] [ 1.08597162e-02 9.99941032e-01 0.00000000e+00 -2.04965704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10730996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:-0.20, Z:-0.01 [[ 9.99977685e-01 -6.68056444e-03 0.00000000e+00 6.25161031e+01] [ 6.68056444e-03 9.99977685e-01 0.00000000e+00 -2.03855285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27916856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.55, Y:-0.20, Z:-0.01 [[ 9.99992077e-01 -3.98064253e-03 0.00000000e+00 6.25471150e+01] [ 3.98064253e-03 9.99992077e-01 0.00000000e+00 -2.04667993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37986551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:-0.21, Z:-0.01 [[ 9.99999112e-01 -1.33255053e-03 0.00000000e+00 6.25782074e+01] [ 1.33255053e-03 9.99999112e-01 0.00000000e+00 -2.07653319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41676067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:-0.21, Z:-0.01 [[ 9.99999905e-01 -4.35172993e-04 0.00000000e+00 6.26085980e+01] [ 4.35172993e-04 9.99999905e-01 0.00000000e+00 -2.14782238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22210662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:-0.21, Z:-0.01 [[ 9.99999905e-01 -4.35172993e-04 0.00000000e+00 6.26395977e+01] [ 4.35172993e-04 9.99999905e-01 0.00000000e+00 -2.14786254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22210662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.67, Y:-0.22, Z:-0.01 [[ 9.99998688e-01 -1.61965629e-03 0.00000000e+00 6.26705198e+01] [ 1.61965629e-03 9.99998688e-01 0.00000000e+00 -2.15082199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35617445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:-0.21, Z:-0.01 [[ 9.99994997e-01 -3.16307252e-03 0.00000000e+00 6.27010999e+01] [ 3.16307252e-03 9.99994997e-01 0.00000000e+00 -2.13951244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.06403568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.73, Y:-0.21, Z:-0.01 [[ 9.99982286e-01 -5.95215847e-03 0.00000000e+00 6.27325757e+01] [ 5.95215847e-03 9.99982286e-01 0.00000000e+00 -2.13959236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.24508517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.76, Y:-0.22, Z:-0.01 [[ 9.99969823e-01 -7.76870801e-03 0.00000000e+00 6.27638933e+01] [ 7.76870801e-03 9.99969823e-01 0.00000000e+00 -2.15984525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76459310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.80, Y:-0.22, Z:-0.01 [[ 9.99948407e-01 -1.01579252e-02 0.00000000e+00 6.27956384e+01] [ 1.01579252e-02 9.99948407e-01 0.00000000e+00 -2.22624316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01509875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.83, Y:-0.22, Z:-0.01 [[ 9.99946408e-01 -1.03528093e-02 0.00000000e+00 6.28280409e+01] [ 1.03528093e-02 9.99946408e-01 0.00000000e+00 -2.24792586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17396516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.86, Y:-0.23, Z:-0.01 [[ 9.99942927e-01 -1.06837664e-02 0.00000000e+00 6.28599204e+01] [ 1.06837664e-02 9.99942927e-01 0.00000000e+00 -2.26781627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29216939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:-0.23, Z:-0.01 [[ 9.99958877e-01 -9.06889741e-03 0.00000000e+00 6.28925873e+01] [ 9.06889741e-03 9.99958877e-01 0.00000000e+00 -2.32248527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41859142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:-0.23, Z:-0.01 [[ 9.99974938e-01 -7.07977575e-03 0.00000000e+00 6.29236018e+01] [ 7.07977575e-03 9.99974938e-01 0.00000000e+00 -2.33544824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17575278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.95, Y:-0.23, Z:-0.01 [[ 9.99987199e-01 -5.05988848e-03 0.00000000e+00 6.29548829e+01] [ 5.05988848e-03 9.99987199e-01 0.00000000e+00 -2.33346434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.95010603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:-0.23, Z:-0.01 [[ 9.99993523e-01 -3.59905153e-03 0.00000000e+00 6.29866597e+01] [ 3.59905153e-03 9.99993523e-01 0.00000000e+00 -2.33846190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88495769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:-0.24, Z:-0.01 [[ 9.99995784e-01 -2.90375574e-03 0.00000000e+00 6.30168291e+01] [ 2.90375574e-03 9.99995784e-01 0.00000000e+00 -2.36403991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06190838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:-0.25, Z:-0.02 [[ 9.99999405e-01 -1.09116884e-03 0.00000000e+00 6.30476453e+01] [ 1.09116884e-03 9.99999405e-01 0.00000000e+00 -2.45022555e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56255038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.08, Y:-0.25, Z:-0.02 [[ 9.99999933e-01 3.65344095e-04 0.00000000e+00 6.30781057e+01] [-3.65344095e-04 9.99999933e-01 0.00000000e+00 -2.46618355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59107870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.11, Y:-0.25, Z:-0.01 [[ 9.99999919e-01 4.02195829e-04 0.00000000e+00 6.31081849e+01] [-4.02195829e-04 9.99999919e-01 0.00000000e+00 -2.45829557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48592792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:-0.24, Z:-0.01 [[ 9.99999923e-01 3.92531006e-04 0.00000000e+00 6.31388630e+01] [-3.92531006e-04 9.99999923e-01 0.00000000e+00 -2.44902529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37905449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:-0.25, Z:-0.01 [[ 1.00000000e+00 3.09118394e-05 0.00000000e+00 6.31689198e+01] [-3.09118394e-05 1.00000000e+00 0.00000000e+00 -2.45550748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29214180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.20, Y:-0.25, Z:-0.01 [[ 9.99999516e-01 9.83934232e-04 0.00000000e+00 6.31991266e+01] [-9.83934232e-04 9.99999516e-01 0.00000000e+00 -2.47202585e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06778838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:-0.24, Z:-0.01 [[ 9.99997924e-01 2.03777781e-03 0.00000000e+00 6.32298309e+01] [-2.03777781e-03 9.99997924e-01 0.00000000e+00 -2.44753280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21204154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:-0.24, Z:-0.01 [[ 9.99994834e-01 3.21438131e-03 0.00000000e+00 6.32600324e+01] [-3.21438131e-03 9.99994834e-01 0.00000000e+00 -2.41229188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.10926956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:-0.24, Z:-0.01 [[ 9.99987610e-01 4.97803195e-03 0.00000000e+00 6.32902141e+01] [-4.97803195e-03 9.99987610e-01 0.00000000e+00 -2.41862739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14192100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.32, Y:-0.24, Z:-0.01 [[ 9.99989983e-01 4.47597438e-03 0.00000000e+00 6.33194894e+01] [-4.47597438e-03 9.99989983e-01 0.00000000e+00 -2.44974021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26233962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:-0.25, Z:-0.01 [[ 9.99993860e-01 3.50431727e-03 0.00000000e+00 6.33492184e+01] [-3.50431727e-03 9.99993860e-01 0.00000000e+00 -2.46605408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30306693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:-0.25, Z:-0.01 [[ 9.99996848e-01 2.51093925e-03 0.00000000e+00 6.33789528e+01] [-2.51093925e-03 9.99996848e-01 0.00000000e+00 -2.45706858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23985351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:-0.24, Z:-0.01 [[ 9.99999720e-01 7.48419987e-04 0.00000000e+00 6.34090558e+01] [-7.48419987e-04 9.99999720e-01 0.00000000e+00 -2.43830501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18350627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:-0.24, Z:-0.01 [[ 9.99999743e-01 -7.16244266e-04 0.00000000e+00 6.34396956e+01] [ 7.16244266e-04 9.99999743e-01 0.00000000e+00 -2.43680410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12462720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:-0.25, Z:-0.01 [[ 9.99994706e-01 -3.25387822e-03 0.00000000e+00 6.34698670e+01] [ 3.25387822e-03 9.99994706e-01 0.00000000e+00 -2.50339767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27120142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.50, Y:-0.25, Z:-0.01 [[ 9.99993572e-01 -3.58544141e-03 0.00000000e+00 6.35006455e+01] [ 3.58544141e-03 9.99993572e-01 0.00000000e+00 -2.52843430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37004232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:-0.25, Z:-0.01 [[ 9.99993472e-01 -3.61328998e-03 0.00000000e+00 6.35324094e+01] [ 3.61328998e-03 9.99993472e-01 0.00000000e+00 -2.54120594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36933399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:-0.25, Z:-0.01 [[ 9.99996030e-01 -2.81776236e-03 0.00000000e+00 6.35638699e+01] [ 2.81776236e-03 9.99996030e-01 0.00000000e+00 -2.54626757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32255253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.59, Y:-0.26, Z:-0.01 [[ 9.99998257e-01 -1.86683137e-03 0.00000000e+00 6.35942893e+01] [ 1.86683137e-03 9.99998257e-01 0.00000000e+00 -2.57566981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01256153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.62, Y:-0.26, Z:-0.01 [[ 9.99995268e-01 -3.07630786e-03 0.00000000e+00 6.36247735e+01] [ 3.07630786e-03 9.99995268e-01 0.00000000e+00 -2.60004544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03070940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.66, Y:-0.26, Z:-0.01 [[ 9.99992746e-01 -3.80892726e-03 0.00000000e+00 6.36556266e+01] [ 3.80892726e-03 9.99992746e-01 0.00000000e+00 -2.61550367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14283936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:-0.26, Z:-0.01 [[ 9.99994737e-01 -3.24434325e-03 0.00000000e+00 6.36873551e+01] [ 3.24434325e-03 9.99994737e-01 0.00000000e+00 -2.62536485e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30493399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:-0.26, Z:-0.01 [[ 9.99998625e-01 -1.65812050e-03 0.00000000e+00 6.37180576e+01] [ 1.65812050e-03 9.99998625e-01 0.00000000e+00 -2.63661449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07113590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:-0.27, Z:-0.01 [[ 9.99998433e-01 -1.77039298e-03 0.00000000e+00 6.37488143e+01] [ 1.77039298e-03 9.99998433e-01 0.00000000e+00 -2.65825054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56698062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:-0.27, Z:-0.00 [[ 9.99985225e-01 -5.43605370e-03 0.00000000e+00 6.37788711e+01] [ 5.43605370e-03 9.99985225e-01 0.00000000e+00 -2.71629607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98668258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:-0.27, Z:-0.01 [[ 9.99959517e-01 -8.99797449e-03 0.00000000e+00 6.38096768e+01] [ 8.99797449e-03 9.99959517e-01 0.00000000e+00 -2.74510174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07658254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:-0.28, Z:-0.01 [[ 9.99939680e-01 -1.09834834e-02 0.00000000e+00 6.38414704e+01] [ 1.09834834e-02 9.99939680e-01 0.00000000e+00 -2.77596862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17063035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:-0.28, Z:-0.01 [[ 9.99930467e-01 -1.17924050e-02 0.00000000e+00 6.38730168e+01] [ 1.17924050e-02 9.99930467e-01 0.00000000e+00 -2.80950059e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26366083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.90, Y:-0.29, Z:-0.01 [[ 9.99939614e-01 -1.09894530e-02 0.00000000e+00 6.39042247e+01] [ 1.09894530e-02 9.99939614e-01 0.00000000e+00 -2.86568824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18512872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:-0.29, Z:-0.01 [[ 9.99968139e-01 -7.98256868e-03 0.00000000e+00 6.39359402e+01] [ 7.98256868e-03 9.99968139e-01 0.00000000e+00 -2.87874841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11410122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:-0.29, Z:-0.01 [[ 9.99986593e-01 -5.17813932e-03 0.00000000e+00 6.39669875e+01] [ 5.17813932e-03 9.99986593e-01 0.00000000e+00 -2.88854921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11027932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:-0.29, Z:-0.01 [[ 9.99996414e-01 2.67806324e-03 0.00000000e+00 6.39985056e+01] [-2.67806324e-03 9.99996414e-01 0.00000000e+00 -2.89361782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02206348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:-0.29, Z:-0.01 [[ 9.99983014e-01 5.82847429e-03 0.00000000e+00 6.40286243e+01] [-5.82847429e-03 9.99983014e-01 0.00000000e+00 -2.90640820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96257669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.06, Y:-0.29, Z:-0.01 [[ 9.99963892e-01 8.49795063e-03 0.00000000e+00 6.40584311e+01] [-8.49795063e-03 9.99963892e-01 0.00000000e+00 -2.93657374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76127188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:-0.30, Z:-0.01 [[ 9.99944574e-01 1.05284490e-02 0.00000000e+00 6.40880242e+01] [-1.05284490e-02 9.99944574e-01 0.00000000e+00 -2.97398062e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22166389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:-0.30, Z:-0.00 [[ 9.99917882e-01 1.28151946e-02 0.00000000e+00 6.41180076e+01] [-1.28151946e-02 9.99917882e-01 0.00000000e+00 -2.99790928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19510563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:-0.30, Z:-0.01 [[ 9.99894285e-01 1.45402717e-02 0.00000000e+00 6.41473151e+01] [-1.45402717e-02 9.99894285e-01 0.00000000e+00 -2.99004097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44639808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:-0.29, Z:-0.01 [[ 9.99846132e-01 1.75417344e-02 0.00000000e+00 6.41766505e+01] [-1.75417344e-02 9.99846132e-01 0.00000000e+00 -2.94562349e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21044311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.21, Y:-0.30, Z:-0.01 [[ 9.99846430e-01 1.75247147e-02 0.00000000e+00 6.42057267e+01] [-1.75247147e-02 9.99846430e-01 0.00000000e+00 -2.95377821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19099973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:-0.30, Z:-0.01 [[ 9.99829329e-01 1.84746341e-02 0.00000000e+00 6.42344016e+01] [-1.84746341e-02 9.99829329e-01 0.00000000e+00 -2.98011855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05263363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.26, Y:-0.30, Z:-0.01 [[ 9.99797302e-01 2.01334085e-02 0.00000000e+00 6.42626939e+01] [-2.01334085e-02 9.99797302e-01 0.00000000e+00 -2.99855426e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45175845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:-0.30, Z:-0.01 [[ 9.99760408e-01 2.18889419e-02 0.00000000e+00 6.42913736e+01] [-2.18889419e-02 9.99760408e-01 0.00000000e+00 -2.98216516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00512229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:-0.30, Z:-0.01 [[ 9.99726489e-01 2.33868932e-02 0.00000000e+00 6.43200644e+01] [-2.33868932e-02 9.99726489e-01 0.00000000e+00 -2.96245204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78355557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:-0.29, Z:-0.01 [[ 9.99687124e-01 2.50130793e-02 0.00000000e+00 6.43485124e+01] [-2.50130793e-02 9.99687124e-01 0.00000000e+00 -2.94875977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.19901974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:-0.29, Z:-0.01 [[ 9.99630976e-01 2.71645405e-02 0.00000000e+00 6.43764075e+01] [-2.71645405e-02 9.99630976e-01 0.00000000e+00 -2.88909635e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61026260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:-0.28, Z:-0.01 [[ 9.99657820e-01 2.61580551e-02 0.00000000e+00 6.44048020e+01] [-2.61580551e-02 9.99657820e-01 0.00000000e+00 -2.84207549e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17012922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:-0.28, Z:-0.01 [[ 9.99710556e-01 2.40583552e-02 0.00000000e+00 6.44329076e+01] [-2.40583552e-02 9.99710556e-01 0.00000000e+00 -2.81292574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67963211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:-0.28, Z:-0.01 [[ 9.99792072e-01 2.03914710e-02 0.00000000e+00 6.44603478e+01] [-2.03914710e-02 9.99792072e-01 0.00000000e+00 -2.82165043e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.53765629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:-0.29, Z:-0.01 [[ 9.99869603e-01 1.61486151e-02 0.00000000e+00 6.44895273e+01] [-1.61486151e-02 9.99869603e-01 0.00000000e+00 -2.85774123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.34666365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.52, Y:-0.29, Z:-0.01 [[ 9.99983869e-01 5.67994215e-03 0.00000000e+00 6.45184761e+01] [-5.67994215e-03 9.99983869e-01 0.00000000e+00 -2.90726207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21081434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.55, Y:-0.29, Z:-0.01 [[ 9.99984238e-01 5.61468723e-03 0.00000000e+00 6.45486307e+01] [-5.61468723e-03 9.99984238e-01 0.00000000e+00 -2.90627926e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21081434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.58, Y:-0.29, Z:-0.01 [[ 9.99999815e-01 6.07651848e-04 0.00000000e+00 6.45779043e+01] [-6.07651848e-04 9.99999815e-01 0.00000000e+00 -2.89908100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23398253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:-0.29, Z:-0.01 [[ 9.99994902e-01 -3.19299436e-03 0.00000000e+00 6.46088912e+01] [ 3.19299436e-03 9.99994902e-01 0.00000000e+00 -2.88407148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90131350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:-0.29, Z:-0.01 [[ 9.99984118e-01 -5.63592162e-03 0.00000000e+00 6.46389442e+01] [ 5.63592162e-03 9.99984118e-01 0.00000000e+00 -2.88125189e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07455075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:-0.29, Z:-0.01 [[ 9.99965638e-01 -8.28988433e-03 0.00000000e+00 6.46703539e+01] [ 8.28988433e-03 9.99965638e-01 0.00000000e+00 -2.90617391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36405925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:-0.29, Z:-0.01 [[ 9.99963098e-01 -8.59083157e-03 0.00000000e+00 6.47010156e+01] [ 8.59083157e-03 9.99963098e-01 0.00000000e+00 -2.90895858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32551961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:-0.29, Z:-0.01 [[ 9.99942265e-01 -1.07455611e-02 0.00000000e+00 6.47295295e+01] [ 1.07455611e-02 9.99942265e-01 0.00000000e+00 -2.90409745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15105995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:-0.29, Z:-0.01 [[ 9.99979915e-01 -6.33794331e-03 0.00000000e+00 6.47622962e+01] [ 6.33794331e-03 9.99979915e-01 0.00000000e+00 -2.88918422e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06915255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:-0.29, Z:-0.01 [[ 9.99992860e-01 -3.77875616e-03 0.00000000e+00 6.47931790e+01] [ 3.77875616e-03 9.99992860e-01 0.00000000e+00 -2.88973075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01044846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.82, Y:-0.29, Z:-0.01 [[ 9.99996968e-01 -2.46255564e-03 0.00000000e+00 6.48239791e+01] [ 2.46255564e-03 9.99996968e-01 0.00000000e+00 -2.89077228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58440388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:-0.29, Z:-0.01 [[ 9.99998718e-01 -1.60129813e-03 0.00000000e+00 6.48541040e+01] [ 1.60129813e-03 9.99998718e-01 0.00000000e+00 -2.88764316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86370536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:-0.29, Z:-0.01 [[ 9.99999597e-01 -8.98020741e-04 0.00000000e+00 6.48848909e+01] [ 8.98020741e-04 9.99999597e-01 0.00000000e+00 -2.87720365e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01474270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:-0.29, Z:-0.01 [[ 9.99999960e-01 -2.84249737e-04 0.00000000e+00 6.49149882e+01] [ 2.84249737e-04 9.99999960e-01 0.00000000e+00 -2.86297203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08377423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:-0.28, Z:-0.01 [[ 9.99999970e-01 2.45302973e-04 0.00000000e+00 6.49456369e+01] [-2.45302973e-04 9.99999970e-01 0.00000000e+00 -2.84784578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10400170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.98, Y:-0.28, Z:-0.01 [[ 9.99999815e-01 6.09050246e-04 0.00000000e+00 6.49764298e+01] [-6.09050246e-04 9.99999815e-01 0.00000000e+00 -2.84378799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21097677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.01, Y:-0.28, Z:-0.01 [[ 9.99999319e-01 1.16672951e-03 0.00000000e+00 6.50071105e+01] [-1.16672951e-03 9.99999319e-01 0.00000000e+00 -2.83501653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71468827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.04, Y:-0.28, Z:-0.01 [[ 9.99999871e-01 5.07859124e-04 0.00000000e+00 6.50378021e+01] [-5.07859124e-04 9.99999871e-01 0.00000000e+00 -2.81540463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66094945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.07, Y:-0.28, Z:-0.01 [[ 9.99992043e-01 -3.98916777e-03 0.00000000e+00 6.50680458e+01] [ 3.98916777e-03 9.99992043e-01 0.00000000e+00 -2.78017413e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.62318896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:-0.28, Z:-0.01 [[ 9.99976604e-01 -6.84036338e-03 0.00000000e+00 6.50982272e+01] [ 6.84036338e-03 9.99976604e-01 0.00000000e+00 -2.78860264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57080533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:-0.28, Z:-0.01 [[ 9.99958135e-01 -9.15032200e-03 0.00000000e+00 6.51301579e+01] [ 9.15032200e-03 9.99958135e-01 0.00000000e+00 -2.82494851e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25345843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:-0.29, Z:-0.01 [[ 9.99911092e-01 -1.33344508e-02 0.00000000e+00 6.51620150e+01] [ 1.33344508e-02 9.99911092e-01 0.00000000e+00 -2.86803264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29590343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.19, Y:-0.29, Z:-0.01 [[ 9.99843708e-01 -1.76793736e-02 0.00000000e+00 6.51930436e+01] [ 1.76793736e-02 9.99843708e-01 0.00000000e+00 -2.88763277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19903946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.23, Y:-0.29, Z:-0.01 [[ 9.99728205e-01 -2.33134147e-02 0.00000000e+00 6.52257403e+01] [ 2.33134147e-02 9.99728205e-01 0.00000000e+00 -2.87431293e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07001428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.26, Y:-0.29, Z:-0.01 [[ 9.99706833e-01 -2.42125689e-02 0.00000000e+00 6.52583945e+01] [ 2.42125689e-02 9.99706833e-01 0.00000000e+00 -2.89256514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13606986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.29, Y:-0.29, Z:-0.01 [[ 9.99679017e-01 -2.53350163e-02 0.00000000e+00 6.52910811e+01] [ 2.53350163e-02 9.99679017e-01 0.00000000e+00 -2.92279347e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10596961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:-0.29, Z:-0.01 [[ 9.99673701e-01 -2.55439006e-02 0.00000000e+00 6.53241492e+01] [ 2.55439006e-02 9.99673701e-01 0.00000000e+00 -2.93982395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05134479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.36, Y:-0.29, Z:-0.01 [[ 9.99684247e-01 -2.51277856e-02 0.00000000e+00 6.53569178e+01] [ 2.51277856e-02 9.99684247e-01 0.00000000e+00 -2.93456859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.45028224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:-0.29, Z:-0.01 [[ 9.99719297e-01 -2.36923385e-02 0.00000000e+00 6.53896202e+01] [ 2.36923385e-02 9.99719297e-01 0.00000000e+00 -2.94005374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.04403491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:-0.30, Z:-0.01 [[ 9.99733544e-01 -2.30833305e-02 0.00000000e+00 6.54216745e+01] [ 2.30833305e-02 9.99733544e-01 0.00000000e+00 -2.97105975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15925967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:-0.30, Z:-0.01 [[ 9.99739172e-01 -2.28382850e-02 0.00000000e+00 6.54542969e+01] [ 2.28382850e-02 9.99739172e-01 0.00000000e+00 -3.00226038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79392787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:65.49, Y:-0.30, Z:-0.01 [[ 9.99690411e-01 -2.48813520e-02 0.00000000e+00 6.54863607e+01] [ 2.48813520e-02 9.99690411e-01 0.00000000e+00 -3.03117571e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.84541276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:-0.30, Z:-0.01 [[ 9.99676060e-01 -2.54514307e-02 0.00000000e+00 6.55184248e+01] [ 2.54514307e-02 9.99676060e-01 0.00000000e+00 -3.03738536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46563790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:-0.31, Z:-0.01 [[ 9.99655071e-01 -2.62628840e-02 0.00000000e+00 6.55504421e+01] [ 2.62628840e-02 9.99655071e-01 0.00000000e+00 -3.06043458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12774256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.58, Y:-0.31, Z:-0.01 [[ 9.99616872e-01 -2.76786679e-02 0.00000000e+00 6.55827399e+01] [ 2.76786679e-02 9.99616872e-01 0.00000000e+00 -3.09808841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24046384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:-0.31, Z:-0.01 [[ 9.99594398e-01 -2.84787427e-02 0.00000000e+00 6.56147313e+01] [ 2.84787427e-02 9.99594398e-01 0.00000000e+00 -3.13699243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28509299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.65, Y:-0.32, Z:-0.01 [[ 9.99667901e-01 -2.57699179e-02 0.00000000e+00 6.56466941e+01] [ 2.57699179e-02 9.99667901e-01 0.00000000e+00 -3.18801938e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17841910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:-0.32, Z:-0.01 [[ 9.99767039e-01 -2.15839785e-02 0.00000000e+00 6.56792771e+01] [ 2.15839785e-02 9.99767039e-01 0.00000000e+00 -3.20810108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19707968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.772320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.71, Y:-0.32, Z:-0.01 [[ 9.99844260e-01 -1.76481003e-02 0.00000000e+00 6.57110570e+01] [ 1.76481003e-02 9.99844260e-01 0.00000000e+00 -3.23002155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21046762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.74, Y:-0.32, Z:-0.01 [[ 9.99893633e-01 -1.45849951e-02 0.00000000e+00 6.57421654e+01] [ 1.45849951e-02 9.99893633e-01 0.00000000e+00 -3.24885212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14929394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:-0.33, Z:-0.01 [[ 9.99969785e-01 -7.77364269e-03 0.00000000e+00 6.57738239e+01] [ 7.77364269e-03 9.99969785e-01 0.00000000e+00 -3.27693239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68222145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.80, Y:-0.33, Z:-0.01 [[ 9.99991091e-01 -4.22114454e-03 0.00000000e+00 6.58045958e+01] [ 4.22114454e-03 9.99991091e-01 0.00000000e+00 -3.30079510e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00744691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:-0.33, Z:-0.01 [[ 9.99999316e-01 -1.16945136e-03 0.00000000e+00 6.58347319e+01] [ 1.16945136e-03 9.99999316e-01 0.00000000e+00 -3.32769693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08950608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.87, Y:-0.34, Z:-0.01 [[ 9.99999781e-01 6.62164821e-04 0.00000000e+00 6.58656437e+01] [-6.62164821e-04 9.99999781e-01 0.00000000e+00 -3.35204035e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16631665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:-0.34, Z:-0.01 [[ 9.99998493e-01 -1.73616234e-03 0.00000000e+00 6.58959862e+01] [ 1.73616234e-03 9.99998493e-01 0.00000000e+00 -3.39329705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.62950408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:-0.34, Z:-0.01 [[ 9.99993157e-01 -3.69958277e-03 0.00000000e+00 6.59263072e+01] [ 3.69958277e-03 9.99993157e-01 0.00000000e+00 -3.42678304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59003107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:-0.35, Z:-0.01 [[ 9.99989427e-01 -4.59851200e-03 0.00000000e+00 6.59569689e+01] [ 4.59851200e-03 9.99989427e-01 0.00000000e+00 -3.47995507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84819024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:-0.35, Z:-0.01 [[ 9.99991264e-01 -4.17995370e-03 0.00000000e+00 6.59871793e+01] [ 4.17995370e-03 9.99991264e-01 0.00000000e+00 -3.52250452e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99920564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:-0.35, Z:-0.01 [[ 9.99999807e-01 -6.21701283e-04 0.00000000e+00 6.60181565e+01] [ 6.21701283e-04 9.99999807e-01 0.00000000e+00 -3.51146864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.75638271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:-0.35, Z:-0.01 [[ 9.99997152e-01 2.38644846e-03 0.00000000e+00 6.60488092e+01] [-2.38644846e-03 9.99997152e-01 0.00000000e+00 -3.48960581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11054358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.08, Y:-0.35, Z:-0.01 [[ 9.99980801e-01 6.19655131e-03 0.00000000e+00 6.60797115e+01] [-6.19655131e-03 9.99980801e-01 0.00000000e+00 -3.49068363e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22479489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:-0.35, Z:-0.01 [[ 9.99960707e-01 8.86475218e-03 0.00000000e+00 6.61104974e+01] [-8.86475218e-03 9.99960707e-01 0.00000000e+00 -3.51789877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16344013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:-0.36, Z:-0.01 [[ 9.99948703e-01 1.01287232e-02 0.00000000e+00 6.61407096e+01] [-1.01287232e-02 9.99948703e-01 0.00000000e+00 -3.56007058e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09421972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:-0.36, Z:-0.01 [[ 9.99967014e-01 8.12228782e-03 0.00000000e+00 6.61706498e+01] [-8.12228782e-03 9.99967014e-01 0.00000000e+00 -3.63074197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14149751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:-0.36, Z:-0.01 [[ 9.99987000e-01 5.09903691e-03 0.00000000e+00 6.62011470e+01] [-5.09903691e-03 9.99987000e-01 0.00000000e+00 -3.64713307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20920849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:-0.37, Z:-0.01 [[ 9.99993915e-01 3.48846977e-03 0.00000000e+00 6.62313382e+01] [-3.48846977e-03 9.99993915e-01 0.00000000e+00 -3.65179687e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15612109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:-0.36, Z:-0.01 [[ 9.99997298e-01 2.32474347e-03 0.00000000e+00 6.62617704e+01] [-2.32474347e-03 9.99997298e-01 0.00000000e+00 -3.64145232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03836651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:-0.36, Z:-0.01 [[ 9.99993589e-01 3.58070437e-03 0.00000000e+00 6.62912628e+01] [-3.58070437e-03 9.99993589e-01 0.00000000e+00 -3.61534882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73501849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:-0.36, Z:-0.01 [[ 9.99986539e-01 5.18859648e-03 0.00000000e+00 6.63221927e+01] [-5.18859648e-03 9.99986539e-01 0.00000000e+00 -3.62138892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10879844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:-0.36, Z:-0.01 [[ 9.99965156e-01 8.34788307e-03 0.00000000e+00 6.63525649e+01] [-8.34788307e-03 9.99965156e-01 0.00000000e+00 -3.64440412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62788801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:-0.37, Z:-0.01 [[ 9.99940262e-01 1.09303629e-02 0.00000000e+00 6.63829846e+01] [-1.09303629e-02 9.99940262e-01 0.00000000e+00 -3.67175113e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90167635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.41, Y:-0.37, Z:-0.01 [[ 9.99903752e-01 1.38739856e-02 0.00000000e+00 6.64133552e+01] [-1.38739856e-02 9.99903752e-01 0.00000000e+00 -3.67933355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25508423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:-0.37, Z:-0.01 [[ 9.99894106e-01 1.45525770e-02 0.00000000e+00 6.64435042e+01] [-1.45525770e-02 9.99894106e-01 0.00000000e+00 -3.66387508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09542133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.47, Y:-0.36, Z:-0.01 [[ 9.99879817e-01 1.55032786e-02 0.00000000e+00 6.64737555e+01] [-1.55032786e-02 9.99879817e-01 0.00000000e+00 -3.64460486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59296415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.50, Y:-0.36, Z:-0.01 [[ 9.99888949e-01 1.49026726e-02 0.00000000e+00 6.65042223e+01] [-1.49026726e-02 9.99888949e-01 0.00000000e+00 -3.63360415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76772758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.54, Y:-0.36, Z:-0.01 [[ 9.99888949e-01 1.49026726e-02 0.00000000e+00 6.65352210e+01] [-1.49026726e-02 9.99888949e-01 0.00000000e+00 -3.63509376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76772758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:-0.36, Z:-0.01 [[ 9.99884632e-01 1.51895464e-02 0.00000000e+00 6.65654078e+01] [-1.51895464e-02 9.99884632e-01 0.00000000e+00 -3.63020583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07252754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:-0.36, Z:-0.01 [[ 9.99855846e-01 1.69790043e-02 0.00000000e+00 6.65963848e+01] [-1.69790043e-02 9.99855846e-01 0.00000000e+00 -3.63975113e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57855043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:-0.36, Z:-0.01 [[ 9.99850245e-01 1.73057128e-02 0.00000000e+00 6.66267203e+01] [-1.73057128e-02 9.99850245e-01 0.00000000e+00 -3.64087393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.77981464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.66, Y:-0.36, Z:-0.01 [[ 9.99850504e-01 1.72907216e-02 0.00000000e+00 6.66565672e+01] [-1.72907216e-02 9.99850504e-01 0.00000000e+00 -3.63512377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02039115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:-0.36, Z:-0.01 [[ 9.99868117e-01 1.62403650e-02 0.00000000e+00 6.66866137e+01] [-1.62403650e-02 9.99868117e-01 0.00000000e+00 -3.60340988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69130912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.72, Y:-0.36, Z:-0.01 [[ 9.99882515e-01 1.53282805e-02 0.00000000e+00 6.67158294e+01] [-1.53282805e-02 9.99882515e-01 0.00000000e+00 -3.60586817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66053869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.75, Y:-0.36, Z:-0.01 [[ 9.99903306e-01 1.39060384e-02 0.00000000e+00 6.67452016e+01] [-1.39060384e-02 9.99903306e-01 0.00000000e+00 -3.61196343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68752980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:-0.36, Z:-0.01 [[ 9.99925295e-01 1.22230703e-02 0.00000000e+00 6.67754561e+01] [-1.22230703e-02 9.99925295e-01 0.00000000e+00 -3.60994193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87798917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:-0.36, Z:-0.01 [[ 9.99944885e-01 1.04988612e-02 0.00000000e+00 6.68061396e+01] [-1.04988612e-02 9.99944885e-01 0.00000000e+00 -3.59168431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55103447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.84, Y:-0.36, Z:-0.01 [[ 9.99953632e-01 9.62979199e-03 0.00000000e+00 6.68365616e+01] [-9.62979199e-03 9.99953632e-01 0.00000000e+00 -3.56804874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.52512364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.87, Y:-0.35, Z:-0.01 [[ 9.99983960e-01 5.66387720e-03 0.00000000e+00 6.68668181e+01] [-5.66387720e-03 9.99983960e-01 0.00000000e+00 -3.53674685e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54323385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:-0.35, Z:-0.01 [[ 9.99996751e-01 2.54895142e-03 0.00000000e+00 6.68972793e+01] [-2.54895142e-03 9.99996751e-01 0.00000000e+00 -3.53252479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52414831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.93, Y:-0.35, Z:-0.01 [[ 9.99999924e-01 -3.88892683e-04 0.00000000e+00 6.69277079e+01] [ 3.88892683e-04 9.99999924e-01 0.00000000e+00 -3.53427477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19439554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:-0.36, Z:-0.01 [[ 9.99980314e-01 -6.27470262e-03 0.00000000e+00 6.69582857e+01] [ 6.27470262e-03 9.99980314e-01 0.00000000e+00 -3.57137261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51188278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.99, Y:-0.36, Z:-0.01 [[ 9.99951368e-01 -9.86211924e-03 0.00000000e+00 6.69891721e+01] [ 9.86211924e-03 9.99951368e-01 0.00000000e+00 -3.60195291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94229651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:-0.36, Z:-0.00 [[ 9.99934831e-01 -1.14163646e-02 0.00000000e+00 6.70200615e+01] [ 1.14163646e-02 9.99934831e-01 0.00000000e+00 -3.62283149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99532324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:-0.36, Z:-0.01 [[ 9.99880502e-01 -1.54590251e-02 0.00000000e+00 6.70504719e+01] [ 1.54590251e-02 9.99880502e-01 0.00000000e+00 -3.63889416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18914903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:-0.37, Z:-0.01 [[ 9.99834038e-01 -1.82180443e-02 0.00000000e+00 6.70822285e+01] [ 1.82180443e-02 9.99834038e-01 0.00000000e+00 -3.66437431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97816336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:-0.37, Z:-0.01 [[ 9.99793380e-01 -2.03272388e-02 0.00000000e+00 6.71130604e+01] [ 2.03272388e-02 9.99793380e-01 0.00000000e+00 -3.73087945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21039079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.14, Y:-0.37, Z:-0.01 [[ 9.99817325e-01 -1.91132635e-02 0.00000000e+00 6.71442994e+01] [ 1.91132635e-02 9.99817325e-01 0.00000000e+00 -3.74058672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22249118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.212320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:67.18, Y:-0.37, Z:-0.00 [[ 9.99861842e-01 -1.66221568e-02 0.00000000e+00 6.71753829e+01] [ 1.66221568e-02 9.99861842e-01 0.00000000e+00 -3.72761584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21602592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:-0.37, Z:-0.00 [[ 9.99893478e-01 -1.45956290e-02 0.00000000e+00 6.72060707e+01] [ 1.45956290e-02 9.99893478e-01 0.00000000e+00 -3.71978676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90731443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:-0.38, Z:-0.00 [[ 9.99917228e-01 -1.28660917e-02 0.00000000e+00 6.72368016e+01] [ 1.28660917e-02 9.99917228e-01 0.00000000e+00 -3.75276903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36735056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:-0.39, Z:-0.01 [[ 9.99915862e-01 -1.29718320e-02 0.00000000e+00 6.72667883e+01] [ 1.29718320e-02 9.99915862e-01 0.00000000e+00 -3.92014283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71217191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.30, Y:-0.40, Z:-0.00 [[ 9.99898415e-01 -1.42534394e-02 0.00000000e+00 6.72969686e+01] [ 1.42534394e-02 9.99898415e-01 0.00000000e+00 -3.98315664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88064865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:-0.40, Z:-0.00 [[ 9.99900363e-01 -1.41160732e-02 0.00000000e+00 6.73279279e+01] [ 1.41160732e-02 9.99900363e-01 0.00000000e+00 -3.99970475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80771830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:-0.40, Z:-0.00 [[ 9.99932309e-01 -1.16351916e-02 0.00000000e+00 6.73582360e+01] [ 1.16351916e-02 9.99932309e-01 0.00000000e+00 -3.98708441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51597650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:-0.40, Z:-0.00 [[ 9.99997253e-01 -2.34411141e-03 0.00000000e+00 6.73891210e+01] [ 2.34411141e-03 9.99997253e-01 0.00000000e+00 -3.98798334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15091373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:-0.40, Z:-0.00 [[ 9.99996125e-01 2.78392425e-03 0.00000000e+00 6.74196154e+01] [-2.78392425e-03 9.99996125e-01 0.00000000e+00 -4.00456196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97140847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.45, Y:-0.40, Z:-0.00 [[ 9.99977109e-01 6.76620231e-03 0.00000000e+00 6.74498878e+01] [-6.76620231e-03 9.99977109e-01 0.00000000e+00 -4.01476500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73680217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:-0.40, Z:-0.01 [[ 9.99948254e-01 1.01730017e-02 0.00000000e+00 6.74807708e+01] [-1.01730017e-02 9.99948254e-01 0.00000000e+00 -4.02474391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81318883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:-0.41, Z:-0.00 [[ 9.99887725e-01 1.49845630e-02 0.00000000e+00 6.75110264e+01] [-1.49845630e-02 9.99887725e-01 0.00000000e+00 -4.07794405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85960817e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:-0.41, Z:-0.00 [[ 9.99860665e-01 1.66928218e-02 0.00000000e+00 6.75416700e+01] [-1.66928218e-02 9.99860665e-01 0.00000000e+00 -4.09307517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70760277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:67.57, Y:-0.41, Z:0.00 [[ 9.99828969e-01 1.84941531e-02 0.00000000e+00 6.75717936e+01] [-1.84941531e-02 9.99828969e-01 0.00000000e+00 -4.06420025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64748666e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.60, Y:-0.40, Z:0.00 [[ 9.99777267e-01 2.11049094e-02 0.00000000e+00 6.76021820e+01] [-2.11049094e-02 9.99777267e-01 0.00000000e+00 -4.00861368e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86477877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:-0.40, Z:0.00 [[ 9.99721383e-01 2.36041497e-02 0.00000000e+00 6.76324362e+01] [-2.36041497e-02 9.99721383e-01 0.00000000e+00 -3.95201612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41321601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.66, Y:-0.39, Z:-0.00 [[ 9.99595479e-01 2.84407760e-02 0.00000000e+00 6.76628637e+01] [-2.84407760e-02 9.99595479e-01 0.00000000e+00 -3.92221472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93255169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:-0.39, Z:-0.00 [[ 9.99562431e-01 2.95794905e-02 0.00000000e+00 6.76938157e+01] [-2.95794905e-02 9.99562431e-01 0.00000000e+00 -3.92655841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90603722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.72, Y:-0.39, Z:-0.01 [[ 9.99567998e-01 2.93907614e-02 0.00000000e+00 6.77241992e+01] [-2.93907614e-02 9.99567998e-01 0.00000000e+00 -3.91420317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23458785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:-0.39, Z:-0.01 [[ 9.99609035e-01 2.79602941e-02 0.00000000e+00 6.77550224e+01] [-2.79602941e-02 9.99609035e-01 0.00000000e+00 -3.88345012e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74566453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.79, Y:-0.38, Z:-0.00 [[ 9.99751639e-01 2.22858811e-02 0.00000000e+00 6.77853358e+01] [-2.22858811e-02 9.99751639e-01 0.00000000e+00 -3.82559210e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.84805999e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:-0.38, Z:0.00 [[ 9.99828415e-01 1.85240735e-02 0.00000000e+00 6.78160756e+01] [-1.85240735e-02 9.99828415e-01 0.00000000e+00 -3.80885423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79317597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.85, Y:-0.38, Z:0.00 [[ 9.99872448e-01 1.59714698e-02 0.00000000e+00 6.78462867e+01] [-1.59714698e-02 9.99872448e-01 0.00000000e+00 -3.78999738e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30204285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:-0.38, Z:-0.00 [[ 9.99931074e-01 1.17408637e-02 0.00000000e+00 6.78771431e+01] [-1.17408637e-02 9.99931074e-01 0.00000000e+00 -3.76415343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90980959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:-0.38, Z:-0.01 [[ 9.99953326e-01 9.66159773e-03 0.00000000e+00 6.79072782e+01] [-9.66159773e-03 9.99953326e-01 0.00000000e+00 -3.78704802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84818168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:-0.38, Z:-0.01 [[ 9.99977769e-01 6.66801756e-03 0.00000000e+00 6.79380748e+01] [-6.66801756e-03 9.99977769e-01 0.00000000e+00 -3.82321749e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07426823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:-0.38, Z:-0.01 [[ 9.99991549e-01 4.11127747e-03 0.00000000e+00 6.79687541e+01] [-4.11127747e-03 9.99991549e-01 0.00000000e+00 -3.84413697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22582318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:-0.38, Z:-0.00 [[ 9.99998087e-01 1.95610855e-03 0.00000000e+00 6.79992953e+01] [-1.95610855e-03 9.99998087e-01 0.00000000e+00 -3.82993818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80873505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:-0.38, Z:-0.00 [[ 9.99999853e-01 5.42261922e-04 0.00000000e+00 6.80300684e+01] [-5.42261922e-04 9.99999853e-01 0.00000000e+00 -3.80240558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68888740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.06, Y:-0.38, Z:0.00 [[ 9.99996564e-01 -2.62148327e-03 0.00000000e+00 6.80610326e+01] [ 2.62148327e-03 9.99996564e-01 0.00000000e+00 -3.82553405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26676624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:68.09, Y:-0.39, Z:0.00 [[ 9.99989849e-01 -4.50584124e-03 0.00000000e+00 6.80915647e+01] [ 4.50584124e-03 9.99989849e-01 0.00000000e+00 -3.89332784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29555556e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.12, Y:-0.40, Z:-0.00 [[ 9.99984436e-01 -5.57921327e-03 0.00000000e+00 6.81221583e+01] [ 5.57921327e-03 9.99984436e-01 0.00000000e+00 -3.95116771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04872916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:-0.40, Z:-0.00 [[ 9.99975068e-01 -7.06146102e-03 0.00000000e+00 6.81526735e+01] [ 7.06146102e-03 9.99975068e-01 0.00000000e+00 -3.97971924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00942798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:-0.40, Z:-0.00 [[ 9.99975841e-01 -6.95110296e-03 0.00000000e+00 6.81834235e+01] [ 6.95110296e-03 9.99975841e-01 0.00000000e+00 -3.96678909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17010653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:-0.40, Z:-0.00 [[ 9.99988651e-01 -4.76428421e-03 0.00000000e+00 6.82143741e+01] [ 4.76428421e-03 9.99988651e-01 0.00000000e+00 -3.97476065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93303033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:-0.40, Z:0.00 [[ 9.99999234e-01 -1.23753242e-03 0.00000000e+00 6.82445898e+01] [ 1.23753242e-03 9.99999234e-01 0.00000000e+00 -4.00472466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12103678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:-0.40, Z:0.00 [[ 9.99995588e-01 2.97064874e-03 0.00000000e+00 6.82747107e+01] [-2.97064874e-03 9.99995588e-01 0.00000000e+00 -4.03363526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69823350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:-0.40, Z:0.00 [[ 9.99975646e-01 6.97902983e-03 0.00000000e+00 6.83054989e+01] [-6.97902983e-03 9.99975646e-01 0.00000000e+00 -4.03808587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77046646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:-0.40, Z:-0.00 [[ 9.99908079e-01 1.35585465e-02 0.00000000e+00 6.83359245e+01] [-1.35585465e-02 9.99908079e-01 0.00000000e+00 -4.02583666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33198312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:-0.41, Z:-0.01 [[ 9.99871704e-01 1.60179482e-02 0.00000000e+00 6.83661644e+01] [-1.60179482e-02 9.99871704e-01 0.00000000e+00 -4.05064079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18240081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:-0.41, Z:-0.00 [[ 9.99827345e-01 1.85817435e-02 0.00000000e+00 6.83970105e+01] [-1.85817435e-02 9.99827345e-01 0.00000000e+00 -4.07512049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74630160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:-0.41, Z:-0.00 [[ 9.99790512e-01 2.04678489e-02 0.00000000e+00 6.84271280e+01] [-2.04678489e-02 9.99790512e-01 0.00000000e+00 -4.07069884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78657914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:-0.41, Z:-0.00 [[ 9.99790512e-01 2.04678489e-02 0.00000000e+00 6.84581270e+01] [-2.04678489e-02 9.99790512e-01 0.00000000e+00 -4.07222811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78657914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:-0.40, Z:0.01 [[ 9.99673919e-01 2.55353745e-02 0.00000000e+00 6.84883042e+01] [-2.55353745e-02 9.99673919e-01 0.00000000e+00 -3.97598546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21803166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:-0.39, Z:0.00 [[ 9.99619900e-01 2.75691169e-02 0.00000000e+00 6.85190586e+01] [-2.75691169e-02 9.99619900e-01 0.00000000e+00 -3.94300353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51377437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.55, Y:-0.39, Z:0.00 [[ 9.99574072e-01 2.91834485e-02 0.00000000e+00 6.85498468e+01] [-2.91834485e-02 9.99574072e-01 0.00000000e+00 -3.93098994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40240375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.58, Y:-0.39, Z:0.00 [[ 9.99445636e-01 3.32929426e-02 0.00000000e+00 6.85802300e+01] [-3.32929426e-02 9.99445636e-01 0.00000000e+00 -3.90680188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58662102e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:-0.39, Z:-0.00 [[ 9.99376059e-01 3.53198491e-02 0.00000000e+00 6.86107144e+01] [-3.53198491e-02 9.99376059e-01 0.00000000e+00 -3.87278323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42191192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.64, Y:-0.38, Z:0.00 [[ 9.99327920e-01 3.66566352e-02 0.00000000e+00 6.86408083e+01] [-3.66566352e-02 9.99327920e-01 0.00000000e+00 -3.83991759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71638544e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:-0.38, Z:0.00 [[ 9.99250104e-01 3.87198983e-02 0.00000000e+00 6.86700870e+01] [-3.87198983e-02 9.99250104e-01 0.00000000e+00 -3.76824912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89633026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.70, Y:-0.37, Z:0.01 [[ 9.99237417e-01 3.90459194e-02 0.00000000e+00 6.86993581e+01] [-3.90459194e-02 9.99237417e-01 0.00000000e+00 -3.71319383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63445386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:-0.37, Z:0.01 [[ 9.99233828e-01 3.91376778e-02 0.00000000e+00 6.87290069e+01] [-3.91376778e-02 9.99233828e-01 0.00000000e+00 -3.65556882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84140458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.772320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:68.76, Y:-0.36, Z:0.00 [[ 9.99335543e-01 3.64482162e-02 0.00000000e+00 6.87578526e+01] [-3.64482162e-02 9.99335543e-01 0.00000000e+00 -3.59641198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07752863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.79, Y:-0.36, Z:-0.00 [[ 9.99441924e-01 3.34041963e-02 0.00000000e+00 6.87865808e+01] [-3.34041963e-02 9.99441924e-01 0.00000000e+00 -3.59939607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94067024e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:-0.36, Z:0.00 [[ 9.99515149e-01 3.11362671e-02 0.00000000e+00 6.88162392e+01] [-3.11362671e-02 9.99515149e-01 0.00000000e+00 -3.59342336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67464704e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.85, Y:-0.36, Z:0.00 [[ 9.99682037e-01 2.52155746e-02 0.00000000e+00 6.88463490e+01] [-2.52155746e-02 9.99682037e-01 0.00000000e+00 -3.57150499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53760521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:-0.36, Z:0.00 [[ 9.99743327e-01 2.26557005e-02 0.00000000e+00 6.88757168e+01] [-2.26557005e-02 9.99743327e-01 0.00000000e+00 -3.56596105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99601780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:-0.36, Z:0.00 [[ 9.99777993e-01 2.10704656e-02 0.00000000e+00 6.89057621e+01] [-2.10704656e-02 9.99777993e-01 0.00000000e+00 -3.55789988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36801705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:-0.35, Z:-0.00 [[ 9.99808258e-01 1.95818076e-02 0.00000000e+00 6.89352795e+01] [-1.95818076e-02 9.99808258e-01 0.00000000e+00 -3.48557037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.47037012e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:-0.34, Z:-0.00 [[ 9.99798662e-01 2.00657685e-02 0.00000000e+00 6.89646038e+01] [-2.00657685e-02 9.99798662e-01 0.00000000e+00 -3.43711545e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55207779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:-0.34, Z:-0.00 [[ 9.99768607e-01 2.15112388e-02 0.00000000e+00 6.89945583e+01] [-2.15112388e-02 9.99768607e-01 0.00000000e+00 -3.41202009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22003024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:-0.34, Z:-0.00 [[ 9.99712872e-01 2.39619151e-02 0.00000000e+00 6.90243117e+01] [-2.39619151e-02 9.99712872e-01 0.00000000e+00 -3.40256765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78381120e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:-0.34, Z:0.01 [[ 9.99689226e-01 2.49289117e-02 0.00000000e+00 6.90534761e+01] [-2.49289117e-02 9.99689226e-01 0.00000000e+00 -3.35290400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59691098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.08, Y:-0.33, Z:0.00 [[ 9.99706454e-01 2.42282005e-02 0.00000000e+00 6.90822317e+01] [-2.42282005e-02 9.99706454e-01 0.00000000e+00 -3.29671991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90323415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.11, Y:-0.32, Z:0.00 [[ 9.99743289e-01 2.26573677e-02 0.00000000e+00 6.91110794e+01] [-2.26573677e-02 9.99743289e-01 0.00000000e+00 -3.24321275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14522263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.14, Y:-0.32, Z:-0.00 [[ 9.99833132e-01 1.82676667e-02 0.00000000e+00 6.91402666e+01] [-1.82676667e-02 9.99833132e-01 0.00000000e+00 -3.20009923e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57988773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:-0.32, Z:-0.00 [[ 9.99880337e-01 1.54696864e-02 0.00000000e+00 6.91694864e+01] [-1.54696864e-02 9.99880337e-01 0.00000000e+00 -3.19342543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69813011e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:-0.32, Z:0.00 [[ 9.99924997e-01 1.22474541e-02 0.00000000e+00 6.91993246e+01] [-1.22474541e-02 9.99924997e-01 0.00000000e+00 -3.18196308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78741646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:-0.32, Z:0.00 [[ 9.99959754e-01 8.97163218e-03 0.00000000e+00 6.92294494e+01] [-8.97163218e-03 9.99959754e-01 0.00000000e+00 -3.17274030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35765362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.26, Y:-0.32, Z:-0.00 [[ 9.99999436e-01 1.06240931e-03 0.00000000e+00 6.92589935e+01] [-1.06240931e-03 9.99999436e-01 0.00000000e+00 -3.15777918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.82945934e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.29, Y:-0.31, Z:-0.00 [[ 9.99995607e-01 -2.96409188e-03 0.00000000e+00 6.92895943e+01] [ 2.96409188e-03 9.99995607e-01 0.00000000e+00 -3.13256769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03748103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:-0.31, Z:-0.00 [[ 9.99977739e-01 -6.67245259e-03 0.00000000e+00 6.93199196e+01] [ 6.67245259e-03 9.99977739e-01 0.00000000e+00 -3.11235850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32673774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:-0.31, Z:0.00 [[ 9.99919627e-01 -1.26783372e-02 0.00000000e+00 6.93509256e+01] [ 1.26783372e-02 9.99919627e-01 0.00000000e+00 -3.14440227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.42629744e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.38, Y:-0.32, Z:0.00 [[ 9.99884510e-01 -1.51975918e-02 0.00000000e+00 6.93824008e+01] [ 1.51975918e-02 9.99884510e-01 0.00000000e+00 -3.17796836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36640394e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.41, Y:-0.32, Z:-0.00 [[ 9.99856552e-01 -1.69374119e-02 0.00000000e+00 6.94138308e+01] [ 1.69374119e-02 9.99856552e-01 0.00000000e+00 -3.19510812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57440505e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:-0.32, Z:-0.00 [[ 9.99808921e-01 -1.95479487e-02 0.00000000e+00 6.94455662e+01] [ 1.95479487e-02 9.99808921e-01 0.00000000e+00 -3.18725158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99848590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.48, Y:-0.32, Z:-0.00 [[ 9.99769548e-01 -2.14674196e-02 0.00000000e+00 6.94776700e+01] [ 2.14674196e-02 9.99769548e-01 0.00000000e+00 -3.20613872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31894718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.51, Y:-0.33, Z:-0.00 [[ 9.99708881e-01 -2.41278625e-02 0.00000000e+00 6.95096843e+01] [ 2.41278625e-02 9.99708881e-01 0.00000000e+00 -3.25934204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95260157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.54, Y:-0.34, Z:-0.00 [[ 9.99537737e-01 -3.04025119e-02 0.00000000e+00 6.95417879e+01] [ 3.04025119e-02 9.99537737e-01 0.00000000e+00 -3.39104522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30199823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.57, Y:-0.34, Z:-0.00 [[ 9.99463083e-01 -3.27650001e-02 0.00000000e+00 6.95743362e+01] [ 3.27650001e-02 9.99463083e-01 0.00000000e+00 -3.42798173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75168571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:-0.34, Z:-0.00 [[ 9.99408022e-01 -3.44035692e-02 0.00000000e+00 6.96067617e+01] [ 3.44035692e-02 9.99408022e-01 0.00000000e+00 -3.44706538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53551655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:-0.35, Z:-0.00 [[ 9.99378695e-01 -3.52451964e-02 0.00000000e+00 6.96392732e+01] [ 3.52451964e-02 9.99378695e-01 0.00000000e+00 -3.47029857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68885802e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.67, Y:-0.35, Z:-0.00 [[ 9.99362298e-01 -3.57070981e-02 0.00000000e+00 6.96710677e+01] [ 3.57070981e-02 9.99362298e-01 0.00000000e+00 -3.54310088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69149126e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.70, Y:-0.36, Z:-0.00 [[ 9.99367635e-01 -3.55574219e-02 0.00000000e+00 6.97031792e+01] [ 3.55574219e-02 9.99367635e-01 0.00000000e+00 -3.59249786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62896561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:-0.36, Z:-0.00 [[ 9.99416767e-01 -3.41485965e-02 0.00000000e+00 6.97356715e+01] [ 3.41485965e-02 9.99416767e-01 0.00000000e+00 -3.64488082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58113029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:-0.37, Z:-0.00 [[ 9.99500825e-01 -3.15927212e-02 0.00000000e+00 6.97670860e+01] [ 3.15927212e-02 9.99500825e-01 0.00000000e+00 -3.73773207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77234677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.80, Y:-0.38, Z:-0.00 [[ 9.99533966e-01 -3.05262350e-02 0.00000000e+00 6.97984581e+01] [ 3.05262350e-02 9.99533966e-01 0.00000000e+00 -3.78788239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30191360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:-0.38, Z:-0.00 [[ 9.99551336e-01 -2.99520757e-02 0.00000000e+00 6.98296692e+01] [ 2.99520757e-02 9.99551336e-01 0.00000000e+00 -3.83557148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91351065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:69.86, Y:-0.39, Z:-0.00 [[ 9.99642164e-01 -2.67496546e-02 0.00000000e+00 6.98607593e+01] [ 2.67496546e-02 9.99642164e-01 0.00000000e+00 -3.91190418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16483906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.89, Y:-0.40, Z:-0.00 [[ 9.99725574e-01 -2.34259693e-02 0.00000000e+00 6.98914975e+01] [ 2.34259693e-02 9.99725574e-01 0.00000000e+00 -3.95123235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33305749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:-0.40, Z:-0.00 [[ 9.99808919e-01 -1.95480212e-02 0.00000000e+00 6.99224155e+01] [ 1.95480212e-02 9.99808919e-01 0.00000000e+00 -3.99199561e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90107324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:-0.40, Z:-0.00 [[ 9.99889997e-01 -1.48322062e-02 0.00000000e+00 6.99525393e+01] [ 1.48322062e-02 9.99889997e-01 0.00000000e+00 -4.03108155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86504606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:-0.41, Z:-0.00 [[ 9.99978489e-01 -6.55908119e-03 0.00000000e+00 6.99833725e+01] [ 6.55908119e-03 9.99978489e-01 0.00000000e+00 -4.05444090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40962323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:-0.40, Z:-0.00 [[ 9.99994951e-01 -3.17758506e-03 0.00000000e+00 7.00134790e+01] [ 3.17758506e-03 9.99994951e-01 0.00000000e+00 -4.03977704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41363483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.04, Y:-0.40, Z:-0.00 [[ 9.99999952e-01 3.08795919e-04 0.00000000e+00 7.00436046e+01] [-3.08795919e-04 9.99999952e-01 0.00000000e+00 -4.02908822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13405878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:70.07, Y:-0.40, Z:-0.00 [[ 9.99997435e-01 2.26492274e-03 0.00000000e+00 7.00742526e+01] [-2.26492274e-03 9.99997435e-01 0.00000000e+00 -4.03759789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33988275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.10, Y:-0.41, Z:0.01 [[ 9.99973609e-01 7.26505421e-03 0.00000000e+00 7.01044514e+01] [-7.26505421e-03 9.99973609e-01 0.00000000e+00 -4.06636082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57503545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:-0.41, Z:-0.00 [[ 9.99971897e-01 7.49695669e-03 0.00000000e+00 7.01349479e+01] [-7.49695669e-03 9.99971897e-01 0.00000000e+00 -4.07813415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67260772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:-0.41, Z:-0.00 [[ 9.99961303e-01 8.79727556e-03 0.00000000e+00 7.01649367e+01] [-8.79727556e-03 9.99961303e-01 0.00000000e+00 -4.08754731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27785010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:-0.41, Z:-0.01 [[ 9.99962233e-01 8.69100112e-03 0.00000000e+00 7.01953263e+01] [-8.69100112e-03 9.99962233e-01 0.00000000e+00 -4.09529088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33648596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.23, Y:-0.41, Z:-0.01 [[ 9.99960717e-01 8.86370661e-03 0.00000000e+00 7.02262585e+01] [-8.86370661e-03 9.99960717e-01 0.00000000e+00 -4.09234630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03174399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.242320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:70.26, Y:-0.41, Z:-0.01 [[ 9.99944519e-01 1.05337314e-02 0.00000000e+00 7.02565069e+01] [-1.05337314e-02 9.99944519e-01 0.00000000e+00 -4.07617001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07404509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:-0.40, Z:-0.00 [[ 9.99869017e-01 1.61848471e-02 0.00000000e+00 7.02869279e+01] [-1.61848471e-02 9.99869017e-01 0.00000000e+00 -4.02117919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73478184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:-0.40, Z:-0.00 [[ 9.99801651e-01 1.99163042e-02 0.00000000e+00 7.03169532e+01] [-1.99163042e-02 9.99801651e-01 0.00000000e+00 -3.99348996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22495781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:-0.40, Z:-0.00 [[ 9.99741193e-01 2.27496724e-02 0.00000000e+00 7.03474568e+01] [-2.27496724e-02 9.99741193e-01 0.00000000e+00 -3.97391718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12506760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.38, Y:-0.40, Z:-0.00 [[ 9.99666046e-01 2.58417727e-02 0.00000000e+00 7.03778123e+01] [-2.58417727e-02 9.99666046e-01 0.00000000e+00 -3.95820049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31910185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.41, Y:-0.40, Z:-0.01 [[ 9.99567677e-01 2.94016689e-02 0.00000000e+00 7.04078190e+01] [-2.94016689e-02 9.99567677e-01 0.00000000e+00 -3.95287335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52830155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:-0.40, Z:-0.01 [[ 9.99567677e-01 2.94016689e-02 0.00000000e+00 7.04388172e+01] [-2.94016689e-02 9.99567677e-01 0.00000000e+00 -3.95445921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52830155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:-0.40, Z:-0.01 [[ 9.99589338e-01 2.86558119e-02 0.00000000e+00 7.04695798e+01] [-2.86558119e-02 9.99589338e-01 0.00000000e+00 -3.95365234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33176557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:-0.39, Z:-0.01 [[ 9.99632774e-01 2.70983032e-02 0.00000000e+00 7.04996421e+01] [-2.70983032e-02 9.99632774e-01 0.00000000e+00 -3.94979796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29720611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:-0.39, Z:-0.01 [[ 9.99637603e-01 2.69195677e-02 0.00000000e+00 7.05304226e+01] [-2.69195677e-02 9.99637603e-01 0.00000000e+00 -3.93701516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44067583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.39, Z:-0.01 [[ 9.99658457e-01 2.61336907e-02 0.00000000e+00 7.05604978e+01] [-2.61336907e-02 9.99658457e-01 0.00000000e+00 -3.89945659e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29598119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:-0.39, Z:-0.00 [[ 9.99685591e-01 2.50742801e-02 0.00000000e+00 7.05900401e+01] [-2.50742801e-02 9.99685591e-01 0.00000000e+00 -3.87668391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11323153e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:-0.39, Z:-0.01 [[ 9.99614289e-01 2.77718013e-02 0.00000000e+00 7.06214050e+01] [-2.77718013e-02 9.99614289e-01 0.00000000e+00 -3.85138546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22660919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:-0.38, Z:-0.01 [[ 9.99446398e-01 3.32700817e-02 0.00000000e+00 7.06513975e+01] [-3.32700817e-02 9.99446398e-01 0.00000000e+00 -3.79394453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95674408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:-0.37, Z:-0.01 [[ 9.99331890e-01 3.65482301e-02 0.00000000e+00 7.06814096e+01] [-3.65482301e-02 9.99331890e-01 0.00000000e+00 -3.74643515e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76633695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.71, Y:-0.37, Z:-0.01 [[ 9.99256857e-01 3.85452061e-02 0.00000000e+00 7.07110500e+01] [-3.85452061e-02 9.99256857e-01 0.00000000e+00 -3.68016516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69600679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:-0.36, Z:-0.01 [[ 9.99273149e-01 3.81205044e-02 0.00000000e+00 7.07399933e+01] [-3.81205044e-02 9.99273149e-01 0.00000000e+00 -3.58459846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57452187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:-0.36, Z:-0.01 [[ 9.99325911e-01 3.67113561e-02 0.00000000e+00 7.07692819e+01] [-3.67113561e-02 9.99325911e-01 0.00000000e+00 -3.59522793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28197842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:-0.36, Z:-0.01 [[ 9.99410685e-01 3.43261100e-02 0.00000000e+00 7.07984826e+01] [-3.43261100e-02 9.99410685e-01 0.00000000e+00 -3.62698783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31117010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:-0.36, Z:-0.01 [[ 9.99500139e-01 3.16144379e-02 0.00000000e+00 7.08276824e+01] [-3.16144379e-02 9.99500139e-01 0.00000000e+00 -3.64730625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.36914646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.86, Y:-0.36, Z:-0.01 [[ 9.99678765e-01 2.53449701e-02 0.00000000e+00 7.08566848e+01] [-2.53449701e-02 9.99678765e-01 0.00000000e+00 -3.59017489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90654444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:-0.35, Z:-0.01 [[ 9.99743185e-01 2.26619710e-02 0.00000000e+00 7.08863265e+01] [-2.26619710e-02 9.99743185e-01 0.00000000e+00 -3.54148128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57992919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:-0.35, Z:-0.01 [[ 9.99806631e-01 1.96647283e-02 0.00000000e+00 7.09162081e+01] [-1.96647283e-02 9.99806631e-01 0.00000000e+00 -3.50466182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25746603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:-0.35, Z:-0.01 [[ 9.99876613e-01 1.57085617e-02 0.00000000e+00 7.09460294e+01] [-1.57085617e-02 9.99876613e-01 0.00000000e+00 -3.48577406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54833003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:-0.35, Z:-0.01 [[ 9.99906372e-01 1.36838050e-02 0.00000000e+00 7.09760201e+01] [-1.36838050e-02 9.99906372e-01 0.00000000e+00 -3.49992852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52124639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:-0.35, Z:-0.01 [[ 9.99928762e-01 1.19361182e-02 0.00000000e+00 7.10052884e+01] [-1.19361182e-02 9.99928762e-01 0.00000000e+00 -3.51373538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44451953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:-0.35, Z:-0.01 [[ 9.99948528e-01 1.01459801e-02 0.00000000e+00 7.10353716e+01] [-1.01459801e-02 9.99948528e-01 0.00000000e+00 -3.51446279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04798673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.06, Y:-0.35, Z:-0.01 [[ 9.99966363e-01 8.20196649e-03 0.00000000e+00 7.10647400e+01] [-8.20196649e-03 9.99966363e-01 0.00000000e+00 -3.46934017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29091620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.09, Y:-0.34, Z:0.00 [[ 9.99983060e-01 5.82054265e-03 0.00000000e+00 7.10949663e+01] [-5.82054265e-03 9.99983060e-01 0.00000000e+00 -3.44937151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39440300e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:-0.34, Z:-0.01 [[ 9.99994747e-01 3.24143177e-03 0.00000000e+00 7.11259508e+01] [-3.24143177e-03 9.99994747e-01 0.00000000e+00 -3.44974876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90248202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:-0.35, Z:-0.01 [[ 9.99999880e-01 4.90544531e-04 0.00000000e+00 7.11565162e+01] [-4.90544531e-04 9.99999880e-01 0.00000000e+00 -3.47751610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01939029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:-0.36, Z:-0.01 [[ 9.99996184e-01 -2.76247931e-03 0.00000000e+00 7.11874515e+01] [ 2.76247931e-03 9.99996184e-01 0.00000000e+00 -3.55253315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07353402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:-0.35, Z:-0.01 [[ 9.99993738e-01 -3.53887413e-03 0.00000000e+00 7.12182171e+01] [ 3.53887413e-03 9.99993738e-01 0.00000000e+00 -3.54431780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12649948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:-0.35, Z:-0.01 [[ 9.99993274e-01 -3.66778095e-03 0.00000000e+00 7.12486119e+01] [ 3.66778095e-03 9.99993274e-01 0.00000000e+00 -3.51109512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.09895921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:-0.35, Z:-0.01 [[ 9.99993281e-01 -3.66585880e-03 0.00000000e+00 7.12792557e+01] [ 3.66585880e-03 9.99993281e-01 0.00000000e+00 -3.47855452e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22346043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:-0.35, Z:-0.01 [[ 9.99993383e-01 -3.63786909e-03 0.00000000e+00 7.13094894e+01] [ 3.63786909e-03 9.99993383e-01 0.00000000e+00 -3.48664480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10335914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:-0.35, Z:-0.01 [[ 9.99997170e-01 -2.37926780e-03 0.00000000e+00 7.13403250e+01] [ 2.37926780e-03 9.99997170e-01 0.00000000e+00 -3.48940715e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19420147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:-0.35, Z:-0.01 [[ 9.99998499e-01 -1.73245530e-03 0.00000000e+00 7.13704829e+01] [ 1.73245530e-03 9.99998499e-01 0.00000000e+00 -3.49332698e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28401599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:-0.35, Z:-0.01 [[ 9.99999975e-01 2.24705359e-04 0.00000000e+00 7.14006077e+01] [-2.24705359e-04 9.99999975e-01 0.00000000e+00 -3.54516042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20632550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:-0.36, Z:-0.01 [[ 9.99998983e-01 1.42601237e-03 0.00000000e+00 7.14307615e+01] [-1.42601237e-03 9.99998983e-01 0.00000000e+00 -3.57520838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12028865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:-0.36, Z:-0.01 [[ 9.99997020e-01 2.44139578e-03 0.00000000e+00 7.14612311e+01] [-2.44139578e-03 9.99997020e-01 0.00000000e+00 -3.58968091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44122239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:-0.36, Z:-0.01 [[ 9.99988450e-01 4.80627509e-03 0.00000000e+00 7.14919622e+01] [-4.80627509e-03 9.99988450e-01 0.00000000e+00 -3.56565741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17969606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:-0.36, Z:-0.01 [[ 9.99975194e-01 7.04357416e-03 0.00000000e+00 7.15220533e+01] [-7.04357416e-03 9.99975194e-01 0.00000000e+00 -3.55644143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05138804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:-0.36, Z:-0.01 [[ 9.99957131e-01 9.25934196e-03 0.00000000e+00 7.15527595e+01] [-9.25934196e-03 9.99957131e-01 0.00000000e+00 -3.55493192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17691003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:-0.36, Z:-0.01 [[ 9.99940218e-01 1.09343805e-02 0.00000000e+00 7.15821302e+01] [-1.09343805e-02 9.99940218e-01 0.00000000e+00 -3.55175298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25786939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:-0.36, Z:-0.01 [[ 9.99931679e-01 1.16891833e-02 0.00000000e+00 7.16118956e+01] [-1.16891833e-02 9.99931679e-01 0.00000000e+00 -3.55066174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69706235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:-0.36, Z:-0.01 [[ 9.99949151e-01 1.00843808e-02 0.00000000e+00 7.16414634e+01] [-1.00843808e-02 9.99949151e-01 0.00000000e+00 -3.58595861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61823402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:-0.36, Z:-0.01 [[ 9.99968098e-01 7.98772143e-03 0.00000000e+00 7.16715209e+01] [-7.98772143e-03 9.99968098e-01 0.00000000e+00 -3.63690406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96453844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:-0.37, Z:-0.01 [[ 9.99986627e-01 5.17156146e-03 0.00000000e+00 7.17020106e+01] [-5.17156146e-03 9.99986627e-01 0.00000000e+00 -3.69021067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08242761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:-0.37, Z:-0.01 [[ 9.99989495e-01 4.58366846e-03 0.00000000e+00 7.17329144e+01] [-4.58366846e-03 9.99989495e-01 0.00000000e+00 -3.67954524e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23262786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.76, Y:-0.37, Z:-0.02 [[ 9.99986242e-01 5.24560188e-03 0.00000000e+00 7.17638175e+01] [-5.24560188e-03 9.99986242e-01 0.00000000e+00 -3.67406809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51279172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:-0.37, Z:-0.02 [[ 9.99977129e-01 6.76326265e-03 0.00000000e+00 7.17945615e+01] [-6.76326265e-03 9.99977129e-01 0.00000000e+00 -3.69262752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54182145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:-0.38, Z:-0.01 [[ 9.99951618e-01 9.83670753e-03 0.00000000e+00 7.18254367e+01] [-9.83670753e-03 9.99951618e-01 0.00000000e+00 -3.76119983e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.23718801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:-0.38, Z:-0.01 [[ 9.99916007e-01 1.29606987e-02 0.00000000e+00 7.18557133e+01] [-1.29606987e-02 9.99916007e-01 0.00000000e+00 -3.77239993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36158719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:-0.38, Z:-0.00 [[ 9.99861580e-01 1.66379227e-02 0.00000000e+00 7.18862375e+01] [-1.66379227e-02 9.99861580e-01 0.00000000e+00 -3.76300067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59283128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:-0.37, Z:-0.01 [[ 9.99707006e-01 2.42054048e-02 0.00000000e+00 7.19157320e+01] [-2.42054048e-02 9.99707006e-01 0.00000000e+00 -3.74333465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95178355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:-0.37, Z:-0.01 [[ 9.99646518e-01 2.65864456e-02 0.00000000e+00 7.19455107e+01] [-2.65864456e-02 9.99646518e-01 0.00000000e+00 -3.73596916e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06851830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:-0.37, Z:-0.01 [[ 9.99571693e-01 2.92648282e-02 0.00000000e+00 7.19752048e+01] [-2.92648282e-02 9.99571693e-01 0.00000000e+00 -3.73066839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.94218960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:-0.37, Z:-0.01 [[ 9.99496561e-01 3.17273530e-02 0.00000000e+00 7.20045646e+01] [-3.17273530e-02 9.99496561e-01 0.00000000e+00 -3.72291747e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68453593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:-0.37, Z:-0.01 [[ 9.99419672e-01 3.40634709e-02 0.00000000e+00 7.20344870e+01] [-3.40634709e-02 9.99419672e-01 0.00000000e+00 -3.71591832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.59916957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:-0.37, Z:-0.01 [[ 9.99347594e-01 3.61162961e-02 0.00000000e+00 7.20638104e+01] [-3.61162961e-02 9.99347594e-01 0.00000000e+00 -3.69750874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20086504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.09, Y:-0.37, Z:-0.01 [[ 9.99323529e-01 3.67761257e-02 0.00000000e+00 7.20924963e+01] [-3.67761257e-02 9.99323529e-01 0.00000000e+00 -3.67083249e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12712083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:-0.36, Z:-0.01 [[ 9.99259279e-01 3.84823839e-02 0.00000000e+00 7.21213879e+01] [-3.84823839e-02 9.99259279e-01 0.00000000e+00 -3.62943702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71945123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:-0.36, Z:-0.01 [[ 9.99168353e-01 4.07750178e-02 0.00000000e+00 7.21502324e+01] [-4.07750178e-02 9.99168353e-01 0.00000000e+00 -3.58015288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29658335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:-0.35, Z:-0.00 [[ 9.99040946e-01 4.37856990e-02 0.00000000e+00 7.21791167e+01] [-4.37856990e-02 9.99040946e-01 0.00000000e+00 -3.50471425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18335294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:-0.35, Z:-0.01 [[ 9.99003865e-01 4.46237379e-02 0.00000000e+00 7.22073083e+01] [-4.46237379e-02 9.99003865e-01 0.00000000e+00 -3.47467105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13578381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:-0.34, Z:-0.01 [[ 9.98967628e-01 4.54277170e-02 0.00000000e+00 7.22356286e+01] [-4.54277170e-02 9.98967628e-01 0.00000000e+00 -3.43906771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08548123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:-0.34, Z:-0.01 [[ 9.98951065e-01 4.57904900e-02 0.00000000e+00 7.22634259e+01] [-4.57904900e-02 9.98951065e-01 0.00000000e+00 -3.39691689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10024149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:-0.33, Z:-0.01 [[ 9.98912319e-01 4.66280894e-02 0.00000000e+00 7.22915911e+01] [-4.66280894e-02 9.98912319e-01 0.00000000e+00 -3.29075329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21808984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:-0.33, Z:-0.01 [[ 9.98935705e-01 4.61243711e-02 0.00000000e+00 7.23200286e+01] [-4.61243711e-02 9.98935705e-01 0.00000000e+00 -3.29271766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21808984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:-0.32, Z:-0.01 [[ 9.98958016e-01 4.56385956e-02 0.00000000e+00 7.23479272e+01] [-4.56385956e-02 9.98958016e-01 0.00000000e+00 -3.21998845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03431367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:-0.31, Z:-0.01 [[ 9.98994159e-01 4.48404993e-02 0.00000000e+00 7.23763061e+01] [-4.48404993e-02 9.98994159e-01 0.00000000e+00 -3.13309847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22471827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.40, Y:-0.30, Z:-0.01 [[ 9.99078296e-01 4.29250419e-02 0.00000000e+00 7.24037226e+01] [-4.29250419e-02 9.99078296e-01 0.00000000e+00 -2.98953934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90792436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:-0.30, Z:-0.01 [[ 9.99190180e-01 4.02366148e-02 0.00000000e+00 7.24318110e+01] [-4.02366148e-02 9.99190180e-01 0.00000000e+00 -2.95891362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18751152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:-0.29, Z:-0.01 [[ 9.99345044e-01 3.61867849e-02 0.00000000e+00 7.24594457e+01] [-3.61867849e-02 9.99345044e-01 0.00000000e+00 -2.93978732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26460797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.49, Y:-0.29, Z:-0.01 [[ 9.99504336e-01 3.14814639e-02 0.00000000e+00 7.24882030e+01] [-3.14814639e-02 9.99504336e-01 0.00000000e+00 -2.90867978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99100595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.52, Y:-0.28, Z:-0.01 [[ 9.99740813e-01 2.27663396e-02 0.00000000e+00 7.25171413e+01] [-2.27663396e-02 9.99740813e-01 0.00000000e+00 -2.79607626e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79463443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:-0.27, Z:-0.01 [[ 9.99839305e-01 1.79266554e-02 0.00000000e+00 7.25447806e+01] [-1.79266554e-02 9.99839305e-01 0.00000000e+00 -2.74993228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92153704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:-0.27, Z:-0.01 [[ 9.99923713e-01 1.23518305e-02 0.00000000e+00 7.25721926e+01] [-1.23518305e-02 9.99923713e-01 0.00000000e+00 -2.73497900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10205616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:-0.27, Z:-0.01 [[ 9.99973498e-01 7.28034863e-03 0.00000000e+00 7.26012303e+01] [-7.28034863e-03 9.99973498e-01 0.00000000e+00 -2.73885494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06966939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:-0.28, Z:-0.01 [[ 9.99996591e-01 -2.61105036e-03 0.00000000e+00 7.26306118e+01] [ 2.61105036e-03 9.99996591e-01 0.00000000e+00 -2.77680954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01066164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:-0.28, Z:-0.01 [[ 9.99976096e-01 -6.91424974e-03 0.00000000e+00 7.26612993e+01] [ 6.91424974e-03 9.99976096e-01 0.00000000e+00 -2.79741969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03696938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:-0.28, Z:-0.01 [[ 9.99919031e-01 -1.27252271e-02 0.00000000e+00 7.26929889e+01] [ 1.27252271e-02 9.99919031e-01 0.00000000e+00 -2.81867541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13993451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:-0.28, Z:-0.01 [[ 9.99833549e-01 -1.82448262e-02 0.00000000e+00 7.27252944e+01] [ 1.82448262e-02 9.99833549e-01 0.00000000e+00 -2.84079388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20522783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:-0.29, Z:-0.01 [[ 9.99642122e-01 -2.67512149e-02 0.00000000e+00 7.27572847e+01] [ 2.67512149e-02 9.99642122e-01 0.00000000e+00 -2.90208132e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37286860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:-0.29, Z:-0.01 [[ 9.99594495e-01 -2.84753523e-02 0.00000000e+00 7.27899168e+01] [ 2.84753523e-02 9.99594495e-01 0.00000000e+00 -2.93911941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39495968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:-0.30, Z:-0.01 [[ 9.99571559e-01 -2.92694100e-02 0.00000000e+00 7.28234282e+01] [ 2.92694100e-02 9.99571559e-01 0.00000000e+00 -2.97571215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30389505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.86, Y:-0.31, Z:-0.01 [[ 9.99619697e-01 -2.75764766e-02 0.00000000e+00 7.28558198e+01] [ 2.75764766e-02 9.99619697e-01 0.00000000e+00 -3.05479628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39572855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:-0.31, Z:-0.01 [[ 9.99707036e-01 -2.42041782e-02 0.00000000e+00 7.28892745e+01] [ 2.42041782e-02 9.99707036e-01 0.00000000e+00 -3.09784730e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38021244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:-0.31, Z:-0.01 [[ 9.99788062e-01 -2.05871511e-02 0.00000000e+00 7.29220993e+01] [ 2.05871511e-02 9.99788062e-01 0.00000000e+00 -3.12963994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39581745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:-0.31, Z:-0.01 [[ 9.99882570e-01 -1.53246910e-02 0.00000000e+00 7.29546668e+01] [ 1.53246910e-02 9.99882570e-01 0.00000000e+00 -3.13013408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29006724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:-0.31, Z:-0.01 [[ 9.99956066e-01 -9.37369069e-03 0.00000000e+00 7.29867085e+01] [ 9.37369069e-03 9.99956066e-01 0.00000000e+00 -3.10489685e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26940470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:-0.31, Z:-0.01 [[ 9.99998792e-01 1.55466393e-03 0.00000000e+00 7.30174544e+01] [-1.55466393e-03 9.99998792e-01 0.00000000e+00 -3.09091843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24331739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:-0.31, Z:-0.01 [[ 9.99977135e-01 6.76234832e-03 0.00000000e+00 7.30474891e+01] [-6.76234832e-03 9.99977135e-01 0.00000000e+00 -3.10584270e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17190085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:-0.31, Z:-0.00 [[ 9.99954254e-01 9.56507744e-03 0.00000000e+00 7.30770273e+01] [-9.56507744e-03 9.99954254e-01 0.00000000e+00 -3.10896801e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96497210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:-0.31, Z:-0.01 [[ 9.99869110e-01 1.61791020e-02 0.00000000e+00 7.31078812e+01] [-1.61791020e-02 9.99869110e-01 0.00000000e+00 -3.07927241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44500197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:-0.30, Z:-0.01 [[ 9.99692454e-01 2.47991349e-02 0.00000000e+00 7.31362305e+01] [-2.47991349e-02 9.99692454e-01 0.00000000e+00 -2.98591589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24581730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.16, Y:-0.30, Z:-0.01 [[ 9.99623250e-01 2.74473609e-02 0.00000000e+00 7.31646319e+01] [-2.74473609e-02 9.99623250e-01 0.00000000e+00 -2.95271165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36964131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.19, Y:-0.29, Z:-0.01 [[ 9.99624744e-01 2.73929027e-02 0.00000000e+00 7.31920220e+01] [-2.73929027e-02 9.99624744e-01 0.00000000e+00 -2.92417677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35889017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:-0.29, Z:-0.02 [[ 9.99488714e-01 3.19735791e-02 0.00000000e+00 7.32227983e+01] [-3.19735791e-02 9.99488714e-01 0.00000000e+00 -2.89509448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54246109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:-0.28, Z:-0.01 [[ 9.99526952e-01 3.07550460e-02 0.00000000e+00 7.32510927e+01] [-3.07550460e-02 9.99526952e-01 0.00000000e+00 -2.84956565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49533846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:-0.28, Z:-0.01 [[ 9.99601168e-01 2.82401361e-02 0.00000000e+00 7.32799020e+01] [-2.82401361e-02 9.99601168e-01 0.00000000e+00 -2.84224895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47207570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:-0.28, Z:-0.01 [[ 9.99690695e-01 2.48699637e-02 0.00000000e+00 7.33090003e+01] [-2.48699637e-02 9.99690695e-01 0.00000000e+00 -2.83620916e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43776125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:-0.28, Z:-0.01 [[ 9.99808255e-01 1.95819802e-02 0.00000000e+00 7.33372040e+01] [-1.95819802e-02 9.99808255e-01 0.00000000e+00 -2.78200708e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41099422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:-0.27, Z:-0.01 [[ 9.99837053e-01 1.80517745e-02 0.00000000e+00 7.33654286e+01] [-1.80517745e-02 9.99837053e-01 0.00000000e+00 -2.74645937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47166428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:-0.27, Z:-0.01 [[ 9.99867269e-01 1.62924730e-02 0.00000000e+00 7.33935770e+01] [-1.62924730e-02 9.99867269e-01 0.00000000e+00 -2.72463071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10556213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:73.42, Y:-0.27, Z:-0.02 [[ 9.99830210e-01 1.84269144e-02 0.00000000e+00 7.34230062e+01] [-1.84269144e-02 9.99830210e-01 0.00000000e+00 -2.71567039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60318507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:-0.27, Z:-0.02 [[ 9.99849434e-01 1.73525093e-02 0.00000000e+00 7.34516286e+01] [-1.73525093e-02 9.99849434e-01 0.00000000e+00 -2.69252456e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53899790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:-0.27, Z:-0.01 [[ 9.99878550e-01 1.55847548e-02 0.00000000e+00 7.34805928e+01] [-1.55847548e-02 9.99878550e-01 0.00000000e+00 -2.67060845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36257145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:-0.26, Z:-0.01 [[ 9.99903331e-01 1.39042601e-02 0.00000000e+00 7.35094345e+01] [-1.39042601e-02 9.99903331e-01 0.00000000e+00 -2.64889009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28837893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.54, Y:-0.26, Z:-0.01 [[ 9.99946196e-01 1.03733284e-02 0.00000000e+00 7.35382979e+01] [-1.03733284e-02 9.99946196e-01 0.00000000e+00 -2.64402415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48529605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:-0.26, Z:-0.02 [[ 9.99966225e-01 8.21887015e-03 0.00000000e+00 7.35674172e+01] [-8.21887015e-03 9.99966225e-01 0.00000000e+00 -2.63958384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62438857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:-0.26, Z:-0.02 [[ 9.99994467e-01 3.32668670e-03 0.00000000e+00 7.35974337e+01] [-3.32668670e-03 9.99994467e-01 0.00000000e+00 -2.57603477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84554293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:-0.25, Z:-0.02 [[ 9.99998703e-01 1.61037554e-03 0.00000000e+00 7.36270569e+01] [-1.61037554e-03 9.99998703e-01 0.00000000e+00 -2.50735168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67352909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.66, Y:-0.25, Z:-0.01 [[ 9.99999998e-01 -6.23443787e-05 0.00000000e+00 7.36574922e+01] [ 6.23443787e-05 9.99999998e-01 0.00000000e+00 -2.45901165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46302462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:-0.25, Z:-0.01 [[ 9.99983723e-01 -5.70564336e-03 0.00000000e+00 7.36884514e+01] [ 5.70564336e-03 9.99983723e-01 0.00000000e+00 -2.48868301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44952380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:-0.25, Z:-0.02 [[ 9.99957232e-01 -9.24843107e-03 0.00000000e+00 7.37199876e+01] [ 9.24843107e-03 9.99957232e-01 0.00000000e+00 -2.51760941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81341265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:-0.25, Z:-0.02 [[ 9.99924865e-01 -1.22582379e-02 0.00000000e+00 7.37520174e+01] [ 1.22582379e-02 9.99924865e-01 0.00000000e+00 -2.52225181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06332908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:-0.25, Z:-0.02 [[ 9.99904920e-01 -1.37895197e-02 0.00000000e+00 7.37841863e+01] [ 1.37895197e-02 9.99904920e-01 0.00000000e+00 -2.49114228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21139334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:-0.24, Z:-0.02 [[ 9.99842268e-01 -1.77605892e-02 0.00000000e+00 7.38165375e+01] [ 1.77605892e-02 9.99842268e-01 0.00000000e+00 -2.38466786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89442925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:-0.23, Z:-0.02 [[ 9.99841436e-01 -1.78073822e-02 0.00000000e+00 7.38493442e+01] [ 1.78073822e-02 9.99841436e-01 0.00000000e+00 -2.34686816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60862682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:-0.23, Z:-0.01 [[ 9.99840473e-01 -1.78613698e-02 0.00000000e+00 7.38825962e+01] [ 1.78613698e-02 9.99840473e-01 0.00000000e+00 -2.32954612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46788898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.92, Y:-0.23, Z:-0.02 [[ 9.99821702e-01 -1.88829202e-02 0.00000000e+00 7.39161829e+01] [ 1.88829202e-02 9.99821702e-01 0.00000000e+00 -2.33030744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56254954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:-0.23, Z:-0.02 [[ 9.99792800e-01 -2.03557502e-02 0.00000000e+00 7.39492084e+01] [ 2.03557502e-02 9.99792800e-01 0.00000000e+00 -2.33185677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72793969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:-0.23, Z:-0.02 [[ 9.99689649e-01 -2.49119761e-02 0.00000000e+00 7.39825370e+01] [ 2.49119761e-02 9.99689649e-01 0.00000000e+00 -2.34119084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30993618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:-0.23, Z:-0.02 [[ 9.99616582e-01 -2.76891324e-02 0.00000000e+00 7.40153494e+01] [ 2.76891324e-02 9.99616582e-01 0.00000000e+00 -2.34991472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41765946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:-0.23, Z:-0.02 [[ 9.99552106e-01 -2.99263614e-02 0.00000000e+00 7.40484419e+01] [ 2.99263614e-02 9.99552106e-01 0.00000000e+00 -2.34867967e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34609066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.08, Y:-0.23, Z:-0.02 [[ 9.99456343e-01 -3.29699541e-02 0.00000000e+00 7.40804635e+01] [ 3.29699541e-02 9.99456343e-01 0.00000000e+00 -2.31022820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84818651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.11, Y:-0.23, Z:-0.02 [[ 9.99442188e-01 -3.33962965e-02 0.00000000e+00 7.41135437e+01] [ 3.33962965e-02 9.99442188e-01 0.00000000e+00 -2.29061861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78025506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:-0.23, Z:-0.02 [[ 9.99460695e-01 -3.28377743e-02 0.00000000e+00 7.41464803e+01] [ 3.28377743e-02 9.99460695e-01 0.00000000e+00 -2.28997937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81142350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:-0.23, Z:-0.02 [[ 9.99481812e-01 -3.21886259e-02 0.00000000e+00 7.41787094e+01] [ 3.21886259e-02 9.99481812e-01 0.00000000e+00 -2.31476396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12707226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.21, Y:-0.24, Z:-0.02 [[ 9.99475594e-01 -3.23811244e-02 0.00000000e+00 7.42111255e+01] [ 3.23811244e-02 9.99475594e-01 0.00000000e+00 -2.37474408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39694487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:-0.24, Z:-0.02 [[ 9.99467464e-01 -3.26310806e-02 0.00000000e+00 7.42437987e+01] [ 3.26310806e-02 9.99467464e-01 0.00000000e+00 -2.38096298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30486482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:-0.24, Z:-0.02 [[ 9.99483013e-01 -3.21513003e-02 0.00000000e+00 7.42773957e+01] [ 3.21513003e-02 9.99483013e-01 0.00000000e+00 -2.37727955e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30486482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:-0.24, Z:-0.02 [[ 9.99459455e-01 -3.28754999e-02 0.00000000e+00 7.43106510e+01] [ 3.28754999e-02 9.99459455e-01 0.00000000e+00 -2.37796848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14927789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:-0.24, Z:-0.02 [[ 9.99459710e-01 -3.28677221e-02 0.00000000e+00 7.43436645e+01] [ 3.28677221e-02 9.99459710e-01 0.00000000e+00 -2.38491763e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97921835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.38, Y:-0.24, Z:-0.02 [[ 9.99485158e-01 -3.20845646e-02 0.00000000e+00 7.43758104e+01] [ 3.20845646e-02 9.99485158e-01 0.00000000e+00 -2.40961281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87675519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:-0.24, Z:-0.02 [[ 9.99535087e-01 -3.04894947e-02 0.00000000e+00 7.44076993e+01] [ 3.04894947e-02 9.99535087e-01 0.00000000e+00 -2.41510151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04584060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.44, Y:-0.24, Z:-0.02 [[ 9.99590853e-01 -2.86029082e-02 0.00000000e+00 7.44394980e+01] [ 2.86029082e-02 9.99590853e-01 0.00000000e+00 -2.41723546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31462053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:-0.24, Z:-0.02 [[ 9.99629901e-01 -2.72040782e-02 0.00000000e+00 7.44727993e+01] [ 2.72040782e-02 9.99629901e-01 0.00000000e+00 -2.42287754e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49023634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:-0.24, Z:-0.03 [[ 9.99653388e-01 -2.63268730e-02 0.00000000e+00 7.45052827e+01] [ 2.63268730e-02 9.99653388e-01 0.00000000e+00 -2.43715199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53699846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:-0.25, Z:-0.03 [[ 9.99628310e-01 -2.72624570e-02 0.00000000e+00 7.45371213e+01] [ 2.72624570e-02 9.99628310e-01 0.00000000e+00 -2.45458995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51839291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:-0.25, Z:-0.02 [[ 9.99628695e-01 -2.72483536e-02 0.00000000e+00 7.45698054e+01] [ 2.72483536e-02 9.99628695e-01 0.00000000e+00 -2.47278099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46565859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:-0.25, Z:-0.02 [[ 9.99611651e-01 -2.78666100e-02 0.00000000e+00 7.46026148e+01] [ 2.78666100e-02 9.99611651e-01 0.00000000e+00 -2.49786375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41016758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:-0.25, Z:-0.02 [[ 9.99530279e-01 -3.06467219e-02 0.00000000e+00 7.46318235e+01] [ 3.06467219e-02 9.99530279e-01 0.00000000e+00 -2.52732121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63096152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:-0.25, Z:-0.02 [[ 9.99574714e-01 -2.91614671e-02 0.00000000e+00 7.46654647e+01] [ 2.91614671e-02 9.99574714e-01 0.00000000e+00 -2.53735613e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44855873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:-0.25, Z:-0.02 [[ 9.99592485e-01 -2.85458207e-02 0.00000000e+00 7.46989001e+01] [ 2.85458207e-02 9.99592485e-01 0.00000000e+00 -2.53479514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48025304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:-0.26, Z:-0.03 [[ 9.99588674e-01 -2.86789651e-02 0.00000000e+00 7.47322657e+01] [ 2.86789651e-02 9.99588674e-01 0.00000000e+00 -2.55844529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55217955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.76, Y:-0.27, Z:-0.03 [[ 9.99616744e-01 -2.76833147e-02 0.00000000e+00 7.47649528e+01] [ 2.76833147e-02 9.99616744e-01 0.00000000e+00 -2.65173932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65236737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:-0.27, Z:-0.03 [[ 9.99652976e-01 -2.63424971e-02 0.00000000e+00 7.47976917e+01] [ 2.63424971e-02 9.99652976e-01 0.00000000e+00 -2.68136081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58013253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:-0.27, Z:-0.03 [[ 9.99713155e-01 -2.39501231e-02 0.00000000e+00 7.48303781e+01] [ 2.39501231e-02 9.99713155e-01 0.00000000e+00 -2.69035119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52367723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:-0.27, Z:-0.02 [[ 9.99780556e-01 -2.09484986e-02 0.00000000e+00 7.48635762e+01] [ 2.09484986e-02 9.99780556e-01 0.00000000e+00 -2.69647115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44139468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:-0.27, Z:-0.03 [[ 9.99860663e-01 -1.66929486e-02 0.00000000e+00 7.48961829e+01] [ 1.66929486e-02 9.99860663e-01 0.00000000e+00 -2.74088515e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61282179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:-0.28, Z:-0.03 [[ 9.99882850e-01 -1.53064221e-02 0.00000000e+00 7.49286430e+01] [ 1.53064221e-02 9.99882850e-01 0.00000000e+00 -2.76745367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58380559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:-0.28, Z:-0.03 [[ 9.99897605e-01 -1.43100991e-02 0.00000000e+00 7.49610671e+01] [ 1.43100991e-02 9.99897605e-01 0.00000000e+00 -2.79070017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64770558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:-0.28, Z:-0.03 [[ 9.99906370e-01 -1.36839734e-02 0.00000000e+00 7.49927205e+01] [ 1.36839734e-02 9.99906370e-01 0.00000000e+00 -2.82008205e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65630926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:-0.29, Z:-0.03 [[ 9.99952003e-01 -9.79753951e-03 0.00000000e+00 7.50252655e+01] [ 9.79753951e-03 9.99952003e-01 0.00000000e+00 -2.88948100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82647009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:-0.29, Z:-0.03 [[ 9.99976891e-01 -6.79832234e-03 0.00000000e+00 7.50570029e+01] [ 6.79832234e-03 9.99976891e-01 0.00000000e+00 -2.90555055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76064000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:-0.29, Z:-0.03 [[ 9.99987434e-01 -5.01326506e-03 0.00000000e+00 7.50881874e+01] [ 5.01326506e-03 9.99987434e-01 0.00000000e+00 -2.89890571e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63940313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:-0.29, Z:-0.03 [[ 9.99993890e-01 -3.49581582e-03 0.00000000e+00 7.51199295e+01] [ 3.49581582e-03 9.99993890e-01 0.00000000e+00 -2.87268645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62823469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:-0.28, Z:-0.03 [[ 9.99998850e-01 1.51672389e-03 0.00000000e+00 7.51504793e+01] [-1.51672389e-03 9.99998850e-01 0.00000000e+00 -2.84789120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54331461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:-0.29, Z:-0.03 [[ 9.99995118e-01 3.12461883e-03 0.00000000e+00 7.51807872e+01] [-3.12461883e-03 9.99995118e-01 0.00000000e+00 -2.87075734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54357209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:-0.29, Z:-0.02 [[ 9.99987080e-01 5.08325060e-03 0.00000000e+00 7.52113353e+01] [-5.08325060e-03 9.99987080e-01 0.00000000e+00 -2.89167978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48410766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:-0.29, Z:-0.02 [[ 9.99982945e-01 5.84028085e-03 0.00000000e+00 7.52409702e+01] [-5.84028085e-03 9.99982945e-01 0.00000000e+00 -2.88281465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38790546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:-0.28, Z:-0.02 [[ 9.99973861e-01 7.23030205e-03 0.00000000e+00 7.52703329e+01] [-7.23030205e-03 9.99973861e-01 0.00000000e+00 -2.81579307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66916709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:-0.28, Z:-0.02 [[ 9.99969783e-01 7.77387042e-03 0.00000000e+00 7.53005199e+01] [-7.77387042e-03 9.99969783e-01 0.00000000e+00 -2.80004578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42650128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:-0.28, Z:-0.02 [[ 9.99959863e-01 8.95950655e-03 0.00000000e+00 7.53303773e+01] [-8.95950655e-03 9.99959863e-01 0.00000000e+00 -2.79379218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43750899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:-0.28, Z:-0.02 [[ 9.99954078e-01 9.58342875e-03 0.00000000e+00 7.53596280e+01] [-9.58342875e-03 9.99954078e-01 0.00000000e+00 -2.78160031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36849380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:-0.27, Z:-0.02 [[ 9.99950889e-01 9.91058191e-03 0.00000000e+00 7.53897153e+01] [-9.91058191e-03 9.99950889e-01 0.00000000e+00 -2.74606787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27036428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:-0.27, Z:-0.02 [[ 9.99929385e-01 1.18837735e-02 0.00000000e+00 7.54197885e+01] [-1.18837735e-02 9.99929385e-01 0.00000000e+00 -2.69211972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24571396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:-0.27, Z:-0.02 [[ 9.99916740e-01 1.29039802e-02 0.00000000e+00 7.54490052e+01] [-1.29039802e-02 9.99916740e-01 0.00000000e+00 -2.68960950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27375995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:-0.27, Z:-0.02 [[ 9.99921710e-01 1.25129416e-02 0.00000000e+00 7.54774484e+01] [-1.25129416e-02 9.99921710e-01 0.00000000e+00 -2.67404954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07997340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.51, Y:-0.26, Z:-0.02 [[ 9.99962281e-01 8.68541264e-03 0.00000000e+00 7.55064593e+01] [-8.68541264e-03 9.99962281e-01 0.00000000e+00 -2.60563982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04289995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:-0.26, Z:-0.02 [[ 9.99978986e-01 6.48285065e-03 0.00000000e+00 7.55365646e+01] [-6.48285065e-03 9.99978986e-01 0.00000000e+00 -2.60808772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15929400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:-0.27, Z:-0.02 [[ 9.99989434e-01 4.59686523e-03 0.00000000e+00 7.55661311e+01] [-4.59686523e-03 9.99989434e-01 0.00000000e+00 -2.65282097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44843168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:-0.27, Z:-0.03 [[ 9.99995904e-01 2.86209676e-03 0.00000000e+00 7.55958363e+01] [-2.86209676e-03 9.99995904e-01 0.00000000e+00 -2.71004954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59868409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.63, Y:-0.27, Z:-0.02 [[ 9.99997716e-01 2.13707634e-03 0.00000000e+00 7.56262047e+01] [-2.13707634e-03 9.99997716e-01 0.00000000e+00 -2.73610405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48034081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:-0.27, Z:-0.02 [[ 9.99997597e-01 2.19219891e-03 0.00000000e+00 7.56569578e+01] [-2.19219891e-03 9.99997597e-01 0.00000000e+00 -2.67706620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10406330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:-0.27, Z:-0.02 [[ 9.99997511e-01 2.23131367e-03 0.00000000e+00 7.56870715e+01] [-2.23131367e-03 9.99997511e-01 0.00000000e+00 -2.66911921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05022091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:-0.27, Z:-0.02 [[ 9.99996942e-01 2.47320978e-03 0.00000000e+00 7.57178320e+01] [-2.47320978e-03 9.99996942e-01 0.00000000e+00 -2.70563947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34137199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:-0.27, Z:-0.02 [[ 9.99996090e-01 2.79656595e-03 0.00000000e+00 7.57486786e+01] [-2.79656595e-03 9.99996090e-01 0.00000000e+00 -2.74936611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47466082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:-0.28, Z:-0.02 [[ 9.99997280e-01 2.33217427e-03 0.00000000e+00 7.57784996e+01] [-2.33217427e-03 9.99997280e-01 0.00000000e+00 -2.76941882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30740703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:-0.28, Z:-0.02 [[ 9.99999275e-01 1.20377120e-03 0.00000000e+00 7.58086350e+01] [-1.20377120e-03 9.99999275e-01 0.00000000e+00 -2.77148535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27641866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:-0.28, Z:-0.02 [[ 9.99997710e-01 -2.13992881e-03 0.00000000e+00 7.58389973e+01] [ 2.13992881e-03 9.99997710e-01 0.00000000e+00 -2.80682066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23478850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:-0.29, Z:-0.02 [[ 9.99980747e-01 -6.20528251e-03 0.00000000e+00 7.58693189e+01] [ 6.20528251e-03 9.99980747e-01 0.00000000e+00 -2.87623283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32778117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:-0.30, Z:-0.02 [[ 9.99929285e-01 -1.18922010e-02 0.00000000e+00 7.59006851e+01] [ 1.18922010e-02 9.99929285e-01 0.00000000e+00 -3.00899372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39937074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:-0.30, Z:-0.03 [[ 9.99922598e-01 -1.24417532e-02 0.00000000e+00 7.59324304e+01] [ 1.24417532e-02 9.99922598e-01 0.00000000e+00 -3.04543133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52222776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:-0.31, Z:-0.03 [[ 9.99926676e-01 -1.21095737e-02 0.00000000e+00 7.59641593e+01] [ 1.21095737e-02 9.99926676e-01 0.00000000e+00 -3.06541508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66217913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:-0.31, Z:-0.03 [[ 9.99975157e-01 -7.04874624e-03 0.00000000e+00 7.59953623e+01] [ 7.04874624e-03 9.99975157e-01 0.00000000e+00 -3.08388900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73759754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:-0.31, Z:-0.02 [[ 9.99995471e-01 -3.00955624e-03 0.00000000e+00 7.60249558e+01] [ 3.00955624e-03 9.99995471e-01 0.00000000e+00 -3.08446938e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84695585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:-0.31, Z:-0.03 [[ 9.99996447e-01 2.66587260e-03 0.00000000e+00 7.60558813e+01] [-2.66587260e-03 9.99996447e-01 0.00000000e+00 -3.07803828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70333707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:-0.31, Z:-0.03 [[ 9.99971872e-01 7.50038234e-03 0.00000000e+00 7.60861563e+01] [-7.50038234e-03 9.99971872e-01 0.00000000e+00 -3.07642472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68843214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:-0.31, Z:-0.03 [[ 9.99888948e-01 1.49027328e-02 0.00000000e+00 7.61154420e+01] [-1.49027328e-02 9.99888948e-01 0.00000000e+00 -3.09878795e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67662838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:-0.31, Z:-0.03 [[ 9.99848486e-01 1.74070581e-02 0.00000000e+00 7.61448356e+01] [-1.74070581e-02 9.99848486e-01 0.00000000e+00 -3.11089394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67436787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:-0.31, Z:-0.02 [[ 9.99835109e-01 1.81591306e-02 0.00000000e+00 7.61733773e+01] [-1.81591306e-02 9.99835109e-01 0.00000000e+00 -3.11246112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60759081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:-0.31, Z:-0.03 [[ 9.99775481e-01 2.11893079e-02 0.00000000e+00 7.62050691e+01] [-2.11893079e-02 9.99775481e-01 0.00000000e+00 -3.09640051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83301068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:-0.31, Z:-0.03 [[ 9.99785075e-01 2.07317224e-02 0.00000000e+00 7.62343335e+01] [-2.07317224e-02 9.99785075e-01 0.00000000e+00 -3.10075924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83301068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:-0.31, Z:-0.03 [[ 9.99771656e-01 2.13690490e-02 0.00000000e+00 7.62629924e+01] [-2.13690490e-02 9.99771656e-01 0.00000000e+00 -3.08108092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99105841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:-0.31, Z:-0.03 [[ 9.99724843e-01 2.34571692e-02 0.00000000e+00 7.62919851e+01] [-2.34571692e-02 9.99724843e-01 0.00000000e+00 -3.06536099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97166049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:-0.31, Z:-0.03 [[ 9.99709810e-01 2.40893103e-02 0.00000000e+00 7.63205138e+01] [-2.40893103e-02 9.99709810e-01 0.00000000e+00 -3.06549683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88747738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:-0.31, Z:-0.03 [[ 9.99675055e-01 2.54908569e-02 0.00000000e+00 7.63494785e+01] [-2.54908569e-02 9.99675055e-01 0.00000000e+00 -3.05220403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61400533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:-0.30, Z:-0.03 [[ 9.99660223e-01 2.60660335e-02 0.00000000e+00 7.63771058e+01] [-2.60660335e-02 9.99660223e-01 0.00000000e+00 -3.02328757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56269084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.41, Y:-0.30, Z:-0.03 [[ 9.99628081e-01 2.72708642e-02 0.00000000e+00 7.64058210e+01] [-2.72708642e-02 9.99628081e-01 0.00000000e+00 -2.96946581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75736775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:-0.30, Z:-0.03 [[ 9.99624523e-01 2.74009555e-02 0.00000000e+00 7.64339118e+01] [-2.74009555e-02 9.99624523e-01 0.00000000e+00 -2.96476329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90613049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:-0.29, Z:-0.03 [[ 9.99610401e-01 2.79113956e-02 0.00000000e+00 7.64616070e+01] [-2.79113956e-02 9.99610401e-01 0.00000000e+00 -2.94950578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90416521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:-0.29, Z:-0.03 [[ 9.99630507e-01 2.71817732e-02 0.00000000e+00 7.64902189e+01] [-2.71817732e-02 9.99630507e-01 0.00000000e+00 -2.91286618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73864451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:-0.28, Z:-0.03 [[ 9.99738147e-01 2.28831383e-02 0.00000000e+00 7.65191578e+01] [-2.28831383e-02 9.99738147e-01 0.00000000e+00 -2.83845117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60629118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-0.28, Z:-0.03 [[ 9.99827829e-01 1.85556608e-02 0.00000000e+00 7.65480168e+01] [-1.85556608e-02 9.99827829e-01 0.00000000e+00 -2.84195656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61999117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:-0.29, Z:-0.03 [[ 9.99909148e-01 1.34794876e-02 0.00000000e+00 7.65769204e+01] [-1.34794876e-02 9.99909148e-01 0.00000000e+00 -2.85498600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62387318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:-0.29, Z:-0.03 [[ 9.99959579e-01 8.99115770e-03 0.00000000e+00 7.66056813e+01] [-8.99115770e-03 9.99959579e-01 0.00000000e+00 -2.85603389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61576305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:-0.28, Z:-0.03 [[ 9.99995254e-01 3.08085605e-03 0.00000000e+00 7.66355908e+01] [-3.08085605e-03 9.99995254e-01 0.00000000e+00 -2.80388380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66378090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:-0.28, Z:-0.03 [[ 9.99999776e-01 6.69517258e-04 0.00000000e+00 7.66656631e+01] [-6.69517258e-04 9.99999776e-01 0.00000000e+00 -2.79199385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68497557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:-0.28, Z:-0.03 [[ 9.99999686e-01 -7.92370732e-04 0.00000000e+00 7.66956880e+01] [ 7.92370732e-04 9.99999686e-01 0.00000000e+00 -2.79824433e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82089094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:-0.28, Z:-0.03 [[ 9.99998647e-01 -1.64505820e-03 0.00000000e+00 7.67264869e+01] [ 1.64505820e-03 9.99998647e-01 0.00000000e+00 -2.81407824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86165168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:-0.28, Z:-0.03 [[ 9.99995236e-01 -3.08682763e-03 0.00000000e+00 7.67573062e+01] [ 3.08682763e-03 9.99995236e-01 0.00000000e+00 -2.84641300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66412453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:-0.29, Z:-0.03 [[ 9.99994638e-01 -3.27477579e-03 0.00000000e+00 7.67879807e+01] [ 3.27477579e-03 9.99994638e-01 0.00000000e+00 -2.85855150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53617751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:-0.29, Z:-0.02 [[ 9.99987461e-01 -5.00783271e-03 0.00000000e+00 7.68181066e+01] [ 5.00783271e-03 9.99987461e-01 0.00000000e+00 -2.87100535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45195016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:-0.29, Z:-0.02 [[ 9.99969363e-01 -7.82771792e-03 0.00000000e+00 7.68497650e+01] [ 7.82771792e-03 9.99969363e-01 0.00000000e+00 -2.88573411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43256448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:-0.29, Z:-0.03 [[ 9.99898204e-01 -1.42682031e-02 0.00000000e+00 7.68815059e+01] [ 1.42682031e-02 9.99898204e-01 0.00000000e+00 -2.92676050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72683423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:-0.30, Z:-0.03 [[ 9.99839750e-01 -1.79017962e-02 0.00000000e+00 7.69135562e+01] [ 1.79017962e-02 9.99839750e-01 0.00000000e+00 -2.96081160e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72777812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:-0.30, Z:-0.03 [[ 9.99796531e-01 -2.01716924e-02 0.00000000e+00 7.69459552e+01] [ 2.01716924e-02 9.99796531e-01 0.00000000e+00 -3.00056988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76593477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:-0.30, Z:-0.03 [[ 9.99730235e-01 -2.32262301e-02 0.00000000e+00 7.69781406e+01] [ 2.32262301e-02 9.99730235e-01 0.00000000e+00 -3.03447296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58707919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:-0.31, Z:-0.03 [[ 9.99672846e-01 -2.55773693e-02 0.00000000e+00 7.70102393e+01] [ 2.55773693e-02 9.99672846e-01 0.00000000e+00 -3.08246604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59649077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:-0.31, Z:-0.03 [[ 9.99699779e-01 -2.45020775e-02 0.00000000e+00 7.70435764e+01] [ 2.45020775e-02 9.99699779e-01 0.00000000e+00 -3.12334272e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71813717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:-0.32, Z:-0.03 [[ 9.99724790e-01 -2.34594345e-02 0.00000000e+00 7.70762183e+01] [ 2.34594345e-02 9.99724790e-01 0.00000000e+00 -3.17745530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66958897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:-0.32, Z:-0.03 [[ 9.99755970e-01 -2.20907313e-02 0.00000000e+00 7.71086612e+01] [ 2.20907313e-02 9.99755970e-01 0.00000000e+00 -3.21353481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54107973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:-0.32, Z:-0.02 [[ 9.99783166e-01 -2.08235714e-02 0.00000000e+00 7.71410462e+01] [ 2.08235714e-02 9.99783166e-01 0.00000000e+00 -3.22647782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44119925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:-0.32, Z:-0.02 [[ 9.99816009e-01 -1.91819916e-02 0.00000000e+00 7.71731078e+01] [ 1.91819916e-02 9.99816009e-01 0.00000000e+00 -3.23093565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44410316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:-0.33, Z:-0.03 [[ 9.99833363e-01 -1.82550399e-02 0.00000000e+00 7.72050889e+01] [ 1.82550399e-02 9.99833363e-01 0.00000000e+00 -3.28311098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69238673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:-0.33, Z:-0.03 [[ 9.99833257e-01 -1.82608248e-02 0.00000000e+00 7.72377388e+01] [ 1.82608248e-02 9.99833257e-01 0.00000000e+00 -3.32113791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70224442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:-0.34, Z:-0.03 [[ 9.99823332e-01 -1.87963808e-02 0.00000000e+00 7.72689330e+01] [ 1.87963808e-02 9.99823332e-01 0.00000000e+00 -3.36461466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58146624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:-0.34, Z:-0.03 [[ 9.99837391e-01 -1.80330593e-02 0.00000000e+00 7.73006461e+01] [ 1.80330593e-02 9.99837391e-01 0.00000000e+00 -3.40717465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66132808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:-0.35, Z:-0.03 [[ 9.99892146e-01 -1.46866295e-02 0.00000000e+00 7.73314328e+01] [ 1.46866295e-02 9.99892146e-01 0.00000000e+00 -3.49997944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81275605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:-0.35, Z:-0.03 [[ 9.99914932e-01 -1.30433401e-02 0.00000000e+00 7.73624183e+01] [ 1.30433401e-02 9.99914932e-01 0.00000000e+00 -3.54580170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91607944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:-0.36, Z:-0.02 [[ 9.99941946e-01 -1.07752253e-02 0.00000000e+00 7.73937490e+01] [ 1.07752253e-02 9.99941946e-01 0.00000000e+00 -3.57887588e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13108884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:-0.36, Z:-0.03 [[ 9.99949496e-01 -1.00501501e-02 0.00000000e+00 7.74251744e+01] [ 1.00501501e-02 9.99949496e-01 0.00000000e+00 -3.59642148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66590580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:-0.36, Z:-0.02 [[ 9.99955533e-01 -9.43033860e-03 0.00000000e+00 7.74563515e+01] [ 9.43033860e-03 9.99955533e-01 0.00000000e+00 -3.63715959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41089951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:-0.37, Z:-0.03 [[ 9.99962564e-01 -8.65280394e-03 0.00000000e+00 7.74872713e+01] [ 8.65280394e-03 9.99962564e-01 0.00000000e+00 -3.66829266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56439389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.52, Y:-0.37, Z:-0.03 [[ 9.99967591e-01 -8.05095543e-03 0.00000000e+00 7.75179337e+01] [ 8.05095543e-03 9.99967591e-01 0.00000000e+00 -3.69505652e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77853659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:-0.37, Z:-0.03 [[ 9.99969753e-01 -7.77768103e-03 0.00000000e+00 7.75486975e+01] [ 7.77768103e-03 9.99969753e-01 0.00000000e+00 -3.72325884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01413441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:-0.38, Z:-0.03 [[ 9.99975912e-01 -6.94089876e-03 0.00000000e+00 7.75789145e+01] [ 6.94089876e-03 9.99975912e-01 0.00000000e+00 -3.81910031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13201507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:-0.39, Z:-0.03 [[ 9.99980482e-01 -6.24782401e-03 0.00000000e+00 7.76098668e+01] [ 6.24782401e-03 9.99980482e-01 0.00000000e+00 -3.88634427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95235354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:-0.39, Z:-0.03 [[ 9.99983188e-01 -5.79851863e-03 0.00000000e+00 7.76399764e+01] [ 5.79851863e-03 9.99983188e-01 0.00000000e+00 -3.93841897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65224189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:-0.40, Z:-0.02 [[ 9.99988186e-01 -4.86094416e-03 0.00000000e+00 7.76709263e+01] [ 4.86094416e-03 9.99988186e-01 0.00000000e+00 -3.96282235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42714994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:-0.40, Z:-0.03 [[ 9.99998324e-01 -1.83110524e-03 0.00000000e+00 7.77018814e+01] [ 1.83110524e-03 9.99998324e-01 0.00000000e+00 -3.98305401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59221296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:-0.40, Z:-0.03 [[ 9.99999815e-01 6.07898681e-04 0.00000000e+00 7.77319535e+01] [-6.07898681e-04 9.99999815e-01 0.00000000e+00 -4.02430851e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88887651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:-0.41, Z:-0.03 [[ 9.99998433e-01 1.77041854e-03 0.00000000e+00 7.77622801e+01] [-1.77041854e-03 9.99998433e-01 0.00000000e+00 -4.08406475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97847446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:-0.41, Z:-0.03 [[ 9.99995771e-01 2.90836025e-03 0.00000000e+00 7.77932240e+01] [-2.90836025e-03 9.99995771e-01 0.00000000e+00 -4.13360457e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99530596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:-0.42, Z:-0.03 [[ 9.99990998e-01 4.24311049e-03 0.00000000e+00 7.78239704e+01] [-4.24311049e-03 9.99990998e-01 0.00000000e+00 -4.15640439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86927464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:-0.42, Z:-0.02 [[ 9.99972830e-01 7.37151030e-03 0.00000000e+00 7.78544753e+01] [-7.37151030e-03 9.99972830e-01 0.00000000e+00 -4.18670497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56447560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:-0.42, Z:-0.03 [[ 9.99972689e-01 7.39068646e-03 0.00000000e+00 7.78854060e+01] [-7.39068646e-03 9.99972689e-01 0.00000000e+00 -4.21798501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71772007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:-0.42, Z:-0.03 [[ 9.99958422e-01 9.11890755e-03 0.00000000e+00 7.79156946e+01] [-9.11890755e-03 9.99958422e-01 0.00000000e+00 -4.24474888e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81136987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:-0.43, Z:-0.03 [[ 9.99936420e-01 1.12763731e-02 0.00000000e+00 7.79463794e+01] [-1.12763731e-02 9.99936420e-01 0.00000000e+00 -4.25755808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88606627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:-0.43, Z:-0.02 [[ 9.99909060e-01 1.34860067e-02 0.00000000e+00 7.79768381e+01] [-1.34860067e-02 9.99909060e-01 0.00000000e+00 -4.26075563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02822358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:-0.43, Z:-0.03 [[ 9.99779460e-01 2.10007510e-02 0.00000000e+00 7.80078287e+01] [-2.10007510e-02 9.99779460e-01 0.00000000e+00 -4.25472961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72481510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:-0.43, Z:-0.03 [[ 9.99698896e-01 2.45380837e-02 0.00000000e+00 7.80388023e+01] [-2.45380837e-02 9.99698896e-01 0.00000000e+00 -4.25812864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53421285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:-0.42, Z:-0.03 [[ 9.99584613e-01 2.88201572e-02 0.00000000e+00 7.80692672e+01] [-2.88201572e-02 9.99584613e-01 0.00000000e+00 -4.23972192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54274256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:-0.41, Z:-0.03 [[ 9.99389440e-01 3.49391854e-02 0.00000000e+00 7.80994349e+01] [-3.49391854e-02 9.99389440e-01 0.00000000e+00 -4.13444399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67902461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:-0.41, Z:-0.03 [[ 9.99283127e-01 3.78580569e-02 0.00000000e+00 7.81298198e+01] [-3.78580569e-02 9.99283127e-01 0.00000000e+00 -4.08360727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74965008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:-0.41, Z:-0.03 [[ 9.99283127e-01 3.78580569e-02 0.00000000e+00 7.81608131e+01] [-3.78580569e-02 9.99283127e-01 0.00000000e+00 -4.08493193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74965008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:-0.41, Z:-0.03 [[ 9.99223705e-01 3.93952703e-02 0.00000000e+00 7.81914419e+01] [-3.93952703e-02 9.99223705e-01 0.00000000e+00 -4.06837969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91744300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:-0.41, Z:-0.03 [[ 9.99158718e-01 4.10104373e-02 0.00000000e+00 7.82219431e+01] [-4.10104373e-02 9.99158718e-01 0.00000000e+00 -4.08098471e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94539688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.25, Y:-0.41, Z:-0.03 [[ 9.99180274e-01 4.04818484e-02 0.00000000e+00 7.82527050e+01] [-4.04818484e-02 9.99180274e-01 0.00000000e+00 -4.10185423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69693633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.28, Y:-0.41, Z:-0.03 [[ 9.99233868e-01 3.91366527e-02 0.00000000e+00 7.82836131e+01] [-3.91366527e-02 9.99233868e-01 0.00000000e+00 -4.10646129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67188398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:-0.41, Z:-0.03 [[ 9.99465779e-01 3.26826687e-02 0.00000000e+00 7.83138434e+01] [-3.26826687e-02 9.99465779e-01 0.00000000e+00 -4.07826144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68324111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:-0.41, Z:-0.03 [[ 9.99570015e-01 2.93221044e-02 0.00000000e+00 7.83440962e+01] [-2.93221044e-02 9.99570015e-01 0.00000000e+00 -4.06553377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83327261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:-0.41, Z:-0.03 [[ 9.99651524e-01 2.63975356e-02 0.00000000e+00 7.83746583e+01] [-2.63975356e-02 9.99651524e-01 0.00000000e+00 -4.06677808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87482516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.40, Y:-0.41, Z:-0.03 [[ 9.99701893e-01 2.44156777e-02 0.00000000e+00 7.84049160e+01] [-2.44156777e-02 9.99701893e-01 0.00000000e+00 -4.07658866e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83172595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:-0.41, Z:-0.02 [[ 9.99726917e-01 2.33685841e-02 0.00000000e+00 7.84352441e+01] [-2.33685841e-02 9.99726917e-01 0.00000000e+00 -4.06795294e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48249217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:-0.40, Z:-0.02 [[ 9.99728278e-01 2.33103054e-02 0.00000000e+00 7.84655454e+01] [-2.33103054e-02 9.99728278e-01 0.00000000e+00 -4.04489335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47982412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:-0.40, Z:-0.02 [[ 9.99722458e-01 2.35585702e-02 0.00000000e+00 7.84953433e+01] [-2.35585702e-02 9.99722458e-01 0.00000000e+00 -4.03141078e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60446471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:-0.40, Z:-0.03 [[ 9.99729356e-01 2.32640223e-02 0.00000000e+00 7.85259312e+01] [-2.32640223e-02 9.99729356e-01 0.00000000e+00 -4.04810380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51380714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:-0.41, Z:-0.03 [[ 9.99752185e-01 2.22613824e-02 0.00000000e+00 7.85568670e+01] [-2.22613824e-02 9.99752185e-01 0.00000000e+00 -4.08258891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54244964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:-0.41, Z:-0.03 [[ 9.99795505e-01 2.02224606e-02 0.00000000e+00 7.85869703e+01] [-2.02224606e-02 9.99795505e-01 0.00000000e+00 -4.12374304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60402414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:-0.41, Z:-0.02 [[ 9.99851007e-01 1.72616025e-02 0.00000000e+00 7.86176322e+01] [-1.72616025e-02 9.99851007e-01 0.00000000e+00 -4.13874192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45686439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:-0.41, Z:-0.02 [[ 9.99893087e-01 1.46223966e-02 0.00000000e+00 7.86482152e+01] [-1.46223966e-02 9.99893087e-01 0.00000000e+00 -4.12168910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43548768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:-0.41, Z:-0.02 [[ 9.99915000e-01 1.30381144e-02 0.00000000e+00 7.86783231e+01] [-1.30381144e-02 9.99915000e-01 0.00000000e+00 -4.10909440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49172748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.71, Y:-0.41, Z:-0.02 [[ 9.99962073e-01 8.70935188e-03 0.00000000e+00 7.87088617e+01] [-8.70935188e-03 9.99962073e-01 0.00000000e+00 -4.12591247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48057201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:-0.41, Z:-0.02 [[ 9.99973275e-01 7.31090057e-03 0.00000000e+00 7.87398162e+01] [-7.31090057e-03 9.99973275e-01 0.00000000e+00 -4.13977803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48317844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:-0.42, Z:-0.03 [[ 9.99975221e-01 7.03963652e-03 0.00000000e+00 7.87700072e+01] [-7.03963652e-03 9.99975221e-01 0.00000000e+00 -4.15333253e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50532168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:-0.42, Z:-0.01 [[ 9.99987578e-01 4.98442587e-03 0.00000000e+00 7.87982614e+01] [-4.98442587e-03 9.99987578e-01 0.00000000e+00 -4.16287819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24980404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:-0.42, Z:-0.03 [[ 9.99960775e-01 8.85715046e-03 0.00000000e+00 7.88308041e+01] [-8.85715046e-03 9.99960775e-01 0.00000000e+00 -4.16112453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55244133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:78.86, Y:-0.41, Z:-0.01 [[ 9.99975725e-01 6.96773397e-03 0.00000000e+00 7.88576333e+01] [-6.96773397e-03 9.99975725e-01 0.00000000e+00 -4.14575134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14258635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.89, Y:-0.42, Z:-0.02 [[ 9.99944584e-01 1.05275057e-02 0.00000000e+00 7.88909909e+01] [-1.05275057e-02 9.99944584e-01 0.00000000e+00 -4.15492664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44471484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:-0.42, Z:-0.02 [[ 9.99944791e-01 1.05078286e-02 0.00000000e+00 7.89212018e+01] [-1.05078286e-02 9.99944791e-01 0.00000000e+00 -4.18188801e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48789824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:-0.42, Z:-0.03 [[ 9.99947819e-01 1.02156409e-02 0.00000000e+00 7.89521333e+01] [-1.02156409e-02 9.99947819e-01 0.00000000e+00 -4.20913135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51057860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:-0.42, Z:-0.03 [[ 9.99968890e-01 7.88787974e-03 0.00000000e+00 7.89824416e+01] [-7.88787974e-03 9.99968890e-01 0.00000000e+00 -4.21293518e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50782583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:-0.42, Z:-0.02 [[ 9.99976882e-01 6.79963006e-03 0.00000000e+00 7.90127244e+01] [-6.79963006e-03 9.99976882e-01 0.00000000e+00 -4.20042923e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47134411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:-0.42, Z:-0.02 [[ 9.99980750e-01 6.20475214e-03 0.00000000e+00 7.90435415e+01] [-6.20475214e-03 9.99980750e-01 0.00000000e+00 -4.19687793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40921230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:-0.42, Z:-0.01 [[ 9.99995473e-01 3.00913028e-03 0.00000000e+00 7.90703307e+01] [-3.00913028e-03 9.99995473e-01 0.00000000e+00 -4.20943451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33388085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:-0.43, Z:-0.02 [[ 9.99972232e-01 7.45221999e-03 0.00000000e+00 7.91050858e+01] [-7.45221999e-03 9.99972232e-01 0.00000000e+00 -4.25907598e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13822097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:-0.43, Z:-0.02 [[ 9.99969987e-01 7.74755611e-03 0.00000000e+00 7.91360332e+01] [-7.74755611e-03 9.99969987e-01 0.00000000e+00 -4.28134912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17293366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:-0.43, Z:-0.02 [[ 9.99971671e-01 7.52711928e-03 0.00000000e+00 7.91665794e+01] [-7.52711928e-03 9.99971671e-01 0.00000000e+00 -4.30248134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28312575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:-0.43, Z:-0.02 [[ 9.99965220e-01 8.34018782e-03 0.00000000e+00 7.91968334e+01] [-8.34018782e-03 9.99965220e-01 0.00000000e+00 -4.31695385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34870067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:-0.43, Z:-0.02 [[ 9.99952177e-01 9.77977603e-03 0.00000000e+00 7.92276557e+01] [-9.77977603e-03 9.99952177e-01 0.00000000e+00 -4.32114739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45025844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:-0.43, Z:-0.02 [[ 9.99934417e-01 1.14525806e-02 0.00000000e+00 7.92583291e+01] [-1.14525806e-02 9.99934417e-01 0.00000000e+00 -4.30438439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38767443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:-0.42, Z:-0.02 [[ 9.99895235e-01 1.44747475e-02 0.00000000e+00 7.92892575e+01] [-1.44747475e-02 9.99895235e-01 0.00000000e+00 -4.23602050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17003479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.32, Y:-0.42, Z:-0.01 [[ 9.99861520e-01 1.66415683e-02 0.00000000e+00 7.93193910e+01] [-1.66415683e-02 9.99861520e-01 0.00000000e+00 -4.22594901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23487274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.35, Y:-0.42, Z:-0.02 [[ 9.99863649e-01 1.65131023e-02 0.00000000e+00 7.93494182e+01] [-1.65131023e-02 9.99863649e-01 0.00000000e+00 -4.23594093e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84294360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:-0.42, Z:-0.02 [[ 9.99825753e-01 1.86671619e-02 0.00000000e+00 7.93796715e+01] [-1.86671619e-02 9.99825753e-01 0.00000000e+00 -4.24012838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70397779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:-0.42, Z:-0.02 [[ 9.99764587e-01 2.16972287e-02 0.00000000e+00 7.94103431e+01] [-2.16972287e-02 9.99764587e-01 0.00000000e+00 -4.17795693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02296058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:-0.41, Z:-0.02 [[ 9.99734320e-01 2.30497275e-02 0.00000000e+00 7.94403929e+01] [-2.30497275e-02 9.99734320e-01 0.00000000e+00 -4.12515856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30348797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:-0.41, Z:-0.02 [[ 9.99732435e-01 2.31313431e-02 0.00000000e+00 7.94705674e+01] [-2.31313431e-02 9.99732435e-01 0.00000000e+00 -4.08264414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40663259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:-0.41, Z:-0.02 [[ 9.99748476e-01 2.24273408e-02 0.00000000e+00 7.95013225e+01] [-2.24273408e-02 9.99748476e-01 0.00000000e+00 -4.05722798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33540816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.53, Y:-0.40, Z:-0.02 [[ 9.99753975e-01 2.21808331e-02 0.00000000e+00 7.95317941e+01] [-2.21808331e-02 9.99753975e-01 0.00000000e+00 -4.03943346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30651379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:-0.40, Z:-0.02 [[ 9.99786263e-01 2.06743402e-02 0.00000000e+00 7.95620018e+01] [-2.06743402e-02 9.99786263e-01 0.00000000e+00 -3.98749270e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89314212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:-0.40, Z:-0.02 [[ 9.99832223e-01 1.83173768e-02 0.00000000e+00 7.95927336e+01] [-1.83173768e-02 9.99832223e-01 0.00000000e+00 -3.97489238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85017038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:-0.40, Z:-0.02 [[ 9.99876997e-01 1.56840696e-02 0.00000000e+00 7.96234464e+01] [-1.56840696e-02 9.99876997e-01 0.00000000e+00 -3.97854932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88996913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.65, Y:-0.40, Z:-0.02 [[ 9.99928477e-01 1.19599943e-02 0.00000000e+00 7.96538479e+01] [-1.19599943e-02 9.99928477e-01 0.00000000e+00 -3.97990232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02189970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.68, Y:-0.39, Z:-0.02 [[ 9.99983289e-01 5.78114118e-03 0.00000000e+00 7.96843502e+01] [-5.78114118e-03 9.99983289e-01 0.00000000e+00 -3.94217440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37877453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:-0.39, Z:-0.02 [[ 9.99979088e-01 6.46706595e-03 0.00000000e+00 7.97159382e+01] [-6.46706595e-03 9.99979088e-01 0.00000000e+00 -3.92906396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67356550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:-0.39, Z:-0.02 [[ 9.99999339e-01 1.14987217e-03 0.00000000e+00 7.97457553e+01] [-1.14987217e-03 9.99999339e-01 0.00000000e+00 -3.93240544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31192515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.78, Y:-0.40, Z:-0.02 [[ 9.99998689e-01 -1.61921220e-03 0.00000000e+00 7.97761174e+01] [ 1.61921220e-03 9.99998689e-01 0.00000000e+00 -3.95069803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22277873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:-0.40, Z:-0.02 [[ 9.99987808e-01 -4.93801830e-03 0.00000000e+00 7.98065197e+01] [ 4.93801830e-03 9.99987808e-01 0.00000000e+00 -3.96433752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10082219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.84, Y:-0.40, Z:-0.02 [[ 9.99936262e-01 -1.12903690e-02 0.00000000e+00 7.98366110e+01] [ 1.12903690e-02 9.99936262e-01 0.00000000e+00 -3.96978089e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97997792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:-0.40, Z:-0.02 [[ 9.99908166e-01 -1.35521219e-02 0.00000000e+00 7.98667937e+01] [ 1.35521219e-02 9.99908166e-01 0.00000000e+00 -3.98212757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93482622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:-0.40, Z:-0.02 [[ 9.99879193e-01 -1.55434829e-02 0.00000000e+00 7.98973915e+01] [ 1.55434829e-02 9.99879193e-01 0.00000000e+00 -4.00123682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04485930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:-0.40, Z:-0.02 [[ 9.99870020e-01 -1.61227215e-02 0.00000000e+00 7.99274328e+01] [ 1.61227215e-02 9.99870020e-01 0.00000000e+00 -4.02168499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18399686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:-0.41, Z:-0.03 [[ 9.99840909e-01 -1.78369231e-02 0.00000000e+00 7.99579784e+01] [ 1.78369231e-02 9.99840909e-01 0.00000000e+00 -4.05078876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53909665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:-0.41, Z:-0.03 [[ 9.99809260e-01 -1.95305778e-02 0.00000000e+00 7.99880785e+01] [ 1.95305778e-02 9.99809260e-01 0.00000000e+00 -4.07923205e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61875258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:-0.41, Z:-0.03 [[ 9.99761010e-01 -2.18614671e-02 0.00000000e+00 8.00186614e+01] [ 2.18614671e-02 9.99761010e-01 0.00000000e+00 -4.12583828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64880236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.05, Y:-0.42, Z:-0.03 [[ 9.99721367e-01 -2.36048317e-02 0.00000000e+00 8.00493437e+01] [ 2.36048317e-02 9.99721367e-01 0.00000000e+00 -4.18512623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54761373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.08, Y:-0.42, Z:-0.03 [[ 9.99721367e-01 -2.36048317e-02 0.00000000e+00 8.00803420e+01] [ 2.36048317e-02 9.99721367e-01 0.00000000e+00 -4.18642810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54761373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:-0.43, Z:-0.02 [[ 9.99702637e-01 -2.43851924e-02 0.00000000e+00 8.01107583e+01] [ 2.43851924e-02 9.99702637e-01 0.00000000e+00 -4.25207656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40706676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:-0.43, Z:-0.02 [[ 9.99714534e-01 -2.38924656e-02 0.00000000e+00 8.01414640e+01] [ 2.38924656e-02 9.99714534e-01 0.00000000e+00 -4.30614041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22882118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:-0.44, Z:-0.02 [[ 9.99794478e-01 -2.02732010e-02 0.00000000e+00 8.01715962e+01] [ 2.02732010e-02 9.99794478e-01 0.00000000e+00 -4.36124199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17525655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:-0.44, Z:-0.02 [[ 9.99846034e-01 -1.75473126e-02 0.00000000e+00 8.02019118e+01] [ 1.75473126e-02 9.99846034e-01 0.00000000e+00 -4.38746653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12470325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:-0.44, Z:-0.02 [[ 9.99886905e-01 -1.50392026e-02 0.00000000e+00 8.02320652e+01] [ 1.50392026e-02 9.99886905e-01 0.00000000e+00 -4.42306455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34614615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:-0.45, Z:-0.03 [[ 9.99969475e-01 -7.81344510e-03 0.00000000e+00 8.02620275e+01] [ 7.81344510e-03 9.99969475e-01 0.00000000e+00 -4.52494651e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61206184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.29, Y:-0.46, Z:-0.03 [[ 9.99997770e-01 -2.11187094e-03 0.00000000e+00 8.02924222e+01] [ 2.11187094e-03 9.99997770e-01 0.00000000e+00 -4.56442939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59104622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:-0.46, Z:-0.02 [[ 9.99991660e-01 4.08420882e-03 0.00000000e+00 8.03233285e+01] [-4.08420882e-03 9.99991660e-01 0.00000000e+00 -4.57655649e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45178876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:-0.46, Z:-0.02 [[ 9.99936624e-01 1.12582089e-02 0.00000000e+00 8.03534404e+01] [-1.12582089e-02 9.99936624e-01 0.00000000e+00 -4.55768654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41123556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:-0.45, Z:-0.02 [[ 9.99823496e-01 1.87877022e-02 0.00000000e+00 8.03842033e+01] [-1.87877022e-02 9.99823496e-01 0.00000000e+00 -4.51965414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32018887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:-0.44, Z:-0.02 [[ 9.99435668e-01 3.35908504e-02 0.00000000e+00 8.04137804e+01] [-3.35908504e-02 9.99435668e-01 0.00000000e+00 -4.43676192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43587440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:-0.44, Z:-0.02 [[ 9.99171730e-01 4.06921754e-02 0.00000000e+00 8.04453068e+01] [-4.06921754e-02 9.99171730e-01 0.00000000e+00 -4.41068606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49659314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.48, Y:-0.44, Z:-0.02 [[ 9.98872131e-01 4.74812216e-02 0.00000000e+00 8.04757167e+01] [-4.74812216e-02 9.98872131e-01 0.00000000e+00 -4.38781432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49156863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:-0.44, Z:-0.02 [[ 9.98551725e-01 5.38001196e-02 0.00000000e+00 8.05063639e+01] [-5.38001196e-02 9.98551725e-01 0.00000000e+00 -4.35604340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49102691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:-0.43, Z:-0.02 [[ 9.98250883e-01 5.91199971e-02 0.00000000e+00 8.05366929e+01] [-5.91199971e-02 9.98250883e-01 0.00000000e+00 -4.30540349e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49453932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.57, Y:-0.41, Z:-0.03 [[ 9.97843849e-01 6.56327105e-02 0.00000000e+00 8.05669498e+01] [-6.56327105e-02 9.97843849e-01 0.00000000e+00 -4.14003688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76219509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:-0.40, Z:-0.03 [[ 9.97799801e-01 6.62990039e-02 0.00000000e+00 8.05965590e+01] [-6.62990039e-02 9.97799801e-01 0.00000000e+00 -4.04947146e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69434287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.63, Y:-0.40, Z:-0.03 [[ 9.97887402e-01 6.49671689e-02 0.00000000e+00 8.06263148e+01] [-6.49671689e-02 9.97887402e-01 0.00000000e+00 -3.97554189e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55597658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:-0.39, Z:-0.02 [[ 9.98205258e-01 5.98854152e-02 0.00000000e+00 8.06548663e+01] [-5.98854152e-02 9.98205258e-01 0.00000000e+00 -3.88437861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12929195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:-0.39, Z:-0.02 [[ 9.98349835e-01 5.74248022e-02 0.00000000e+00 8.06832051e+01] [-5.74248022e-02 9.98349835e-01 0.00000000e+00 -3.85166752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08915374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:-0.38, Z:-0.02 [[ 9.98444235e-01 5.57593868e-02 0.00000000e+00 8.07124552e+01] [-5.57593868e-02 9.98444235e-01 0.00000000e+00 -3.80388274e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09587789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.74, Y:-0.37, Z:-0.02 [[ 9.98503848e-01 5.46814972e-02 0.00000000e+00 8.07409392e+01] [-5.46814972e-02 9.98503848e-01 0.00000000e+00 -3.72229471e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07269622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:-0.36, Z:-0.02 [[ 9.98645955e-01 5.20217011e-02 0.00000000e+00 8.07685807e+01] [-5.20217011e-02 9.98645955e-01 0.00000000e+00 -3.62340015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25677530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:-0.34, Z:-0.02 [[ 9.98882665e-01 4.72590920e-02 0.00000000e+00 8.07970876e+01] [-4.72590920e-02 9.98882665e-01 0.00000000e+00 -3.43769086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37674046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:-0.34, Z:-0.02 [[ 9.99034250e-01 4.39382260e-02 0.00000000e+00 8.08260627e+01] [-4.39382260e-02 9.99034250e-01 0.00000000e+00 -3.38962693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21366916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:-0.34, Z:-0.02 [[ 9.99221827e-01 3.94428678e-02 0.00000000e+00 8.08539662e+01] [-3.94428678e-02 9.99221827e-01 0.00000000e+00 -3.36768121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07083902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:-0.34, Z:-0.02 [[ 9.99406353e-01 3.44520099e-02 0.00000000e+00 8.08814383e+01] [-3.44520099e-02 9.99406353e-01 0.00000000e+00 -3.35543726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01953687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:-0.33, Z:-0.01 [[ 9.99623723e-01 2.74301217e-02 0.00000000e+00 8.09106478e+01] [-2.74301217e-02 9.99623723e-01 0.00000000e+00 -3.33664800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13501522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:-0.33, Z:-0.02 [[ 9.99847833e-01 1.74445290e-02 0.00000000e+00 8.09419213e+01] [-1.74445290e-02 9.99847833e-01 0.00000000e+00 -3.28163105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33229514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.97, Y:-0.33, Z:-0.02 [[ 9.99928095e-01 1.19918837e-02 0.00000000e+00 8.09710854e+01] [-1.19918837e-02 9.99928095e-01 0.00000000e+00 -3.25034986e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43645321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:-0.32, Z:-0.03 [[ 9.99974775e-01 7.10274636e-03 0.00000000e+00 8.10009537e+01] [-7.10274636e-03 9.99974775e-01 0.00000000e+00 -3.22516551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51914228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:-0.32, Z:-0.03 [[ 9.99999943e-01 -3.38093244e-04 0.00000000e+00 8.10302546e+01] [ 3.38093244e-04 9.99999943e-01 0.00000000e+00 -3.23645938e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50774366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:-0.33, Z:-0.02 [[ 9.99992544e-01 -3.86149542e-03 0.00000000e+00 8.10604926e+01] [ 3.86149542e-03 9.99992544e-01 0.00000000e+00 -3.27640305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47325517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:-0.33, Z:-0.02 [[ 9.99972911e-01 -7.36054554e-03 0.00000000e+00 8.10911958e+01] [ 7.36054554e-03 9.99972911e-01 0.00000000e+00 -3.32186394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29979837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.12, Y:-0.33, Z:-0.01 [[ 9.99941462e-01 -1.08200513e-02 0.00000000e+00 8.11225950e+01] [ 1.08200513e-02 9.99941462e-01 0.00000000e+00 -3.34507773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32080681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:-0.33, Z:-0.02 [[ 9.99902338e-01 -1.39754603e-02 0.00000000e+00 8.11538411e+01] [ 1.39754603e-02 9.99902338e-01 0.00000000e+00 -3.34412626e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99712863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:-0.33, Z:-0.02 [[ 9.99834731e-01 -1.81799303e-02 0.00000000e+00 8.11854083e+01] [ 1.81799303e-02 9.99834731e-01 0.00000000e+00 -3.34320787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16840970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.22, Y:-0.34, Z:-0.02 [[ 9.99836456e-01 -1.80848558e-02 0.00000000e+00 8.12176478e+01] [ 1.80848558e-02 9.99836456e-01 0.00000000e+00 -3.36829865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41614011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.25, Y:-0.34, Z:-0.03 [[ 9.99853301e-01 -1.71282138e-02 0.00000000e+00 8.12496478e+01] [ 1.71282138e-02 9.99853301e-01 0.00000000e+00 -3.40552992e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53870410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.28, Y:-0.34, Z:-0.03 [[ 9.99877333e-01 -1.56626512e-02 0.00000000e+00 8.12819961e+01] [ 1.56626512e-02 9.99877333e-01 0.00000000e+00 -3.43746167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51414822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.31, Y:-0.35, Z:-0.02 [[ 9.99902137e-01 -1.39898898e-02 0.00000000e+00 8.13134268e+01] [ 1.39898898e-02 9.99902137e-01 0.00000000e+00 -3.45380094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23603265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:-0.35, Z:-0.02 [[ 9.99898399e-01 -1.42545663e-02 0.00000000e+00 8.13445771e+01] [ 1.42545663e-02 9.99898399e-01 0.00000000e+00 -3.45476136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27407690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.38, Y:-0.35, Z:-0.02 [[ 9.99888828e-01 -1.49107908e-02 0.00000000e+00 8.13758707e+01] [ 1.49107908e-02 9.99888828e-01 0.00000000e+00 -3.46752515e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24515228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.41, Y:-0.35, Z:-0.02 [[ 9.99894545e-01 -1.45223657e-02 0.00000000e+00 8.14071989e+01] [ 1.45223657e-02 9.99894545e-01 0.00000000e+00 -3.49768639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30210627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:-0.35, Z:-0.02 [[ 9.99897455e-01 -1.43206175e-02 0.00000000e+00 8.14386059e+01] [ 1.43206175e-02 9.99897455e-01 0.00000000e+00 -3.53424180e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27637781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.47, Y:-0.36, Z:-0.02 [[ 9.99920811e-01 -1.25845826e-02 0.00000000e+00 8.14701211e+01] [ 1.25845826e-02 9.99920811e-01 0.00000000e+00 -3.55698888e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18969143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:-0.36, Z:-0.02 [[ 9.99956173e-01 -9.36223955e-03 0.00000000e+00 8.15017854e+01] [ 9.36223955e-03 9.99956173e-01 0.00000000e+00 -3.55959268e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07502500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:-0.35, Z:-0.02 [[ 9.99998576e-01 -1.68774416e-03 0.00000000e+00 8.15333625e+01] [ 1.68774416e-03 9.99998576e-01 0.00000000e+00 -3.52985895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28497152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:-0.35, Z:-0.02 [[ 9.99998171e-01 1.91259710e-03 0.00000000e+00 8.15640071e+01] [-1.91259710e-03 9.99998171e-01 0.00000000e+00 -3.52029910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47645242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.59, Y:-0.35, Z:-0.03 [[ 9.99985453e-01 5.39381724e-03 0.00000000e+00 8.15939024e+01] [-5.39381724e-03 9.99985453e-01 0.00000000e+00 -3.52829265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58211780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:-0.36, Z:-0.02 [[ 9.99915053e-01 1.30340350e-02 0.00000000e+00 8.16241205e+01] [-1.30340350e-02 9.99915053e-01 0.00000000e+00 -3.56984933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30794993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:-0.36, Z:-0.02 [[ 9.99872918e-01 1.59420222e-02 0.00000000e+00 8.16537552e+01] [-1.59420222e-02 9.99872918e-01 0.00000000e+00 -3.58548285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11116062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:-0.36, Z:-0.01 [[ 9.99847883e-01 1.74416152e-02 0.00000000e+00 8.16832352e+01] [-1.74416152e-02 9.99847883e-01 0.00000000e+00 -3.58742808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33852409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:-0.36, Z:-0.02 [[ 9.99806746e-01 1.96588471e-02 0.00000000e+00 8.17128952e+01] [-1.96588471e-02 9.99806746e-01 0.00000000e+00 -3.57361283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12887223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.74, Y:-0.35, Z:-0.01 [[ 9.99793386e-01 2.03269689e-02 0.00000000e+00 8.17422161e+01] [-2.03269689e-02 9.99793386e-01 0.00000000e+00 -3.54240688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23501023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.77, Y:-0.35, Z:-0.02 [[ 9.99759700e-01 2.19212775e-02 0.00000000e+00 8.17717018e+01] [-2.19212775e-02 9.99759700e-01 0.00000000e+00 -3.50422695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08392009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.80, Y:-0.35, Z:-0.02 [[ 9.99724035e-01 2.34915742e-02 0.00000000e+00 8.18003152e+01] [-2.34915742e-02 9.99724035e-01 0.00000000e+00 -3.49635808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97037610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:-0.35, Z:-0.02 [[ 9.99681976e-01 2.52179751e-02 0.00000000e+00 8.18288188e+01] [-2.52179751e-02 9.99681976e-01 0.00000000e+00 -3.47932568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02012325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:-0.35, Z:-0.02 [[ 9.99622351e-01 2.74801031e-02 0.00000000e+00 8.18576858e+01] [-2.74801031e-02 9.99622351e-01 0.00000000e+00 -3.45275146e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15369229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.89, Y:-0.34, Z:-0.02 [[ 9.99550175e-01 2.99907856e-02 0.00000000e+00 8.18868454e+01] [-2.99907856e-02 9.99550175e-01 0.00000000e+00 -3.42242492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28346778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.92, Y:-0.34, Z:-0.02 [[ 9.99503674e-01 3.15024584e-02 0.00000000e+00 8.19158535e+01] [-3.15024584e-02 9.99503674e-01 0.00000000e+00 -3.38979455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39499685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.94, Y:-0.34, Z:-0.02 [[ 9.99540637e-01 3.03069964e-02 0.00000000e+00 8.19448273e+01] [-3.03069964e-02 9.99540637e-01 0.00000000e+00 -3.38884494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32200418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.97, Y:-0.34, Z:-0.02 [[ 9.99592335e-01 2.85510637e-02 0.00000000e+00 8.19732924e+01] [-2.85510637e-02 9.99592335e-01 0.00000000e+00 -3.37083110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16032221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.00, Y:-0.34, Z:-0.02 [[ 9.99607185e-01 2.80263277e-02 0.00000000e+00 8.20017254e+01] [-2.80263277e-02 9.99607185e-01 0.00000000e+00 -3.37279590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16032221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:-0.33, Z:-0.02 [[ 9.99673416e-01 2.55550662e-02 0.00000000e+00 8.20309036e+01] [-2.55550662e-02 9.99673416e-01 0.00000000e+00 -3.31378598e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15793188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.06, Y:-0.33, Z:-0.02 [[ 9.99711276e-01 2.40284329e-02 0.00000000e+00 8.20584954e+01] [-2.40284329e-02 9.99711276e-01 0.00000000e+00 -3.30187412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21940066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.09, Y:-0.33, Z:-0.02 [[ 9.99751457e-01 2.22940421e-02 0.00000000e+00 8.20871579e+01] [-2.22940421e-02 9.99751457e-01 0.00000000e+00 -3.30396870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18385019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:-0.33, Z:-0.02 [[ 9.99773463e-01 2.12843416e-02 0.00000000e+00 8.21163343e+01] [-2.12843416e-02 9.99773463e-01 0.00000000e+00 -3.29771641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11417597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.972320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:82.15, Y:-0.33, Z:-0.02 [[ 9.99788732e-01 2.05545967e-02 0.00000000e+00 8.21451240e+01] [-2.05545967e-02 9.99788732e-01 0.00000000e+00 -3.27889235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01744579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:-0.33, Z:-0.02 [[ 9.99792821e-01 2.03547543e-02 0.00000000e+00 8.21734666e+01] [-2.03547543e-02 9.99792821e-01 0.00000000e+00 -3.25379244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29068893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:-0.33, Z:-0.02 [[ 9.99787028e-01 2.06373318e-02 0.00000000e+00 8.22025863e+01] [-2.06373318e-02 9.99787028e-01 0.00000000e+00 -3.26224390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47304609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:-0.33, Z:-0.02 [[ 9.99790554e-01 2.04657940e-02 0.00000000e+00 8.22311221e+01] [-2.04657940e-02 9.99790554e-01 0.00000000e+00 -3.26624212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43196066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.26, Y:-0.33, Z:-0.02 [[ 9.99816753e-01 1.91431595e-02 0.00000000e+00 8.22596553e+01] [-1.91431595e-02 9.99816753e-01 0.00000000e+00 -3.25240441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34002787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:-0.32, Z:-0.02 [[ 9.99826586e-01 1.86225167e-02 0.00000000e+00 8.22883532e+01] [-1.86225167e-02 9.99826586e-01 0.00000000e+00 -3.21464156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31976449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.32, Y:-0.32, Z:-0.02 [[ 9.99842949e-01 1.77222457e-02 0.00000000e+00 8.23173911e+01] [-1.77222457e-02 9.99842949e-01 0.00000000e+00 -3.20864311e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35676409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:-0.32, Z:-0.02 [[ 9.99875608e-01 1.57724211e-02 0.00000000e+00 8.23465954e+01] [-1.57724211e-02 9.99875608e-01 0.00000000e+00 -3.20469314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42920162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:-0.32, Z:-0.02 [[ 9.99912612e-01 1.32200068e-02 0.00000000e+00 8.23751547e+01] [-1.32200068e-02 9.99912612e-01 0.00000000e+00 -3.19808677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48323939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:-0.32, Z:-0.02 [[ 9.99954301e-01 9.56015150e-03 0.00000000e+00 8.24046924e+01] [-9.56015150e-03 9.99954301e-01 0.00000000e+00 -3.19613178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45966194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:-0.32, Z:-0.03 [[ 9.99958484e-01 9.11212956e-03 0.00000000e+00 8.24347752e+01] [-9.11212956e-03 9.99958484e-01 0.00000000e+00 -3.20100870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56922073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:-0.32, Z:-0.03 [[ 9.99964638e-01 8.40972758e-03 0.00000000e+00 8.24642340e+01] [-8.40972758e-03 9.99964638e-01 0.00000000e+00 -3.18953551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58440191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:-0.32, Z:-0.02 [[ 9.99970116e-01 7.73087738e-03 0.00000000e+00 8.24942138e+01] [-7.73087738e-03 9.99970116e-01 0.00000000e+00 -3.15957025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48018707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:-0.31, Z:-0.02 [[ 9.99964679e-01 8.40475569e-03 0.00000000e+00 8.25235978e+01] [-8.40475569e-03 9.99964679e-01 0.00000000e+00 -3.07549681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34068873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:-0.31, Z:-0.02 [[ 9.99975203e-01 7.04227041e-03 0.00000000e+00 8.25530518e+01] [-7.04227041e-03 9.99975203e-01 0.00000000e+00 -3.05186976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75870312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.58, Y:-0.30, Z:-0.03 [[ 9.99975728e-01 6.96731914e-03 0.00000000e+00 8.25829333e+01] [-6.96731914e-03 9.99975728e-01 0.00000000e+00 -3.03938695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54055825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.61, Y:-0.30, Z:-0.03 [[ 9.99987003e-01 5.09842312e-03 0.00000000e+00 8.26121881e+01] [-5.09842312e-03 9.99987003e-01 0.00000000e+00 -3.02946764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62624885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.64, Y:-0.30, Z:-0.03 [[ 9.99995980e-01 2.83560243e-03 0.00000000e+00 8.26420451e+01] [-2.83560243e-03 9.99995980e-01 0.00000000e+00 -3.02810102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61105487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:-0.30, Z:-0.03 [[ 9.99996070e-01 -2.80348413e-03 0.00000000e+00 8.26722078e+01] [ 2.80348413e-03 9.99996070e-01 0.00000000e+00 -3.04862073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53287872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:-0.30, Z:-0.03 [[ 9.99977823e-01 -6.65987364e-03 0.00000000e+00 8.27028033e+01] [ 6.65987364e-03 9.99977823e-01 0.00000000e+00 -3.03152841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62546101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.73, Y:-0.30, Z:-0.03 [[ 9.99960846e-01 -8.84908098e-03 0.00000000e+00 8.27344118e+01] [ 8.84908098e-03 9.99960846e-01 0.00000000e+00 -2.98453830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68054264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:-0.29, Z:-0.03 [[ 9.99942638e-01 -1.07108117e-02 0.00000000e+00 8.27656303e+01] [ 1.07108117e-02 9.99942638e-01 0.00000000e+00 -2.93973347e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79665119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.80, Y:-0.30, Z:-0.03 [[ 9.99926776e-01 -1.21013237e-02 0.00000000e+00 8.27965824e+01] [ 1.21013237e-02 9.99926776e-01 0.00000000e+00 -2.95426980e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00366078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:-0.30, Z:-0.03 [[ 9.99930109e-01 -1.18227029e-02 0.00000000e+00 8.28283628e+01] [ 1.18227029e-02 9.99930109e-01 0.00000000e+00 -3.00087655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98421957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:-0.30, Z:-0.03 [[ 9.99941041e-01 -1.08588297e-02 0.00000000e+00 8.28601692e+01] [ 1.08588297e-02 9.99941041e-01 0.00000000e+00 -3.02675362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85872924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.89, Y:-0.30, Z:-0.03 [[ 9.99953007e-01 -9.69452128e-03 0.00000000e+00 8.28914845e+01] [ 9.69452128e-03 9.99953007e-01 0.00000000e+00 -3.01012153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82346210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:-0.30, Z:-0.02 [[ 9.99968647e-01 -7.91860533e-03 0.00000000e+00 8.29228482e+01] [ 7.91860533e-03 9.99968647e-01 0.00000000e+00 -2.96458939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19930311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.95, Y:-0.29, Z:-0.03 [[ 9.99980090e-01 -6.31024300e-03 0.00000000e+00 8.29541102e+01] [ 6.31024300e-03 9.99980090e-01 0.00000000e+00 -2.93208864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75779370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.99, Y:-0.29, Z:-0.03 [[ 9.99989460e-01 -4.59121795e-03 0.00000000e+00 8.29852174e+01] [ 4.59121795e-03 9.99989460e-01 0.00000000e+00 -2.94171562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74913683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:-0.29, Z:-0.03 [[ 9.99993154e-01 -3.70017034e-03 0.00000000e+00 8.30169533e+01] [ 3.70017034e-03 9.99993154e-01 0.00000000e+00 -2.94171659e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95900784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:-0.29, Z:-0.03 [[ 9.99997668e-01 -2.15966358e-03 0.00000000e+00 8.30473418e+01] [ 2.15966358e-03 9.99997668e-01 0.00000000e+00 -2.92326365e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05652878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:-0.29, Z:-0.03 [[ 9.99999645e-01 -8.42844102e-04 0.00000000e+00 8.30782343e+01] [ 8.42844102e-04 9.99999645e-01 0.00000000e+00 -2.90171663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12599868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.932320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:83.11, Y:-0.29, Z:-0.02 [[ 9.99999633e-01 -8.57039010e-04 0.00000000e+00 8.31088026e+01] [ 8.57039010e-04 9.99999633e-01 0.00000000e+00 -2.87731400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64139884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:-0.29, Z:-0.03 [[ 9.99999297e-01 -1.18583733e-03 0.00000000e+00 8.31397489e+01] [ 1.18583733e-03 9.99999297e-01 0.00000000e+00 -2.86696604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50941864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.17, Y:-0.29, Z:-0.02 [[ 9.99995003e-01 -3.16127329e-03 0.00000000e+00 8.31698398e+01] [ 3.16127329e-03 9.99995003e-01 0.00000000e+00 -2.86478854e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36208782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.20, Y:-0.29, Z:-0.02 [[ 9.99989721e-01 -4.53403843e-03 0.00000000e+00 8.32006859e+01] [ 4.53403843e-03 9.99989721e-01 0.00000000e+00 -2.87115189e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41123931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:-0.29, Z:-0.03 [[ 9.99985144e-01 -5.45092826e-03 0.00000000e+00 8.32318695e+01] [ 5.45092826e-03 9.99985144e-01 0.00000000e+00 -2.88107956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65008324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.26, Y:-0.28, Z:-0.03 [[ 9.99977820e-01 -6.66025228e-03 0.00000000e+00 8.32633793e+01] [ 6.66025228e-03 9.99977820e-01 0.00000000e+00 -2.84994019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80437006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:-0.28, Z:-0.03 [[ 9.99977095e-01 -6.76827207e-03 0.00000000e+00 8.32951780e+01] [ 6.76827207e-03 9.99977095e-01 0.00000000e+00 -2.81144676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73528342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:-0.28, Z:-0.03 [[ 9.99968525e-01 -7.93405178e-03 0.00000000e+00 8.33260429e+01] [ 7.93405178e-03 9.99968525e-01 0.00000000e+00 -2.78617570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68061799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:-0.28, Z:-0.03 [[ 9.99957431e-01 -9.22696856e-03 0.00000000e+00 8.33572765e+01] [ 9.22696856e-03 9.99957431e-01 0.00000000e+00 -2.79544376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61470050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:-0.28, Z:-0.03 [[ 9.99953621e-01 -9.63094681e-03 0.00000000e+00 8.33885980e+01] [ 9.63094681e-03 9.99953621e-01 0.00000000e+00 -2.80694258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64847676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:-0.28, Z:-0.03 [[ 9.99954490e-01 -9.54029292e-03 0.00000000e+00 8.34195475e+01] [ 9.54029292e-03 9.99954490e-01 0.00000000e+00 -2.80586665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58191294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:-0.28, Z:-0.03 [[ 9.99955451e-01 -9.43907066e-03 0.00000000e+00 8.34507033e+01] [ 9.43907066e-03 9.99955451e-01 0.00000000e+00 -2.79692066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60432456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:-0.28, Z:-0.03 [[ 9.99957445e-01 -9.22544400e-03 0.00000000e+00 8.34817161e+01] [ 9.22544400e-03 9.99957445e-01 0.00000000e+00 -2.77471466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61420817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:-0.27, Z:-0.03 [[ 9.99986187e-01 -5.25601222e-03 0.00000000e+00 8.35125647e+01] [ 5.25601222e-03 9.99986187e-01 0.00000000e+00 -2.70865633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62852011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:-0.27, Z:-0.03 [[ 9.99997285e-01 -2.33009627e-03 0.00000000e+00 8.35443009e+01] [ 2.33009627e-03 9.99997285e-01 0.00000000e+00 -2.68041927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54885223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:-0.27, Z:-0.03 [[ 9.99999963e-01 2.71464734e-04 0.00000000e+00 8.35751331e+01] [-2.71464734e-04 9.99999963e-01 0.00000000e+00 -2.65655723e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53079139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:-0.26, Z:-0.03 [[ 9.99996514e-01 2.64042770e-03 0.00000000e+00 8.36058309e+01] [-2.64042770e-03 9.99996514e-01 0.00000000e+00 -2.64341065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59311146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:-0.26, Z:-0.03 [[ 9.99992670e-01 3.82879006e-03 0.00000000e+00 8.36366875e+01] [-3.82879006e-03 9.99992670e-01 0.00000000e+00 -2.63654072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60522528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:-0.26, Z:-0.03 [[ 9.99991891e-01 4.02725564e-03 0.00000000e+00 8.36663389e+01] [-4.02725564e-03 9.99991891e-01 0.00000000e+00 -2.61318709e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58694681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:-0.26, Z:-0.02 [[ 9.99995215e-01 3.09355553e-03 0.00000000e+00 8.36957017e+01] [-3.09355553e-03 9.99995215e-01 0.00000000e+00 -2.58418874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39564476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:-0.26, Z:-0.02 [[ 9.99997465e-01 2.25170248e-03 0.00000000e+00 8.37265138e+01] [-2.25170248e-03 9.99997465e-01 0.00000000e+00 -2.56019818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36419027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:83.76, Y:-0.26, Z:-0.01 [[ 9.99999215e-01 1.25328197e-03 0.00000000e+00 8.37563898e+01] [-1.25328197e-03 9.99999215e-01 0.00000000e+00 -2.55114386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23652482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.79, Y:-0.26, Z:-0.02 [[ 9.99998124e-01 -1.93715522e-03 0.00000000e+00 8.37865569e+01] [ 1.93715522e-03 9.99998124e-01 0.00000000e+00 -2.57842533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99097825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.82, Y:-0.26, Z:-0.03 [[ 9.99992763e-01 -3.80443791e-03 0.00000000e+00 8.38173982e+01] [ 3.80443791e-03 9.99992763e-01 0.00000000e+00 -2.60335862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96727674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.85, Y:-0.26, Z:-0.03 [[ 9.99991471e-01 -4.13015999e-03 0.00000000e+00 8.38484115e+01] [ 4.13015999e-03 9.99991471e-01 0.00000000e+00 -2.62521135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93303038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.88, Y:-0.26, Z:-0.03 [[ 9.99992971e-01 -3.74948023e-03 0.00000000e+00 8.38801149e+01] [ 3.74948023e-03 9.99992971e-01 0.00000000e+00 -2.63321327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79829918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.91, Y:-0.26, Z:-0.03 [[ 9.99993210e-01 -3.68505761e-03 0.00000000e+00 8.39119575e+01] [ 3.68505761e-03 9.99993210e-01 0.00000000e+00 -2.63064822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79829918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.94, Y:-0.26, Z:-0.02 [[ 9.99996040e-01 -2.81431821e-03 0.00000000e+00 8.39432020e+01] [ 2.81431821e-03 9.99996040e-01 0.00000000e+00 -2.60459416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52184444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:-0.26, Z:-0.02 [[ 9.99998863e-01 -1.50791105e-03 0.00000000e+00 8.39740717e+01] [ 1.50791105e-03 9.99998863e-01 0.00000000e+00 -2.57745162e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26844853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:-0.26, Z:-0.02 [[ 9.99999491e-01 -1.00910622e-03 0.00000000e+00 8.40041258e+01] [ 1.00910622e-03 9.99999491e-01 0.00000000e+00 -2.55914318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31938291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.03, Y:-0.25, Z:-0.03 [[ 9.99999616e-01 -8.75856767e-04 0.00000000e+00 8.40348012e+01] [ 8.75856767e-04 9.99999616e-01 0.00000000e+00 -2.54799757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66728774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.07, Y:-0.26, Z:-0.03 [[ 9.99999971e-01 2.42689929e-04 0.00000000e+00 8.40652043e+01] [-2.42689929e-04 9.99999971e-01 0.00000000e+00 -2.56587327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16320017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.10, Y:-0.26, Z:-0.03 [[ 9.99999851e-01 5.45462144e-04 0.00000000e+00 8.40956049e+01] [-5.45462144e-04 9.99999851e-01 0.00000000e+00 -2.57389078e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06831728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:-0.26, Z:-0.03 [[ 9.99999743e-01 7.16651687e-04 0.00000000e+00 8.41256817e+01] [-7.16651687e-04 9.99999743e-01 0.00000000e+00 -2.55829777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87074756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:-0.25, Z:-0.03 [[ 9.99999985e-01 1.71513102e-04 0.00000000e+00 8.41562434e+01] [-1.71513102e-04 9.99999985e-01 0.00000000e+00 -2.51302698e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51882598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:-0.25, Z:-0.02 [[ 9.99999973e-01 -2.31463963e-04 0.00000000e+00 8.41869768e+01] [ 2.31463963e-04 9.99999973e-01 0.00000000e+00 -2.45013698e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28302427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.22, Y:-0.24, Z:-0.02 [[ 9.99999999e-01 4.92080483e-05 0.00000000e+00 8.42177391e+01] [-4.92080483e-05 9.99999999e-01 0.00000000e+00 -2.38829642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28578785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:-0.24, Z:-0.03 [[ 1.00000000e+00 -3.01835937e-05 0.00000000e+00 8.42484678e+01] [ 3.01835937e-05 1.00000000e+00 0.00000000e+00 -2.40511366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50856150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.28, Y:-0.24, Z:-0.03 [[ 9.99999847e-01 -5.52800783e-04 0.00000000e+00 8.42786139e+01] [ 5.52800783e-04 9.99999847e-01 0.00000000e+00 -2.42295723e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59686233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:-0.24, Z:-0.03 [[ 9.99992698e-01 -3.82146431e-03 0.00000000e+00 8.43092296e+01] [ 3.82146431e-03 9.99992698e-01 0.00000000e+00 -2.36458017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73562573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:-0.23, Z:-0.03 [[ 9.99977818e-01 -6.66058423e-03 0.00000000e+00 8.43400258e+01] [ 6.66058423e-03 9.99977818e-01 0.00000000e+00 -2.31955440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88389296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:-0.23, Z:-0.03 [[ 9.99957863e-01 -9.18000873e-03 0.00000000e+00 8.43718139e+01] [ 9.18000873e-03 9.99957863e-01 0.00000000e+00 -2.30303513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84117803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:-0.23, Z:-0.03 [[ 9.99934777e-01 -1.14211214e-02 0.00000000e+00 8.44035993e+01] [ 1.14211214e-02 9.99934777e-01 0.00000000e+00 -2.31021686e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71723054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:-0.23, Z:-0.03 [[ 9.99928207e-01 -1.19825184e-02 0.00000000e+00 8.44363407e+01] [ 1.19825184e-02 9.99928207e-01 0.00000000e+00 -2.30915104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56357437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:-0.23, Z:-0.02 [[ 9.99926404e-01 -1.21320872e-02 0.00000000e+00 8.44690569e+01] [ 1.21320872e-02 9.99926404e-01 0.00000000e+00 -2.28539098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36540693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:-0.23, Z:-0.02 [[ 9.99916842e-01 -1.28960588e-02 0.00000000e+00 8.45015838e+01] [ 1.28960588e-02 9.99916842e-01 0.00000000e+00 -2.29425859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46665998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.53, Y:-0.23, Z:-0.03 [[ 9.99895183e-01 -1.44783570e-02 0.00000000e+00 8.45338322e+01] [ 1.44783570e-02 9.99895183e-01 0.00000000e+00 -2.32758499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70389873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:-0.24, Z:-0.02 [[ 9.99828610e-01 -1.85135169e-02 0.00000000e+00 8.45629001e+01] [ 1.85135169e-02 9.99828610e-01 0.00000000e+00 -2.36642794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68008778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:84.60, Y:-0.24, Z:-0.02 [[ 9.99725995e-01 -2.34080292e-02 0.00000000e+00 8.45952151e+01] [ 2.34080292e-02 9.99725995e-01 0.00000000e+00 -2.39172262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55362975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:-0.24, Z:-0.03 [[ 9.99714714e-01 -2.38849319e-02 0.00000000e+00 8.46296564e+01] [ 2.38849319e-02 9.99714714e-01 0.00000000e+00 -2.40166533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67278755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:-0.24, Z:-0.03 [[ 9.99619484e-01 -2.75841773e-02 0.00000000e+00 8.46628019e+01] [ 2.75841773e-02 9.99619484e-01 0.00000000e+00 -2.43517262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60501344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:-0.25, Z:-0.03 [[ 9.99557252e-01 -2.97540008e-02 0.00000000e+00 8.46957778e+01] [ 2.97540008e-02 9.99557252e-01 0.00000000e+00 -2.48170784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50673809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:-0.26, Z:-0.03 [[ 9.99473880e-01 -3.24339841e-02 0.00000000e+00 8.47288902e+01] [ 3.24339841e-02 9.99473880e-01 0.00000000e+00 -2.57365741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53817368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:-0.26, Z:-0.03 [[ 9.99471571e-01 -3.25050440e-02 0.00000000e+00 8.47615315e+01] [ 3.25050440e-02 9.99471571e-01 0.00000000e+00 -2.62040661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66213048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:-0.27, Z:-0.02 [[ 9.99435877e-01 -3.35846403e-02 0.00000000e+00 8.47902434e+01] [ 3.35846403e-02 9.99435877e-01 0.00000000e+00 -2.68114234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70346221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:-0.27, Z:-0.03 [[ 9.99465236e-01 -3.26992652e-02 0.00000000e+00 8.48237054e+01] [ 3.26992652e-02 9.99465236e-01 0.00000000e+00 -2.74172779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74867656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.86, Y:-0.28, Z:-0.03 [[ 9.99491586e-01 -3.18836933e-02 0.00000000e+00 8.48569977e+01] [ 3.18836933e-02 9.99491586e-01 0.00000000e+00 -2.79905136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67170213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.89, Y:-0.28, Z:-0.03 [[ 9.99512804e-01 -3.12114553e-02 0.00000000e+00 8.48899566e+01] [ 3.12114553e-02 9.99512804e-01 0.00000000e+00 -2.84321558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56514702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.92, Y:-0.29, Z:-0.02 [[ 9.99610978e-01 -2.78907386e-02 0.00000000e+00 8.49222271e+01] [ 2.78907386e-02 9.99610978e-01 0.00000000e+00 -2.91980170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45625132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:-0.30, Z:-0.03 [[ 9.99702505e-01 -2.43906220e-02 0.00000000e+00 8.49546449e+01] [ 2.43906220e-02 9.99702505e-01 0.00000000e+00 -2.96319126e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55515731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.99, Y:-0.30, Z:-0.03 [[ 9.99780681e-01 -2.09425540e-02 0.00000000e+00 8.49870066e+01] [ 2.09425540e-02 9.99780681e-01 0.00000000e+00 -3.01204171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57369238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:-0.31, Z:-0.03 [[ 9.99865085e-01 -1.64259480e-02 0.00000000e+00 8.50192746e+01] [ 1.64259480e-02 9.99865085e-01 0.00000000e+00 -3.09985001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74321222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:-0.31, Z:-0.03 [[ 9.99912671e-01 -1.32155621e-02 0.00000000e+00 8.50513480e+01] [ 1.32155621e-02 9.99912671e-01 0.00000000e+00 -3.13514908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81680185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:-0.32, Z:-0.03 [[ 9.99944553e-01 -1.05305168e-02 0.00000000e+00 8.50823575e+01] [ 1.05305168e-02 9.99944553e-01 0.00000000e+00 -3.17744194e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81099872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:-0.32, Z:-0.03 [[ 9.99972126e-01 -7.46636473e-03 0.00000000e+00 8.51140417e+01] [ 7.46636473e-03 9.99972126e-01 0.00000000e+00 -3.21347134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80233783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:-0.32, Z:-0.03 [[ 9.99989702e-01 -4.53834257e-03 0.00000000e+00 8.51454762e+01] [ 4.53834257e-03 9.99989702e-01 0.00000000e+00 -3.23987290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66794243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:-0.32, Z:-0.02 [[ 9.99993202e-01 3.68731945e-03 0.00000000e+00 8.51756889e+01] [-3.68731945e-03 9.99993202e-01 0.00000000e+00 -3.23579586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49133345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:-0.32, Z:-0.02 [[ 9.99963852e-01 8.50265189e-03 0.00000000e+00 8.52060533e+01] [-8.50265189e-03 9.99963852e-01 0.00000000e+00 -3.22135523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44670415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:-0.32, Z:-0.02 [[ 9.99912773e-01 1.32077786e-02 0.00000000e+00 8.52356115e+01] [-1.32077786e-02 9.99912773e-01 0.00000000e+00 -3.21831583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46073259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:-0.32, Z:-0.02 [[ 9.99836965e-01 1.80566600e-02 0.00000000e+00 8.52647913e+01] [-1.80566600e-02 9.99836965e-01 0.00000000e+00 -3.23077220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46051985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:-0.32, Z:-0.02 [[ 9.99671185e-01 2.56421810e-02 0.00000000e+00 8.52943747e+01] [-2.56421810e-02 9.99671185e-01 0.00000000e+00 -3.23771913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39970474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:-0.32, Z:-0.02 [[ 9.99648727e-01 2.65032455e-02 0.00000000e+00 8.53234980e+01] [-2.65032455e-02 9.99648727e-01 0.00000000e+00 -3.21438407e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33581102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:-0.32, Z:-0.02 [[ 9.99650202e-01 2.64475521e-02 0.00000000e+00 8.53522921e+01] [-2.64475521e-02 9.99650202e-01 0.00000000e+00 -3.19125109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37138057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:-0.32, Z:-0.02 [[ 9.99684669e-01 2.51109984e-02 0.00000000e+00 8.53809194e+01] [-2.51109984e-02 9.99684669e-01 0.00000000e+00 -3.19573131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43609529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:-0.32, Z:-0.03 [[ 9.99780782e-01 2.09377170e-02 0.00000000e+00 8.54096225e+01] [-2.09377170e-02 9.99780782e-01 0.00000000e+00 -3.24500769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52082153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:-0.32, Z:-0.02 [[ 9.99827936e-01 1.85499038e-02 0.00000000e+00 8.54383522e+01] [-1.85499038e-02 9.99827936e-01 0.00000000e+00 -3.24826856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45621351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.47, Y:-0.32, Z:-0.02 [[ 9.99857518e-01 1.68802994e-02 0.00000000e+00 8.54669952e+01] [-1.68802994e-02 9.99857518e-01 0.00000000e+00 -3.23083752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24672358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:-0.32, Z:-0.01 [[ 9.99870374e-01 1.61007626e-02 0.00000000e+00 8.54972508e+01] [-1.61007626e-02 9.99870374e-01 0.00000000e+00 -3.21037684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26878269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:-0.32, Z:-0.02 [[ 9.99872143e-01 1.59905508e-02 0.00000000e+00 8.55274340e+01] [-1.59905508e-02 9.99872143e-01 0.00000000e+00 -3.21451426e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12759974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.56, Y:-0.32, Z:-0.02 [[ 9.99875755e-01 1.57630952e-02 0.00000000e+00 8.55575103e+01] [-1.57630952e-02 9.99875755e-01 0.00000000e+00 -3.23224864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17668770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:-0.32, Z:-0.02 [[ 9.99892250e-01 1.46795021e-02 0.00000000e+00 8.55870683e+01] [-1.46795021e-02 9.99892250e-01 0.00000000e+00 -3.24879679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43698233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.62, Y:-0.32, Z:-0.03 [[ 9.99902230e-01 1.39832490e-02 0.00000000e+00 8.56169364e+01] [-1.39832490e-02 9.99902230e-01 0.00000000e+00 -3.23112706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56649117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:-0.32, Z:-0.03 [[ 9.99918736e-01 1.27484225e-02 0.00000000e+00 8.56470612e+01] [-1.27484225e-02 9.99918736e-01 0.00000000e+00 -3.21110993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59685261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:-0.32, Z:-0.03 [[ 9.99930261e-01 1.18098409e-02 0.00000000e+00 8.56762385e+01] [-1.18098409e-02 9.99930261e-01 0.00000000e+00 -3.20714716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52582036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.71, Y:-0.32, Z:-0.02 [[ 9.99950893e-01 9.91013375e-03 0.00000000e+00 8.57061645e+01] [-9.91013375e-03 9.99950893e-01 0.00000000e+00 -3.20191153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00506073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:-0.32, Z:-0.02 [[ 9.99952848e-01 9.71088131e-03 0.00000000e+00 8.57355281e+01] [-9.71088131e-03 9.99952848e-01 0.00000000e+00 -3.17361344e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91890100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:-0.31, Z:-0.02 [[ 9.99947651e-01 1.02320729e-02 0.00000000e+00 8.57654554e+01] [-1.02320729e-02 9.99947651e-01 0.00000000e+00 -3.12177611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22533364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:-0.31, Z:-0.02 [[ 9.99946739e-01 1.03208220e-02 0.00000000e+00 8.57949640e+01] [-1.03208220e-02 9.99946739e-01 0.00000000e+00 -3.10842378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49394513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:-0.31, Z:-0.03 [[ 9.99953250e-01 9.66943878e-03 0.00000000e+00 8.58245455e+01] [-9.66943878e-03 9.99953250e-01 0.00000000e+00 -3.08509722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61189285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:-0.30, Z:-0.03 [[ 9.99963376e-01 8.55847797e-03 0.00000000e+00 8.58545806e+01] [-8.55847797e-03 9.99963376e-01 0.00000000e+00 -3.04846395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50406067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:-0.30, Z:-0.03 [[ 9.99963932e-01 8.49322439e-03 0.00000000e+00 8.58847341e+01] [-8.49322439e-03 9.99963932e-01 0.00000000e+00 -3.04794489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50406067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:-0.30, Z:-0.02 [[ 9.99976917e-01 6.79451028e-03 0.00000000e+00 8.59146800e+01] [-6.79451028e-03 9.99976917e-01 0.00000000e+00 -3.01707629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40852801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:-0.30, Z:-0.02 [[ 9.99993487e-01 3.60909164e-03 0.00000000e+00 8.59441804e+01] [-3.60909164e-03 9.99993487e-01 0.00000000e+00 -3.01025670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33745590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:-0.31, Z:-0.02 [[ 9.99998098e-01 -1.95051413e-03 0.00000000e+00 8.59747549e+01] [ 1.95051413e-03 9.99998098e-01 0.00000000e+00 -3.06326312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31431341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:-0.31, Z:-0.02 [[ 9.99991568e-01 -4.10648444e-03 0.00000000e+00 8.60054636e+01] [ 4.10648444e-03 9.99991568e-01 0.00000000e+00 -3.06823000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35014847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:-0.30, Z:-0.02 [[ 9.99976917e-01 -6.79452265e-03 0.00000000e+00 8.60358359e+01] [ 6.79452265e-03 9.99976917e-01 0.00000000e+00 -3.04594989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38733072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:-0.30, Z:-0.02 [[ 9.99956350e-01 -9.34330470e-03 0.00000000e+00 8.60672572e+01] [ 9.34330470e-03 9.99956350e-01 0.00000000e+00 -3.00806380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44796047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:-0.30, Z:-0.02 [[ 9.99943564e-01 -1.06239610e-02 0.00000000e+00 8.60984063e+01] [ 1.06239610e-02 9.99943564e-01 0.00000000e+00 -2.97744266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35931389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:-0.30, Z:-0.02 [[ 9.99915826e-01 -1.29746580e-02 0.00000000e+00 8.61301318e+01] [ 1.29746580e-02 9.99915826e-01 0.00000000e+00 -2.97921417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28790721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:-0.30, Z:-0.02 [[ 9.99900303e-01 -1.41203531e-02 0.00000000e+00 8.61618454e+01] [ 1.41203531e-02 9.99900303e-01 0.00000000e+00 -3.00834351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34231709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:-0.30, Z:-0.02 [[ 9.99863753e-01 -1.65068143e-02 0.00000000e+00 8.61936758e+01] [ 1.65068143e-02 9.99863753e-01 0.00000000e+00 -3.04026691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44750593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:-0.31, Z:-0.03 [[ 9.99673263e-01 -2.55610480e-02 0.00000000e+00 8.62261918e+01] [ 2.55610480e-02 9.99673263e-01 0.00000000e+00 -3.12003099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53976927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:-0.32, Z:-0.02 [[ 9.99623494e-01 -2.74384956e-02 0.00000000e+00 8.62595323e+01] [ 2.74384956e-02 9.99623494e-01 0.00000000e+00 -3.16191084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73883311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:-0.32, Z:-0.02 [[ 9.99483566e-01 -3.21341255e-02 0.00000000e+00 8.62909068e+01] [ 3.21341255e-02 9.99483566e-01 0.00000000e+00 -3.19254019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32702284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:-0.32, Z:-0.02 [[ 9.99454517e-01 -3.30252666e-02 0.00000000e+00 8.63230148e+01] [ 3.30252666e-02 9.99454517e-01 0.00000000e+00 -3.20746387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28995722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:-0.32, Z:-0.02 [[ 9.99463453e-01 -3.27537133e-02 0.00000000e+00 8.63559011e+01] [ 3.27537133e-02 9.99463453e-01 0.00000000e+00 -3.21020756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25394202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.39, Y:-0.32, Z:-0.02 [[ 9.99618610e-01 -2.76158384e-02 0.00000000e+00 8.63885628e+01] [ 2.76158384e-02 9.99618610e-01 0.00000000e+00 -3.23539779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80267549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:-0.33, Z:-0.02 [[ 9.99634386e-01 -2.70387653e-02 0.00000000e+00 8.64198636e+01] [ 2.70387653e-02 9.99634386e-01 0.00000000e+00 -3.27377172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42497677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:-0.33, Z:-0.02 [[ 9.99668591e-01 -2.57431288e-02 0.00000000e+00 8.64519959e+01] [ 2.57431288e-02 9.99668591e-01 0.00000000e+00 -3.31544691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40595503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:-0.33, Z:-0.02 [[ 9.99732155e-01 -2.31434426e-02 0.00000000e+00 8.64844737e+01] [ 2.31434426e-02 9.99732155e-01 0.00000000e+00 -3.34761853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65269797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:-0.34, Z:-0.02 [[ 9.99802773e-01 -1.98598926e-02 0.00000000e+00 8.65163213e+01] [ 1.98598926e-02 9.99802773e-01 0.00000000e+00 -3.36459698e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19420604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:-0.34, Z:-0.02 [[ 9.99852023e-01 -1.72027044e-02 0.00000000e+00 8.65480975e+01] [ 1.72027044e-02 9.99852023e-01 0.00000000e+00 -3.35811885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29718943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:-0.34, Z:-0.01 [[ 9.99910577e-01 -1.33730001e-02 0.00000000e+00 8.65798448e+01] [ 1.33730001e-02 9.99910577e-01 0.00000000e+00 -3.35015932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42160911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:-0.33, Z:-0.03 [[ 9.99915050e-01 -1.30342969e-02 0.00000000e+00 8.66108213e+01] [ 1.30342969e-02 9.99915050e-01 0.00000000e+00 -3.34740439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52932272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:-0.34, Z:-0.02 [[ 9.99945473e-01 -1.04427506e-02 0.00000000e+00 8.66423204e+01] [ 1.04427506e-02 9.99945473e-01 0.00000000e+00 -3.36214497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42446352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:-0.34, Z:-0.01 [[ 9.99996909e-01 -2.48645968e-03 0.00000000e+00 8.66731742e+01] [ 2.48645968e-03 9.99996909e-01 0.00000000e+00 -3.44359788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51508687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:-0.35, Z:-0.02 [[ 9.99998449e-01 -1.76146210e-03 0.00000000e+00 8.67032704e+01] [ 1.76146210e-03 9.99998449e-01 0.00000000e+00 -3.47623125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08220615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:-0.35, Z:-0.02 [[ 9.99999536e-01 -9.63376158e-04 0.00000000e+00 8.67341741e+01] [ 9.63376158e-04 9.99999536e-01 0.00000000e+00 -3.48575241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23061100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:-0.35, Z:-0.02 [[ 9.99999770e-01 -6.77888897e-04 0.00000000e+00 8.67647872e+01] [ 6.77888897e-04 9.99999770e-01 0.00000000e+00 -3.47650075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37985742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:-0.35, Z:-0.03 [[ 9.99999049e-01 1.37919104e-03 0.00000000e+00 8.67950319e+01] [-1.37919104e-03 9.99999049e-01 0.00000000e+00 -3.46095584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60457190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:-0.35, Z:-0.01 [[ 9.99990698e-01 4.31313909e-03 0.00000000e+00 8.68250882e+01] [-4.31313909e-03 9.99990698e-01 0.00000000e+00 -3.47986412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48735468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:-0.35, Z:-0.02 [[ 9.99976397e-01 6.87056546e-03 0.00000000e+00 8.68553380e+01] [-6.87056546e-03 9.99976397e-01 0.00000000e+00 -3.51120850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13197606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:-0.35, Z:-0.02 [[ 9.99960712e-01 8.86422744e-03 0.00000000e+00 8.68853510e+01] [-8.86422744e-03 9.99960712e-01 0.00000000e+00 -3.54418570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91064250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:-0.36, Z:-0.02 [[ 9.99933416e-01 1.15396206e-02 0.00000000e+00 8.69158781e+01] [-1.15396206e-02 9.99933416e-01 0.00000000e+00 -3.56887460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01498595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:-0.36, Z:-0.02 [[ 9.99905778e-01 1.37271912e-02 0.00000000e+00 8.69453339e+01] [-1.37271912e-02 9.99905778e-01 0.00000000e+00 -3.55960328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22389955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:-0.35, Z:-0.01 [[ 9.99915106e-01 1.30299599e-02 0.00000000e+00 8.69745182e+01] [-1.30299599e-02 9.99915106e-01 0.00000000e+00 -3.54753432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17588120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:-0.35, Z:-0.02 [[ 9.99870425e-01 1.60976423e-02 0.00000000e+00 8.70053173e+01] [-1.60976423e-02 9.99870425e-01 0.00000000e+00 -3.54815835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49149082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.04, Y:-0.36, Z:-0.02 [[ 9.99874347e-01 1.58521435e-02 0.00000000e+00 8.70351700e+01] [-1.58521435e-02 9.99874347e-01 0.00000000e+00 -3.56140479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38049395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.772320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.06, Y:-0.36, Z:-0.01 [[ 9.99914749e-01 1.30573302e-02 0.00000000e+00 8.70643787e+01] [-1.30573302e-02 9.99914749e-01 0.00000000e+00 -3.58758211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00800352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:-0.36, Z:-0.01 [[ 9.99932321e-01 1.16341690e-02 0.00000000e+00 8.70946975e+01] [-1.16341690e-02 9.99932321e-01 0.00000000e+00 -3.60832942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32612824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:-0.36, Z:-0.02 [[ 9.99940337e-01 1.09234735e-02 0.00000000e+00 8.71246685e+01] [-1.09234735e-02 9.99940337e-01 0.00000000e+00 -3.61340220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41233512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.16, Y:-0.36, Z:-0.02 [[ 9.99940838e-01 1.08775589e-02 0.00000000e+00 8.71553445e+01] [-1.08775589e-02 9.99940838e-01 0.00000000e+00 -3.62520142e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35015397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:-0.37, Z:-0.01 [[ 9.99928599e-01 1.19497956e-02 0.00000000e+00 8.71851472e+01] [-1.19497956e-02 9.99928599e-01 0.00000000e+00 -3.67339423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64290236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:-0.37, Z:-0.01 [[ 9.99915775e-01 1.29785329e-02 0.00000000e+00 8.72148712e+01] [-1.29785329e-02 9.99915775e-01 0.00000000e+00 -3.68904552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07256534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:-0.37, Z:-0.01 [[ 9.99908451e-01 1.35310340e-02 0.00000000e+00 8.72454401e+01] [-1.35310340e-02 9.99908451e-01 0.00000000e+00 -3.68503299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19494923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:-0.37, Z:-0.02 [[ 9.99907179e-01 1.36247605e-02 0.00000000e+00 8.72749454e+01] [-1.36247605e-02 9.99907179e-01 0.00000000e+00 -3.67540021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41461292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:-0.37, Z:-0.02 [[ 9.99889977e-01 1.48335666e-02 0.00000000e+00 8.73046012e+01] [-1.48335666e-02 9.99889977e-01 0.00000000e+00 -3.67681356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40952263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:-0.37, Z:-0.02 [[ 9.99891271e-01 1.47460672e-02 0.00000000e+00 8.73338292e+01] [-1.47460672e-02 9.99891271e-01 0.00000000e+00 -3.72232991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41869221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:-0.37, Z:-0.01 [[ 9.99892031e-01 1.46944058e-02 0.00000000e+00 8.73646639e+01] [-1.46944058e-02 9.99892031e-01 0.00000000e+00 -3.73740772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19653098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:-0.37, Z:-0.02 [[ 9.99902963e-01 1.39306736e-02 0.00000000e+00 8.73941474e+01] [-1.39306736e-02 9.99902963e-01 0.00000000e+00 -3.73125197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05008660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:-0.37, Z:-0.02 [[ 9.99898795e-01 1.42267045e-02 0.00000000e+00 8.74241412e+01] [-1.42267045e-02 9.99898795e-01 0.00000000e+00 -3.71452445e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94607991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:-0.37, Z:-0.02 [[ 9.99891318e-01 1.47428787e-02 0.00000000e+00 8.74535819e+01] [-1.47428787e-02 9.99891318e-01 0.00000000e+00 -3.70636961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99207329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:-0.37, Z:-0.02 [[ 9.99887356e-01 1.50091741e-02 0.00000000e+00 8.74835518e+01] [-1.50091741e-02 9.99887356e-01 0.00000000e+00 -3.70747690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46132984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:-0.37, Z:-0.03 [[ 9.99904234e-01 1.38391579e-02 0.00000000e+00 8.75131988e+01] [-1.38391579e-02 9.99904234e-01 0.00000000e+00 -3.69910562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61023445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:-0.37, Z:-0.02 [[ 9.99920474e-01 1.26113686e-02 0.00000000e+00 8.75440493e+01] [-1.26113686e-02 9.99920474e-01 0.00000000e+00 -3.68678046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58351654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.57, Y:-0.37, Z:-0.02 [[ 9.99940393e-01 1.09183728e-02 0.00000000e+00 8.75740880e+01] [-1.09183728e-02 9.99940393e-01 0.00000000e+00 -3.68992576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39592144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:-0.37, Z:-0.01 [[ 9.99972347e-01 7.43671350e-03 0.00000000e+00 8.76047261e+01] [-7.43671350e-03 9.99972347e-01 0.00000000e+00 -3.71813456e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92169119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.64, Y:-0.37, Z:-0.02 [[ 9.99978594e-01 6.54309162e-03 0.00000000e+00 8.76357168e+01] [-6.54309162e-03 9.99978594e-01 0.00000000e+00 -3.69856135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14276356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:-0.37, Z:-0.02 [[ 9.99984456e-01 5.57568234e-03 0.00000000e+00 8.76661972e+01] [-5.57568234e-03 9.99984456e-01 0.00000000e+00 -3.65414154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22403801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:-0.36, Z:-0.02 [[ 9.99989100e-01 4.66911785e-03 0.00000000e+00 8.76961442e+01] [-4.66911785e-03 9.99989100e-01 0.00000000e+00 -3.62438097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76026719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:-0.36, Z:-0.02 [[ 9.99982778e-01 5.86893376e-03 0.00000000e+00 8.77261341e+01] [-5.86893376e-03 9.99982778e-01 0.00000000e+00 -3.62897305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61018024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:-0.37, Z:-0.03 [[ 9.99973279e-01 7.31035425e-03 0.00000000e+00 8.77569784e+01] [-7.31035425e-03 9.99973279e-01 0.00000000e+00 -3.69199941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60953869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:-0.37, Z:-0.02 [[ 9.99973332e-01 7.30315214e-03 0.00000000e+00 8.77871709e+01] [-7.30315214e-03 9.99973332e-01 0.00000000e+00 -3.69301435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42629382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:-0.37, Z:-0.02 [[ 9.99973332e-01 7.30315214e-03 0.00000000e+00 8.78181683e+01] [-7.30315214e-03 9.99973332e-01 0.00000000e+00 -3.69256307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42629382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:-0.37, Z:-0.02 [[ 9.99973201e-01 7.32099897e-03 0.00000000e+00 8.78486204e+01] [-7.32099897e-03 9.99973201e-01 0.00000000e+00 -3.66983053e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24832396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:-0.37, Z:-0.01 [[ 9.99971597e-01 7.53696945e-03 0.00000000e+00 8.78787160e+01] [-7.53696945e-03 9.99971597e-01 0.00000000e+00 -3.65175263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43992666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:-0.37, Z:-0.02 [[ 9.99947985e-01 1.01993299e-02 0.00000000e+00 8.79091865e+01] [-1.01993299e-02 9.99947985e-01 0.00000000e+00 -3.65921364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14706558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:-0.37, Z:-0.02 [[ 9.99926180e-01 1.21505000e-02 0.00000000e+00 8.79393030e+01] [-1.21505000e-02 9.99926180e-01 0.00000000e+00 -3.65204835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19091955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:-0.36, Z:-0.02 [[ 9.99893006e-01 1.46279634e-02 0.00000000e+00 8.79693242e+01] [-1.46279634e-02 9.99893006e-01 0.00000000e+00 -3.62575395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20803364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:-0.36, Z:-0.02 [[ 9.99837401e-01 1.80325382e-02 0.00000000e+00 8.79991654e+01] [-1.80325382e-02 9.99837401e-01 0.00000000e+00 -3.58757266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30910082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:-0.36, Z:-0.02 [[ 9.99803976e-01 1.97992277e-02 0.00000000e+00 8.80289070e+01] [-1.97992277e-02 9.99803976e-01 0.00000000e+00 -3.59099589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33937446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.06, Y:-0.36, Z:-0.02 [[ 9.99788863e-01 2.05482065e-02 0.00000000e+00 8.80586307e+01] [-2.05482065e-02 9.99788863e-01 0.00000000e+00 -3.58989679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25485611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:-0.36, Z:-0.02 [[ 9.99775670e-01 2.11804045e-02 0.00000000e+00 8.80880224e+01] [-2.11804045e-02 9.99775670e-01 0.00000000e+00 -3.58173117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07437082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:-0.35, Z:-0.02 [[ 9.99798503e-01 2.00736926e-02 0.00000000e+00 8.81173412e+01] [-2.00736926e-02 9.99798503e-01 0.00000000e+00 -3.53145945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89888170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:-0.35, Z:-0.02 [[ 9.99807290e-01 1.96311749e-02 0.00000000e+00 8.81469792e+01] [-1.96311749e-02 9.99807290e-01 0.00000000e+00 -3.50945688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03706763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:-0.35, Z:-0.01 [[ 9.99823454e-01 1.87899095e-02 0.00000000e+00 8.81765031e+01] [-1.87899095e-02 9.99823454e-01 0.00000000e+00 -3.50059958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25673914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:-0.35, Z:-0.02 [[ 9.99847578e-01 1.74591129e-02 0.00000000e+00 8.82056979e+01] [-1.74591129e-02 9.99847578e-01 0.00000000e+00 -3.49244105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31017576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:-0.35, Z:-0.02 [[ 9.99889140e-01 1.48898854e-02 0.00000000e+00 8.82351000e+01] [-1.48898854e-02 9.99889140e-01 0.00000000e+00 -3.45519941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30553405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-0.34, Z:-0.02 [[ 9.99918725e-01 1.27492614e-02 0.00000000e+00 8.82648786e+01] [-1.27492614e-02 9.99918725e-01 0.00000000e+00 -3.43439895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33981831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:-0.34, Z:-0.01 [[ 9.99948380e-01 1.01605850e-02 0.00000000e+00 8.82942582e+01] [-1.01605850e-02 9.99948380e-01 0.00000000e+00 -3.42137641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35137209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:-0.34, Z:-0.02 [[ 9.99988357e-01 4.82564455e-03 0.00000000e+00 8.83237505e+01] [-4.82564455e-03 9.99988357e-01 0.00000000e+00 -3.42059557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28166991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:-0.34, Z:-0.02 [[ 9.99998636e-01 1.65194069e-03 0.00000000e+00 8.83540028e+01] [-1.65194069e-03 9.99998636e-01 0.00000000e+00 -3.43344504e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28251798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:-0.34, Z:-0.01 [[ 9.99999580e-01 -9.16477058e-04 0.00000000e+00 8.83836253e+01] [ 9.16477058e-04 9.99999580e-01 0.00000000e+00 -3.43641722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12831311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:-0.34, Z:-0.02 [[ 9.99996132e-01 -2.78139220e-03 0.00000000e+00 8.84143996e+01] [ 2.78139220e-03 9.99996132e-01 0.00000000e+00 -3.41416474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23822461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:-0.34, Z:-0.02 [[ 9.99994591e-01 -3.28915111e-03 0.00000000e+00 8.84453264e+01] [ 3.28915111e-03 9.99994591e-01 0.00000000e+00 -3.35029434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40745244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:-0.33, Z:-0.02 [[ 9.99992676e-01 -3.82734895e-03 0.00000000e+00 8.84761754e+01] [ 3.82734895e-03 9.99992676e-01 0.00000000e+00 -3.34137512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47281697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:-0.33, Z:-0.03 [[ 9.99991664e-01 -4.08311442e-03 0.00000000e+00 8.85063919e+01] [ 4.08311442e-03 9.99991664e-01 0.00000000e+00 -3.34951964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50802921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:-0.34, Z:-0.02 [[ 9.99990921e-01 -4.26111212e-03 0.00000000e+00 8.85372069e+01] [ 4.26111212e-03 9.99990921e-01 0.00000000e+00 -3.35764225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46152588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.57, Y:-0.34, Z:-0.02 [[ 9.99984663e-01 -5.53838294e-03 0.00000000e+00 8.85679135e+01] [ 5.53838294e-03 9.99984663e-01 0.00000000e+00 -3.35439755e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32694573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.60, Y:-0.33, Z:-0.02 [[ 9.99971320e-01 -7.57363124e-03 0.00000000e+00 8.85988807e+01] [ 7.57363124e-03 9.99971320e-01 0.00000000e+00 -3.33352596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21908191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:-0.33, Z:-0.02 [[ 9.99961019e-01 -8.82949206e-03 0.00000000e+00 8.86299514e+01] [ 8.82949206e-03 9.99961019e-01 0.00000000e+00 -3.34169411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29735922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:-0.34, Z:-0.02 [[ 9.99947484e-01 -1.02484013e-02 0.00000000e+00 8.86611420e+01] [ 1.02484013e-02 9.99947484e-01 0.00000000e+00 -3.36546832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33146030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.69, Y:-0.34, Z:-0.02 [[ 9.99932410e-01 -1.16265041e-02 0.00000000e+00 8.86927314e+01] [ 1.16265041e-02 9.99932410e-01 0.00000000e+00 -3.38778842e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49302272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:-0.34, Z:-0.03 [[ 9.99929986e-01 -1.18331380e-02 0.00000000e+00 8.87245231e+01] [ 1.18331380e-02 9.99929986e-01 0.00000000e+00 -3.37522693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55492322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:-0.33, Z:-0.02 [[ 9.99959062e-01 -9.04848663e-03 0.00000000e+00 8.87562165e+01] [ 9.04848663e-03 9.99959062e-01 0.00000000e+00 -3.34717559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60055416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.79, Y:-0.33, Z:-0.02 [[ 9.99966390e-01 -8.19875348e-03 0.00000000e+00 8.87872525e+01] [ 8.19875348e-03 9.99966390e-01 0.00000000e+00 -3.33011094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32637777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:-0.33, Z:-0.02 [[ 9.99995830e-01 -2.88779893e-03 0.00000000e+00 8.88182730e+01] [ 2.88779893e-03 9.99995830e-01 0.00000000e+00 -3.34529125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08940425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.85, Y:-0.33, Z:-0.01 [[ 9.99998581e-01 -1.68479887e-03 0.00000000e+00 8.88490270e+01] [ 1.68479887e-03 9.99998581e-01 0.00000000e+00 -3.34694653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05364608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:-0.33, Z:-0.02 [[ 9.99999598e-01 -8.96334150e-04 0.00000000e+00 8.88799796e+01] [ 8.96334150e-04 9.99999598e-01 0.00000000e+00 -3.33586666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16993838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:-0.33, Z:-0.02 [[ 9.99999606e-01 -8.87911628e-04 0.00000000e+00 8.89101585e+01] [ 8.87911628e-04 9.99999606e-01 0.00000000e+00 -3.34036235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37070115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:-0.34, Z:-0.03 [[ 9.99996352e-01 -2.70095809e-03 0.00000000e+00 8.89407949e+01] [ 2.70095809e-03 9.99996352e-01 0.00000000e+00 -3.36994645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53932748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:-0.34, Z:-0.02 [[ 9.99979439e-01 -6.41268241e-03 0.00000000e+00 8.89709077e+01] [ 6.41268241e-03 9.99979439e-01 0.00000000e+00 -3.41843384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49143721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:-0.34, Z:-0.02 [[ 9.99965841e-01 -8.26538672e-03 0.00000000e+00 8.90016601e+01] [ 8.26538672e-03 9.99965841e-01 0.00000000e+00 -3.40367555e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37576916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:-0.34, Z:-0.02 [[ 9.99972058e-01 -7.47551482e-03 0.00000000e+00 8.90333178e+01] [ 7.47551482e-03 9.99972058e-01 0.00000000e+00 -3.40063120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66367916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-0.34, Z:-0.02 [[ 9.99975836e-01 -6.95183395e-03 0.00000000e+00 8.90639443e+01] [ 6.95183395e-03 9.99975836e-01 0.00000000e+00 -3.43985593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44647870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:-0.35, Z:-0.02 [[ 9.99987156e-01 -5.06835915e-03 0.00000000e+00 8.90942446e+01] [ 5.06835915e-03 9.99987156e-01 0.00000000e+00 -3.47867410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49708386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:-0.35, Z:-0.02 [[ 9.99995530e-01 -2.99006356e-03 0.00000000e+00 8.91243710e+01] [ 2.99006356e-03 9.99995530e-01 0.00000000e+00 -3.49291266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43985437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:-0.35, Z:-0.02 [[ 9.99999920e-01 -4.00778625e-04 0.00000000e+00 8.91550658e+01] [ 4.00778625e-04 9.99999920e-01 0.00000000e+00 -3.48184947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47233685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:-0.35, Z:-0.02 [[ 9.99983688e-01 5.71170371e-03 0.00000000e+00 8.91853115e+01] [-5.71170371e-03 9.99983688e-01 0.00000000e+00 -3.48071818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46243790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:-0.35, Z:-0.02 [[ 9.99965069e-01 8.35832379e-03 0.00000000e+00 8.92161828e+01] [-8.35832379e-03 9.99965069e-01 0.00000000e+00 -3.48661152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38001017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:-0.35, Z:-0.02 [[ 9.99935266e-01 1.13782277e-02 0.00000000e+00 8.92467673e+01] [-1.13782277e-02 9.99935266e-01 0.00000000e+00 -3.47500706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16809137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:-0.35, Z:-0.02 [[ 9.99921225e-01 1.25516184e-02 0.00000000e+00 8.92760360e+01] [-1.25516184e-02 9.99921225e-01 0.00000000e+00 -3.45912412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11301286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:-0.35, Z:-0.02 [[ 9.99913376e-01 1.31620874e-02 0.00000000e+00 8.93053265e+01] [-1.31620874e-02 9.99913376e-01 0.00000000e+00 -3.47532485e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44826511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:-0.35, Z:-0.03 [[ 9.99934259e-01 1.14663972e-02 0.00000000e+00 8.93354554e+01] [-1.14663972e-02 9.99934259e-01 0.00000000e+00 -3.50463081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69416914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:-0.35, Z:-0.03 [[ 9.99951715e-01 9.82690210e-03 0.00000000e+00 8.93650472e+01] [-9.82690210e-03 9.99951715e-01 0.00000000e+00 -3.52016727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76428526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.40, Y:-0.35, Z:-0.03 [[ 9.99963852e-01 8.50265659e-03 0.00000000e+00 8.93950278e+01] [-8.50265659e-03 9.99963852e-01 0.00000000e+00 -3.51804202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60506704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:-0.35, Z:-0.02 [[ 9.99967595e-01 8.05041971e-03 0.00000000e+00 8.94258703e+01] [-8.05041971e-03 9.99967595e-01 0.00000000e+00 -3.51296435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44047139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:89.46, Y:-0.36, Z:-0.02 [[ 9.99949783e-01 1.00215634e-02 0.00000000e+00 8.94562810e+01] [-1.00215634e-02 9.99949783e-01 0.00000000e+00 -3.55103183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11841114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:-0.36, Z:-0.02 [[ 9.99931632e-01 1.16932205e-02 0.00000000e+00 8.94866853e+01] [-1.16932205e-02 9.99931632e-01 0.00000000e+00 -3.56319264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14637835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:-0.36, Z:-0.02 [[ 9.99905978e-01 1.37125616e-02 0.00000000e+00 8.95159116e+01] [-1.37125616e-02 9.99905978e-01 0.00000000e+00 -3.55393769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29573633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:-0.35, Z:-0.03 [[ 9.99831123e-01 1.83773123e-02 0.00000000e+00 8.95453770e+01] [-1.83773123e-02 9.99831123e-01 0.00000000e+00 -3.50440574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61531992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:-0.35, Z:-0.03 [[ 9.99795917e-01 2.02020687e-02 0.00000000e+00 8.95745542e+01] [-2.02020687e-02 9.99795917e-01 0.00000000e+00 -3.49706694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70590269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:-0.35, Z:-0.03 [[ 9.99781253e-01 2.09151937e-02 0.00000000e+00 8.96039617e+01] [-2.09151937e-02 9.99781253e-01 0.00000000e+00 -3.49443093e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60698744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:-0.35, Z:-0.02 [[ 9.99776622e-01 2.11354165e-02 0.00000000e+00 8.96339644e+01] [-2.11354165e-02 9.99776622e-01 0.00000000e+00 -3.45695061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39051457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:-0.34, Z:-0.02 [[ 9.99786044e-01 2.06849227e-02 0.00000000e+00 8.96632328e+01] [-2.06849227e-02 9.99786044e-01 0.00000000e+00 -3.43230076e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29521841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:-0.34, Z:-0.02 [[ 9.99811288e-01 1.94265054e-02 0.00000000e+00 8.96927830e+01] [-1.94265054e-02 9.99811288e-01 0.00000000e+00 -3.41795232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26334695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:-0.34, Z:-0.02 [[ 9.99837920e-01 1.80037021e-02 0.00000000e+00 8.97224254e+01] [-1.80037021e-02 9.99837920e-01 0.00000000e+00 -3.41595522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36239295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:-0.34, Z:-0.02 [[ 9.99839102e-01 1.79379650e-02 0.00000000e+00 8.97525789e+01] [-1.79379650e-02 9.99839102e-01 0.00000000e+00 -3.41501825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36239295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:-0.34, Z:-0.02 [[ 9.99860445e-01 1.67060162e-02 0.00000000e+00 8.97817982e+01] [-1.67060162e-02 9.99860445e-01 0.00000000e+00 -3.40244007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47993245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:-0.33, Z:-0.03 [[ 9.99860108e-01 1.67261692e-02 0.00000000e+00 8.98117240e+01] [-1.67261692e-02 9.99860108e-01 0.00000000e+00 -3.34051185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55629253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:-0.33, Z:-0.02 [[ 9.99849778e-01 1.73326926e-02 0.00000000e+00 8.98412563e+01] [-1.73326926e-02 9.99849778e-01 0.00000000e+00 -3.30264650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48207363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:-0.33, Z:-0.02 [[ 9.99859135e-01 1.67842248e-02 0.00000000e+00 8.98711288e+01] [-1.67842248e-02 9.99859135e-01 0.00000000e+00 -3.26357557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47535062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:-0.32, Z:-0.02 [[ 9.99848451e-01 1.74090739e-02 0.00000000e+00 8.99007436e+01] [-1.74090739e-02 9.99848451e-01 0.00000000e+00 -3.22171859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42797514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:-0.32, Z:-0.03 [[ 9.99852480e-01 1.71760686e-02 0.00000000e+00 8.99299960e+01] [-1.71760686e-02 9.99852480e-01 0.00000000e+00 -3.18423098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50367911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.96, Y:-0.31, Z:-0.03 [[ 9.99847652e-01 1.74548860e-02 0.00000000e+00 8.99599966e+01] [-1.74548860e-02 9.99847652e-01 0.00000000e+00 -3.14713231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63775434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:-0.31, Z:-0.02 [[ 9.99857219e-01 1.68980027e-02 0.00000000e+00 8.99894557e+01] [-1.68980027e-02 9.99857219e-01 0.00000000e+00 -3.13900692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62689757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:-0.31, Z:-0.03 [[ 9.99900186e-01 1.41286427e-02 0.00000000e+00 9.00188280e+01] [-1.41286427e-02 9.99900186e-01 0.00000000e+00 -3.12768439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73504302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:-0.31, Z:-0.03 [[ 9.99935664e-01 1.13432229e-02 0.00000000e+00 9.00488776e+01] [-1.13432229e-02 9.99935664e-01 0.00000000e+00 -3.10139730e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66205210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:-0.30, Z:-0.03 [[ 9.99985480e-01 5.38891522e-03 0.00000000e+00 9.00788851e+01] [-5.38891522e-03 9.99985480e-01 0.00000000e+00 -3.03137225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63303269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:-0.30, Z:-0.03 [[ 9.99997877e-01 2.06042443e-03 0.00000000e+00 9.01086935e+01] [-2.06042443e-03 9.99997877e-01 0.00000000e+00 -3.01346860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74709855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:-0.30, Z:-0.03 [[ 9.99991695e-01 -4.07562893e-03 0.00000000e+00 9.01389913e+01] [ 4.07562893e-03 9.99991695e-01 0.00000000e+00 -3.02092691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07761587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-0.30, Z:-0.03 [[ 9.99983368e-01 -5.76738807e-03 0.00000000e+00 9.01700069e+01] [ 5.76738807e-03 9.99983368e-01 0.00000000e+00 -3.02199391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16699483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-0.30, Z:-0.03 [[ 9.99968875e-01 -7.88977004e-03 0.00000000e+00 9.02011560e+01] [ 7.88977004e-03 9.99968875e-01 0.00000000e+00 -3.02472437e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06246985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-0.30, Z:-0.03 [[ 9.99952558e-01 -9.74068829e-03 0.00000000e+00 9.02326215e+01] [ 9.74068829e-03 9.99952558e-01 0.00000000e+00 -3.02815721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07719647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-0.30, Z:-0.03 [[ 9.99919307e-01 -1.27035273e-02 0.00000000e+00 9.02640595e+01] [ 1.27035273e-02 9.99919307e-01 0.00000000e+00 -3.02869598e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98593295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-0.30, Z:-0.03 [[ 9.99861362e-01 -1.66510031e-02 0.00000000e+00 9.02959088e+01] [ 1.66510031e-02 9.99861362e-01 0.00000000e+00 -3.01897651e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00036043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:-0.30, Z:-0.03 [[ 9.99858259e-01 -1.68363285e-02 0.00000000e+00 9.03281487e+01] [ 1.68363285e-02 9.99858259e-01 0.00000000e+00 -3.00984900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99024792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:-0.30, Z:-0.03 [[ 9.99869782e-01 -1.61374997e-02 0.00000000e+00 9.03603513e+01] [ 1.61374997e-02 9.99869782e-01 0.00000000e+00 -3.01252083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06156285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-0.30, Z:-0.03 [[ 9.99908956e-01 -1.34936693e-02 0.00000000e+00 9.03925885e+01] [ 1.34936693e-02 9.99908956e-01 0.00000000e+00 -3.04055369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24452717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-0.30, Z:-0.03 [[ 9.99939450e-01 -1.10043602e-02 0.00000000e+00 9.04236674e+01] [ 1.10043602e-02 9.99939450e-01 0.00000000e+00 -3.03865095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29320072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-0.30, Z:-0.02 [[ 9.99979746e-01 -6.36449875e-03 0.00000000e+00 9.04545819e+01] [ 6.36449875e-03 9.99979746e-01 0.00000000e+00 -3.01699638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27354160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-0.30, Z:-0.03 [[ 9.99987136e-01 -5.07216783e-03 0.00000000e+00 9.04850226e+01] [ 5.07216783e-03 9.99987136e-01 0.00000000e+00 -2.99378606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04266922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:-0.30, Z:-0.03 [[ 9.99995452e-01 -3.01599335e-03 0.00000000e+00 9.05163640e+01] [ 3.01599335e-03 9.99995452e-01 0.00000000e+00 -2.97595291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93213587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:-0.30, Z:-0.03 [[ 9.99999976e-01 2.19470692e-04 0.00000000e+00 9.05471147e+01] [-2.19470692e-04 9.99999976e-01 0.00000000e+00 -2.96911659e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82749951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-0.30, Z:-0.03 [[ 9.99996239e-01 2.74251314e-03 0.00000000e+00 9.05778856e+01] [-2.74251314e-03 9.99996239e-01 0.00000000e+00 -2.96099866e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00275175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-0.29, Z:-0.03 [[ 9.99991983e-01 4.00427995e-03 0.00000000e+00 9.06082672e+01] [-4.00427995e-03 9.99991983e-01 0.00000000e+00 -2.94791858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05747502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-0.29, Z:-0.03 [[ 9.99982013e-01 5.99784353e-03 0.00000000e+00 9.06390135e+01] [-5.99784353e-03 9.99982013e-01 0.00000000e+00 -2.92451655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06660473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-0.29, Z:-0.03 [[ 9.99957214e-01 9.25042271e-03 0.00000000e+00 9.06687482e+01] [-9.25042271e-03 9.99957214e-01 0.00000000e+00 -2.85088031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00314278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:-0.28, Z:-0.03 [[ 9.99946686e-01 1.03259241e-02 0.00000000e+00 9.06986136e+01] [-1.03259241e-02 9.99946686e-01 0.00000000e+00 -2.81931678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85084097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:-0.28, Z:-0.03 [[ 9.99924257e-01 1.23076921e-02 0.00000000e+00 9.07282575e+01] [-1.23076921e-02 9.99924257e-01 0.00000000e+00 -2.80180185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82956660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-0.28, Z:-0.03 [[ 9.99908601e-01 1.35199730e-02 0.00000000e+00 9.07580803e+01] [-1.35199730e-02 9.99908601e-01 0.00000000e+00 -2.80956302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81192734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:-0.28, Z:-0.03 [[ 9.99896360e-01 1.43968825e-02 0.00000000e+00 9.07868971e+01] [-1.43968825e-02 9.99896360e-01 0.00000000e+00 -2.82655351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98639879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:-0.28, Z:-0.02 [[ 9.99898946e-01 1.42160997e-02 0.00000000e+00 9.08174841e+01] [-1.42160997e-02 9.99898946e-01 0.00000000e+00 -2.81104868e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90900622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:-0.28, Z:-0.03 [[ 9.99926633e-01 1.21131890e-02 0.00000000e+00 9.08466704e+01] [-1.21131890e-02 9.99926633e-01 0.00000000e+00 -2.78646484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15655714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:-0.28, Z:-0.02 [[ 9.99961059e-01 8.82503345e-03 0.00000000e+00 9.08763803e+01] [-8.82503345e-03 9.99961059e-01 0.00000000e+00 -2.75966785e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36528839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:-0.28, Z:-0.03 [[ 9.99967093e-01 8.11253285e-03 0.00000000e+00 9.09062453e+01] [-8.11253285e-03 9.99967093e-01 0.00000000e+00 -2.75041680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22305321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.94, Y:-0.27, Z:-0.03 [[ 9.99973160e-01 7.32665886e-03 0.00000000e+00 9.09359791e+01] [-7.32665886e-03 9.99973160e-01 0.00000000e+00 -2.72748328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21240351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-0.27, Z:-0.02 [[ 9.99968415e-01 7.94786814e-03 0.00000000e+00 9.09666866e+01] [-7.94786814e-03 9.99968415e-01 0.00000000e+00 -2.70518157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05610712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:-0.27, Z:-0.03 [[ 9.99980222e-01 6.28926130e-03 0.00000000e+00 9.09962856e+01] [-6.28926130e-03 9.99980222e-01 0.00000000e+00 -2.68979193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15583975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:-0.27, Z:-0.03 [[ 9.99988277e-01 4.84205918e-03 0.00000000e+00 9.10262287e+01] [-4.84205918e-03 9.99988277e-01 0.00000000e+00 -2.69912856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20180403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:-0.27, Z:-0.03 [[ 9.99999224e-01 1.24601014e-03 0.00000000e+00 9.10561634e+01] [-1.24601014e-03 9.99999224e-01 0.00000000e+00 -2.74773842e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42197091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:-0.27, Z:-0.03 [[ 9.99998555e-01 -1.70005240e-03 0.00000000e+00 9.10870605e+01] [ 1.70005240e-03 9.99998555e-01 0.00000000e+00 -2.74732650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48092371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.12, Y:-0.27, Z:-0.03 [[ 9.99990916e-01 -4.26237319e-03 0.00000000e+00 9.11171999e+01] [ 4.26237319e-03 9.99990916e-01 0.00000000e+00 -2.72788483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39669669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:-0.27, Z:-0.02 [[ 9.99964749e-01 -8.39650275e-03 0.00000000e+00 9.11484680e+01] [ 8.39650275e-03 9.99964749e-01 0.00000000e+00 -2.71631407e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00059408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:-0.27, Z:-0.04 [[ 9.99900611e-01 -1.40985027e-02 0.00000000e+00 9.11801825e+01] [ 1.40985027e-02 9.99900611e-01 0.00000000e+00 -2.74325254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51971775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:-0.28, Z:-0.04 [[ 9.99871027e-01 -1.60602063e-02 0.00000000e+00 9.12119601e+01] [ 1.60602063e-02 9.99871027e-01 0.00000000e+00 -2.78539919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55895596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:-0.28, Z:-0.03 [[ 9.99832908e-01 -1.82799287e-02 0.00000000e+00 9.12445867e+01] [ 1.82799287e-02 9.99832908e-01 0.00000000e+00 -2.83747041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49336004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:-0.29, Z:-0.03 [[ 9.99795444e-01 -2.02254650e-02 0.00000000e+00 9.12763948e+01] [ 2.02254650e-02 9.99795444e-01 0.00000000e+00 -2.87579358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44102431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:-0.29, Z:-0.03 [[ 9.99761791e-01 -2.18256913e-02 0.00000000e+00 9.13084041e+01] [ 2.18256913e-02 9.99761791e-01 0.00000000e+00 -2.90697650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40254928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:-0.30, Z:-0.03 [[ 9.99701083e-01 -2.44488011e-02 0.00000000e+00 9.13406006e+01] [ 2.44488011e-02 9.99701083e-01 0.00000000e+00 -2.97269798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44592553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:-0.30, Z:-0.04 [[ 9.99689495e-01 -2.49181391e-02 0.00000000e+00 9.13727143e+01] [ 2.49181391e-02 9.99689495e-01 0.00000000e+00 -3.01202957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52185755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:-0.30, Z:-0.04 [[ 9.99690134e-01 -2.48924945e-02 0.00000000e+00 9.14045386e+01] [ 2.48924945e-02 9.99690134e-01 0.00000000e+00 -3.04733076e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62560157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:-0.31, Z:-0.04 [[ 9.99701282e-01 -2.44406759e-02 0.00000000e+00 9.14366490e+01] [ 2.44406759e-02 9.99701282e-01 0.00000000e+00 -3.06786145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62122641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:-0.31, Z:-0.04 [[ 9.99710388e-01 -2.40653444e-02 0.00000000e+00 9.14692164e+01] [ 2.40653444e-02 9.99710388e-01 0.00000000e+00 -3.11034839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78519072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:-0.32, Z:-0.03 [[ 9.99772841e-01 -2.13135166e-02 0.00000000e+00 9.15013980e+01] [ 2.13135166e-02 9.99772841e-01 0.00000000e+00 -3.16755647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57496548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:-0.32, Z:-0.04 [[ 9.99681857e-01 -2.52227068e-02 0.00000000e+00 9.15318812e+01] [ 2.52227068e-02 9.99681857e-01 0.00000000e+00 -3.24730694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86719106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:-0.33, Z:-0.04 [[ 9.99674702e-01 -2.55047234e-02 0.00000000e+00 9.15645531e+01] [ 2.55047234e-02 9.99674702e-01 0.00000000e+00 -3.31912418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89060893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:-0.34, Z:-0.04 [[ 9.99658740e-01 -2.61228569e-02 0.00000000e+00 9.15963682e+01] [ 2.61228569e-02 9.99658740e-01 0.00000000e+00 -3.38009027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91803538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:-0.34, Z:-0.04 [[ 9.99684292e-01 -2.51260288e-02 0.00000000e+00 9.16290111e+01] [ 2.51260288e-02 9.99684292e-01 0.00000000e+00 -3.40129265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04231722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.66, Y:-0.34, Z:-0.04 [[ 9.99726472e-01 -2.33876171e-02 0.00000000e+00 9.16605352e+01] [ 2.33876171e-02 9.99726472e-01 0.00000000e+00 -3.44258355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10940300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:-0.34, Z:-0.04 [[ 9.99727902e-01 -2.33264314e-02 0.00000000e+00 9.16923623e+01] [ 2.33264314e-02 9.99727902e-01 0.00000000e+00 -3.44248968e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10940300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:-0.35, Z:-0.04 [[ 9.99802644e-01 -1.98663761e-02 0.00000000e+00 9.17239449e+01] [ 1.98663761e-02 9.99802644e-01 0.00000000e+00 -3.48848732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21006527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:-0.35, Z:-0.03 [[ 9.99945138e-01 -1.04747466e-02 0.00000000e+00 9.17551030e+01] [ 1.04747466e-02 9.99945138e-01 0.00000000e+00 -3.54485305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90350394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:-0.36, Z:-0.04 [[ 9.99962345e-01 -8.67808400e-03 0.00000000e+00 9.17860191e+01] [ 8.67808400e-03 9.99962345e-01 0.00000000e+00 -3.55802410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30618238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:-0.36, Z:-0.04 [[ 9.99977167e-01 -6.75761113e-03 0.00000000e+00 9.18162436e+01] [ 6.75761113e-03 9.99977167e-01 0.00000000e+00 -3.57922293e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32913344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.85, Y:-0.36, Z:-0.03 [[ 9.99993249e-01 -3.67451396e-03 0.00000000e+00 9.18474169e+01] [ 3.67451396e-03 9.99993249e-01 0.00000000e+00 -3.60623470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81402035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:-0.36, Z:-0.04 [[ 9.99997469e-01 -2.24994276e-03 0.00000000e+00 9.18772941e+01] [ 2.24994276e-03 9.99997469e-01 0.00000000e+00 -3.64257005e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19330246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:-0.36, Z:-0.04 [[ 9.99999333e-01 -1.15467736e-03 0.00000000e+00 9.19075184e+01] [ 1.15467736e-03 9.99999333e-01 0.00000000e+00 -3.64882107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37096302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:-0.37, Z:-0.05 [[ 9.99999998e-01 -7.03281652e-05 0.00000000e+00 9.19383031e+01] [ 7.03281652e-05 9.99999998e-01 0.00000000e+00 -3.66488918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55202176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:-0.37, Z:-0.05 [[ 9.99999971e-01 -2.40649646e-04 0.00000000e+00 9.19689490e+01] [ 2.40649646e-04 9.99999971e-01 0.00000000e+00 -3.69440402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67642362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:-0.37, Z:-0.05 [[ 9.99999963e-01 2.71504239e-04 0.00000000e+00 9.19991487e+01] [-2.71504239e-04 9.99999963e-01 0.00000000e+00 -3.72765776e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64719907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.03, Y:-0.37, Z:-0.03 [[ 9.99998804e-01 1.54647240e-03 0.00000000e+00 9.20296429e+01] [-1.54647240e-03 9.99998804e-01 0.00000000e+00 -3.74334977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17320029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:-0.37, Z:-0.04 [[ 9.99996828e-01 2.51870532e-03 0.00000000e+00 9.20597998e+01] [-2.51870532e-03 9.99996828e-01 0.00000000e+00 -3.74333724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56638374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:-0.38, Z:-0.05 [[ 9.99996162e-01 2.77050106e-03 0.00000000e+00 9.20895263e+01] [-2.77050106e-03 9.99996162e-01 0.00000000e+00 -3.75936234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76352640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-0.38, Z:-0.05 [[ 9.99991009e-01 4.24039872e-03 0.00000000e+00 9.21200362e+01] [-4.24039872e-03 9.99991009e-01 0.00000000e+00 -3.83403168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83122496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:-0.39, Z:-0.05 [[ 9.99994975e-01 3.17017461e-03 0.00000000e+00 9.21504836e+01] [-3.17017461e-03 9.99994975e-01 0.00000000e+00 -3.86159961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75411360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:-0.39, Z:-0.05 [[ 9.99994964e-01 3.17355358e-03 0.00000000e+00 9.21810947e+01] [-3.17355358e-03 9.99994964e-01 0.00000000e+00 -3.87593495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74322526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:-0.39, Z:-0.05 [[ 9.99996639e-01 2.59279890e-03 0.00000000e+00 9.22112760e+01] [-2.59279890e-03 9.99996639e-01 0.00000000e+00 -3.88581326e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94938144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:-0.39, Z:-0.05 [[ 9.99993250e-01 3.67431919e-03 0.00000000e+00 9.22417460e+01] [-3.67431919e-03 9.99993250e-01 0.00000000e+00 -3.93077999e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27021021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.27, Y:-0.40, Z:-0.04 [[ 9.99984676e-01 5.53595616e-03 0.00000000e+00 9.22730861e+01] [-5.53595616e-03 9.99984676e-01 0.00000000e+00 -3.96145797e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10736781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:-0.40, Z:-0.04 [[ 9.99982935e-01 5.84209083e-03 0.00000000e+00 9.23038370e+01] [-5.84209083e-03 9.99982935e-01 0.00000000e+00 -3.98411768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88225938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:-0.40, Z:-0.04 [[ 9.99978046e-01 6.62628289e-03 0.00000000e+00 9.23342841e+01] [-6.62628289e-03 9.99978046e-01 0.00000000e+00 -3.99439287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65921741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:-0.40, Z:-0.04 [[ 9.99978313e-01 6.58581607e-03 0.00000000e+00 9.23643996e+01] [-6.58581607e-03 9.99978313e-01 0.00000000e+00 -4.00565095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65991154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:-0.40, Z:-0.05 [[ 9.99974183e-01 7.18561502e-03 0.00000000e+00 9.23943721e+01] [-7.18561502e-03 9.99974183e-01 0.00000000e+00 -4.02302694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90872640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:-0.40, Z:-0.04 [[ 9.99940602e-01 1.08991697e-02 0.00000000e+00 9.24261261e+01] [-1.08991697e-02 9.99940602e-01 0.00000000e+00 -4.04534967e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88427610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:-0.40, Z:-0.04 [[ 9.99943314e-01 1.06475054e-02 0.00000000e+00 9.24561215e+01] [-1.06475054e-02 9.99943314e-01 0.00000000e+00 -4.04549906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72766058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:-0.40, Z:-0.05 [[ 9.99951217e-01 9.87745822e-03 0.00000000e+00 9.24858703e+01] [-9.87745822e-03 9.99951217e-01 0.00000000e+00 -4.04994349e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11735982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:-0.41, Z:-0.05 [[ 9.99941028e-01 1.08600464e-02 0.00000000e+00 9.25160334e+01] [-1.08600464e-02 9.99941028e-01 0.00000000e+00 -4.06257041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27425129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:-0.41, Z:-0.04 [[ 9.99909002e-01 1.34902940e-02 0.00000000e+00 9.25474026e+01] [-1.34902940e-02 9.99909002e-01 0.00000000e+00 -4.06540984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10009089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.58, Y:-0.41, Z:-0.05 [[ 9.99912917e-01 1.31968956e-02 0.00000000e+00 9.25769563e+01] [-1.31968956e-02 9.99912917e-01 0.00000000e+00 -4.06030364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31942200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:-0.40, Z:-0.05 [[ 9.99864776e-01 1.64447713e-02 0.00000000e+00 9.26077747e+01] [-1.64447713e-02 9.99864776e-01 0.00000000e+00 -4.01469729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16722529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:-0.40, Z:-0.05 [[ 9.99846219e-01 1.75367495e-02 0.00000000e+00 9.26384948e+01] [-1.75367495e-02 9.99846219e-01 0.00000000e+00 -3.99498662e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22876393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:-0.40, Z:-0.05 [[ 9.99836628e-01 1.80753082e-02 0.00000000e+00 9.26691614e+01] [-1.80753082e-02 9.99836628e-01 0.00000000e+00 -3.98107677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36039251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.70, Y:-0.40, Z:-0.05 [[ 9.99835323e-01 1.81473874e-02 0.00000000e+00 9.26993121e+01] [-1.81473874e-02 9.99835323e-01 0.00000000e+00 -3.97745488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41714914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:-0.40, Z:-0.05 [[ 9.99836629e-01 1.80752947e-02 0.00000000e+00 9.27301191e+01] [-1.80752947e-02 9.99836629e-01 0.00000000e+00 -3.97512467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47002299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:-0.40, Z:-0.05 [[ 9.99855436e-01 1.70031754e-02 0.00000000e+00 9.27604724e+01] [-1.70031754e-02 9.99855436e-01 0.00000000e+00 -3.97152902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49329347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:-0.40, Z:-0.05 [[ 9.99882164e-01 1.53511902e-02 0.00000000e+00 9.27907501e+01] [-1.53511902e-02 9.99882164e-01 0.00000000e+00 -3.95764497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29602088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:-0.39, Z:-0.05 [[ 9.99896642e-01 1.43772612e-02 0.00000000e+00 9.28214569e+01] [-1.43772612e-02 9.99896642e-01 0.00000000e+00 -3.94262568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47152529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:-0.39, Z:-0.06 [[ 9.99901571e-01 1.40302771e-02 0.00000000e+00 9.28523427e+01] [-1.40302771e-02 9.99901571e-01 0.00000000e+00 -3.91509529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57979675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:-0.39, Z:-0.05 [[ 9.99897730e-01 1.43013684e-02 0.00000000e+00 9.28832659e+01] [-1.43013684e-02 9.99897730e-01 0.00000000e+00 -3.87931490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66463395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:-0.38, Z:-0.04 [[ 9.99896887e-01 1.43601870e-02 0.00000000e+00 9.29133592e+01] [-1.43601870e-02 9.99896887e-01 0.00000000e+00 -3.82206891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28473196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:-0.38, Z:-0.06 [[ 9.99930854e-01 1.17595867e-02 0.00000000e+00 9.29433836e+01] [-1.17595867e-02 9.99930854e-01 0.00000000e+00 -3.81823271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53343098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:-0.38, Z:-0.06 [[ 9.99946400e-01 1.03536219e-02 0.00000000e+00 9.29739254e+01] [-1.03536219e-02 9.99946400e-01 0.00000000e+00 -3.82953187e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57987924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:-0.38, Z:-0.06 [[ 9.99980169e-01 6.29775395e-03 0.00000000e+00 9.30039594e+01] [-6.29775395e-03 9.99980169e-01 0.00000000e+00 -3.82754331e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67665086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:-0.38, Z:-0.06 [[ 9.99987671e-01 4.96575530e-03 0.00000000e+00 9.30344688e+01] [-4.96575530e-03 9.99987671e-01 0.00000000e+00 -3.79809920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62341977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:-0.38, Z:-0.06 [[ 9.99988459e-01 4.80433446e-03 0.00000000e+00 9.30647495e+01] [-4.80433446e-03 9.99988459e-01 0.00000000e+00 -3.76631702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57407005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:-0.37, Z:-0.06 [[ 9.99981216e-01 6.12918409e-03 0.00000000e+00 9.30949192e+01] [-6.12918409e-03 9.99981216e-01 0.00000000e+00 -3.74133742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64188214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:-0.37, Z:-0.06 [[ 9.99969993e-01 7.74679211e-03 0.00000000e+00 9.31258806e+01] [-7.74679211e-03 9.99969993e-01 0.00000000e+00 -3.72557952e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72935985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.16, Y:-0.37, Z:-0.06 [[ 9.99952051e-01 9.79265396e-03 0.00000000e+00 9.31568266e+01] [-9.79265396e-03 9.99952051e-01 0.00000000e+00 -3.69872524e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80478923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.802320588 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:93.15, Y:-0.35, Z:-0.07 [[ 9.99586305e-01 2.87614230e-02 0.00000000e+00 9.31528810e+01] [-2.87614230e-02 9.99586305e-01 0.00000000e+00 -3.53412906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26605939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:-0.36, Z:-0.06 [[ 9.99872227e-01 1.59853087e-02 0.00000000e+00 9.32127438e+01] [-1.59853087e-02 9.99872227e-01 0.00000000e+00 -3.63901136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63447546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:-0.36, Z:-0.06 [[ 9.99837770e-01 1.80120217e-02 0.00000000e+00 9.32432400e+01] [-1.80120217e-02 9.99837770e-01 0.00000000e+00 -3.60750688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55651941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:-0.36, Z:-0.06 [[ 9.99836698e-01 1.80714639e-02 0.00000000e+00 9.32726402e+01] [-1.80714639e-02 9.99836698e-01 0.00000000e+00 -3.58194208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60492635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:-0.36, Z:-0.06 [[ 9.99835700e-01 1.81265857e-02 0.00000000e+00 9.33021681e+01] [-1.81265857e-02 9.99835700e-01 0.00000000e+00 -3.55771627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61726837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:-0.35, Z:-0.04 [[ 9.99865517e-01 1.63996083e-02 0.00000000e+00 9.33316150e+01] [-1.63996083e-02 9.99865517e-01 0.00000000e+00 -3.51020606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40559120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.36, Y:-0.35, Z:-0.06 [[ 9.99888168e-01 1.49549866e-02 0.00000000e+00 9.33611324e+01] [-1.49549866e-02 9.99888168e-01 0.00000000e+00 -3.50302040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54504289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:-0.35, Z:-0.05 [[ 9.99880056e-01 1.54878716e-02 0.00000000e+00 9.33904468e+01] [-1.54878716e-02 9.99880056e-01 0.00000000e+00 -3.49996297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46780876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:-0.35, Z:-0.06 [[ 9.99871308e-01 1.60426703e-02 0.00000000e+00 9.34204883e+01] [-1.60426703e-02 9.99871308e-01 0.00000000e+00 -3.46653285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56489509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:-0.34, Z:-0.06 [[ 9.99876033e-01 1.57454379e-02 0.00000000e+00 9.34498046e+01] [-1.57454379e-02 9.99876033e-01 0.00000000e+00 -3.41234539e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68034227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:-0.34, Z:-0.06 [[ 9.99890880e-01 1.47725457e-02 0.00000000e+00 9.34795793e+01] [-1.47725457e-02 9.99890880e-01 0.00000000e+00 -3.36227318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70215867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:-0.33, Z:-0.05 [[ 9.99889586e-01 1.48598551e-02 0.00000000e+00 9.35098279e+01] [-1.48598551e-02 9.99889586e-01 0.00000000e+00 -3.34186099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57294682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:-0.34, Z:-0.06 [[ 9.99937375e-01 1.11913579e-02 0.00000000e+00 9.35391045e+01] [-1.11913579e-02 9.99937375e-01 0.00000000e+00 -3.38136852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65995776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:-0.34, Z:-0.05 [[ 9.99947532e-01 1.02436528e-02 0.00000000e+00 9.35686456e+01] [-1.02436528e-02 9.99947532e-01 0.00000000e+00 -3.38698154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68844492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:-0.34, Z:-0.05 [[ 9.99971185e-01 7.59140672e-03 0.00000000e+00 9.35986700e+01] [-7.59140672e-03 9.99971185e-01 0.00000000e+00 -3.36360134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67341461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:-0.33, Z:-0.06 [[ 9.99988451e-01 4.80592041e-03 0.00000000e+00 9.36287256e+01] [-4.80592041e-03 9.99988451e-01 0.00000000e+00 -3.33176941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82849640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:-0.33, Z:-0.06 [[ 9.99988451e-01 4.80592041e-03 0.00000000e+00 9.36597210e+01] [-4.80592041e-03 9.99988451e-01 0.00000000e+00 -3.33110294e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82849640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:-0.33, Z:-0.06 [[ 9.99998091e-01 1.95378119e-03 0.00000000e+00 9.36901476e+01] [-1.95378119e-03 9.99998091e-01 0.00000000e+00 -3.33219282e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91308046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:-0.34, Z:-0.06 [[ 9.99990022e-01 -4.46721789e-03 0.00000000e+00 9.37207846e+01] [ 4.46721789e-03 9.99990022e-01 0.00000000e+00 -3.42715148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79892584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:-0.35, Z:-0.06 [[ 9.99978420e-01 -6.56956557e-03 0.00000000e+00 9.37517997e+01] [ 6.56956557e-03 9.99978420e-01 0.00000000e+00 -3.46327031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65421678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:-0.35, Z:-0.05 [[ 9.99971140e-01 -7.59728813e-03 0.00000000e+00 9.37818297e+01] [ 7.59728813e-03 9.99971140e-01 0.00000000e+00 -3.47296377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51959635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:-0.35, Z:-0.04 [[ 9.99956603e-01 -9.31626282e-03 0.00000000e+00 9.38118830e+01] [ 9.31626282e-03 9.99956603e-01 0.00000000e+00 -3.46384937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38339771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:-0.35, Z:-0.05 [[ 9.99956246e-01 -9.35442009e-03 0.00000000e+00 9.38431288e+01] [ 9.35442009e-03 9.99956246e-01 0.00000000e+00 -3.46841909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70103337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:-0.35, Z:-0.06 [[ 9.99952640e-01 -9.73226641e-03 0.00000000e+00 9.38740345e+01] [ 9.73226641e-03 9.99952640e-01 0.00000000e+00 -3.48456006e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84042118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:-0.35, Z:-0.06 [[ 9.99957776e-01 -9.18942201e-03 0.00000000e+00 9.39049987e+01] [ 9.18942201e-03 9.99957776e-01 0.00000000e+00 -3.51202246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81965009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:-0.36, Z:-0.06 [[ 9.99961541e-01 -8.77025567e-03 0.00000000e+00 9.39355882e+01] [ 8.77025567e-03 9.99961541e-01 0.00000000e+00 -3.55086095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56114588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:-0.36, Z:-0.06 [[ 9.99964531e-01 -8.42237152e-03 0.00000000e+00 9.39665509e+01] [ 8.42237152e-03 9.99964531e-01 0.00000000e+00 -3.55607910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67460190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:-0.36, Z:-0.06 [[ 9.99967657e-01 -8.04274425e-03 0.00000000e+00 9.39968565e+01] [ 8.04274425e-03 9.99967657e-01 0.00000000e+00 -3.56090406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72000995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:-0.36, Z:-0.06 [[ 9.99952845e-01 -9.71122580e-03 0.00000000e+00 9.40269039e+01] [ 9.71122580e-03 9.99952845e-01 0.00000000e+00 -3.60107234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76064236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:-0.36, Z:-0.06 [[ 9.99954201e-01 -9.57058006e-03 0.00000000e+00 9.40578446e+01] [ 9.57058006e-03 9.99954201e-01 0.00000000e+00 -3.63308183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63782324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:-0.37, Z:-0.06 [[ 9.99944731e-01 -1.05135742e-02 0.00000000e+00 9.40879592e+01] [ 1.05135742e-02 9.99944731e-01 0.00000000e+00 -3.65898297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59006087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:-0.37, Z:-0.06 [[ 9.99940872e-01 -1.08743817e-02 0.00000000e+00 9.41188423e+01] [ 1.08743817e-02 9.99940872e-01 0.00000000e+00 -3.67514951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58035374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:-0.37, Z:-0.06 [[ 9.99932979e-01 -1.15774593e-02 0.00000000e+00 9.41492991e+01] [ 1.15774593e-02 9.99932979e-01 0.00000000e+00 -3.69471253e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71320602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:-0.37, Z:-0.06 [[ 9.99934763e-01 -1.14223427e-02 0.00000000e+00 9.41800570e+01] [ 1.14223427e-02 9.99934763e-01 0.00000000e+00 -3.71287391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74485888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:-0.37, Z:-0.05 [[ 9.99961068e-01 -8.82397766e-03 0.00000000e+00 9.42104420e+01] [ 8.82397766e-03 9.99961068e-01 0.00000000e+00 -3.73193986e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67618250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:-0.37, Z:-0.05 [[ 9.99978748e-01 -6.51939978e-03 0.00000000e+00 9.42407852e+01] [ 6.51939978e-03 9.99978748e-01 0.00000000e+00 -3.73982220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71919295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:-0.37, Z:-0.06 [[ 9.99991822e-01 -4.04418562e-03 0.00000000e+00 9.42718405e+01] [ 4.04418562e-03 9.99991822e-01 0.00000000e+00 -3.73434232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67383582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:-0.37, Z:-0.06 [[ 9.99997977e-01 -2.01146363e-03 0.00000000e+00 9.43026861e+01] [ 2.01146363e-03 9.99997977e-01 0.00000000e+00 -3.72263821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59337348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:-0.37, Z:-0.06 [[ 9.99999425e-01 1.07234761e-03 0.00000000e+00 9.43331615e+01] [-1.07234761e-03 9.99999425e-01 0.00000000e+00 -3.73751021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66016174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:-0.38, Z:-0.06 [[ 9.99997927e-01 2.03626194e-03 0.00000000e+00 9.43637250e+01] [-2.03626194e-03 9.99997927e-01 0.00000000e+00 -3.75828739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71041923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:-0.38, Z:-0.06 [[ 9.99996665e-01 2.58278298e-03 0.00000000e+00 9.43942264e+01] [-2.58278298e-03 9.99996665e-01 0.00000000e+00 -3.76326148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62298122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:-0.38, Z:-0.06 [[ 9.99995678e-01 2.94009402e-03 0.00000000e+00 9.44244851e+01] [-2.94009402e-03 9.99995678e-01 0.00000000e+00 -3.75348244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68352432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:-0.37, Z:-0.05 [[ 9.99999047e-01 1.38060312e-03 0.00000000e+00 9.44542569e+01] [-1.38060312e-03 9.99999047e-01 0.00000000e+00 -3.74176585e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76391437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:-0.37, Z:-0.06 [[ 9.99995175e-01 3.10644176e-03 0.00000000e+00 9.44856784e+01] [-3.10644176e-03 9.99995175e-01 0.00000000e+00 -3.73424586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72831181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:-0.37, Z:-0.06 [[ 9.99983117e-01 5.81077556e-03 0.00000000e+00 9.45164261e+01] [-5.81077556e-03 9.99983117e-01 0.00000000e+00 -3.69829126e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65209646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:-0.37, Z:-0.06 [[ 9.99969322e-01 7.83292776e-03 0.00000000e+00 9.45467772e+01] [-7.83292776e-03 9.99969322e-01 0.00000000e+00 -3.67817243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62268855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:-0.37, Z:-0.06 [[ 9.99955474e-01 9.43663949e-03 0.00000000e+00 9.45772930e+01] [-9.43663949e-03 9.99955474e-01 0.00000000e+00 -3.66303934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65160417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:-0.37, Z:-0.06 [[ 9.99923743e-01 1.23494154e-02 0.00000000e+00 9.46072259e+01] [-1.23494154e-02 9.99923743e-01 0.00000000e+00 -3.65628093e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70738503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:-0.37, Z:-0.06 [[ 9.99895391e-01 1.44639683e-02 0.00000000e+00 9.46372615e+01] [-1.44639683e-02 9.99895391e-01 0.00000000e+00 -3.65007133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81919562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:-0.36, Z:-0.06 [[ 9.99829368e-01 1.84725355e-02 0.00000000e+00 9.46679692e+01] [-1.84725355e-02 9.99829368e-01 0.00000000e+00 -3.60674562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84562081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:-0.36, Z:-0.06 [[ 9.99820414e-01 1.89510080e-02 0.00000000e+00 9.46976785e+01] [-1.89510080e-02 9.99820414e-01 0.00000000e+00 -3.57504313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72061687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.332320588 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:94.73, Y:-0.36, Z:-0.04 [[ 9.99813025e-01 1.93369063e-02 0.00000000e+00 9.47271788e+01] [-1.93369063e-02 9.99813025e-01 0.00000000e+00 -3.55265720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31421150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:-0.35, Z:-0.06 [[ 9.99846511e-01 1.75201273e-02 0.00000000e+00 9.47564368e+01] [-1.75201273e-02 9.99846511e-01 0.00000000e+00 -3.50549511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50530396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:-0.35, Z:-0.05 [[ 9.99864118e-01 1.64846913e-02 0.00000000e+00 9.47864595e+01] [-1.64846913e-02 9.99864118e-01 0.00000000e+00 -3.47044492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42460991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:-0.34, Z:-0.05 [[ 9.99943444e-01 1.06352494e-02 0.00000000e+00 9.48165686e+01] [-1.06352494e-02 9.99943444e-01 0.00000000e+00 -3.43337968e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43242808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:-0.34, Z:-0.05 [[ 9.99977261e-01 6.74369712e-03 0.00000000e+00 9.48464948e+01] [-6.74369712e-03 9.99977261e-01 0.00000000e+00 -3.44648812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44115636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.88, Y:-0.35, Z:-0.05 [[ 9.99997764e-01 2.11477597e-03 0.00000000e+00 9.48766546e+01] [-2.11477597e-03 9.99997764e-01 0.00000000e+00 -3.47132972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49657382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:-0.35, Z:-0.04 [[ 9.99999957e-01 2.94617118e-04 0.00000000e+00 9.49076948e+01] [-2.94617118e-04 9.99999957e-01 0.00000000e+00 -3.48925736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07690845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:-0.35, Z:-0.05 [[ 9.99980729e-01 -6.20812014e-03 0.00000000e+00 9.49376953e+01] [ 6.20812014e-03 9.99980729e-01 0.00000000e+00 -3.47941984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69928609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:-0.35, Z:-0.06 [[ 9.99923964e-01 -1.23315517e-02 0.00000000e+00 9.49682569e+01] [ 1.23315517e-02 9.99923964e-01 0.00000000e+00 -3.47079179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93500945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:-0.35, Z:-0.06 [[ 9.99880742e-01 -1.54434722e-02 0.00000000e+00 9.49999551e+01] [ 1.54434722e-02 9.99880742e-01 0.00000000e+00 -3.48155514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80275972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:-0.35, Z:-0.05 [[ 9.99910679e-01 -1.33654304e-02 0.00000000e+00 9.50322648e+01] [ 1.33654304e-02 9.99910679e-01 0.00000000e+00 -3.52522882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63215514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:-0.35, Z:-0.05 [[ 9.99886966e-01 -1.50351402e-02 0.00000000e+00 9.50614732e+01] [ 1.50351402e-02 9.99886966e-01 0.00000000e+00 -3.53765428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33436011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:-0.35, Z:-0.05 [[ 9.99917583e-01 -1.28385240e-02 0.00000000e+00 9.50929677e+01] [ 1.28385240e-02 9.99917583e-01 0.00000000e+00 -3.54176328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43536914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:-0.35, Z:-0.06 [[ 9.99943107e-01 -1.06669161e-02 0.00000000e+00 9.51241057e+01] [ 1.06669161e-02 9.99943107e-01 0.00000000e+00 -3.53977204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67115459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:-0.36, Z:-0.06 [[ 9.99962947e-01 -8.60841796e-03 0.00000000e+00 9.51548388e+01] [ 8.60841796e-03 9.99962947e-01 0.00000000e+00 -3.55168325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95614708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:-0.36, Z:-0.06 [[ 9.99980667e-01 -6.21821801e-03 0.00000000e+00 9.51854954e+01] [ 6.21821801e-03 9.99980667e-01 0.00000000e+00 -3.60382007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03176330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:-0.36, Z:-0.06 [[ 9.99982116e-01 -5.98059972e-03 0.00000000e+00 9.52163876e+01] [ 5.98059972e-03 9.99982116e-01 0.00000000e+00 -3.62371981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78634917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:-0.36, Z:-0.06 [[ 9.99985372e-01 -5.40894298e-03 0.00000000e+00 9.52472926e+01] [ 5.40894298e-03 9.99985372e-01 0.00000000e+00 -3.62962949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55868494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:-0.36, Z:-0.05 [[ 9.99990800e-01 -4.28961775e-03 0.00000000e+00 9.52782220e+01] [ 4.28961775e-03 9.99990800e-01 0.00000000e+00 -3.63042371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42053572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:-0.36, Z:-0.05 [[ 9.99996015e-01 -2.82328068e-03 0.00000000e+00 9.53091084e+01] [ 2.82328068e-03 9.99996015e-01 0.00000000e+00 -3.64376672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34225543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:-0.37, Z:-0.06 [[ 9.99999342e-01 -1.14729514e-03 0.00000000e+00 9.53393557e+01] [ 1.14729514e-03 9.99999342e-01 0.00000000e+00 -3.72794916e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65385107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:-0.38, Z:-0.06 [[ 9.99999981e-01 1.94294672e-04 0.00000000e+00 9.53695906e+01] [-1.94294672e-04 9.99999981e-01 0.00000000e+00 -3.75949652e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74715507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:-0.38, Z:-0.06 [[ 9.99999510e-01 9.90353884e-04 0.00000000e+00 9.53998072e+01] [-9.90353884e-04 9.99999510e-01 0.00000000e+00 -3.77218473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87567952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.43, Y:-0.38, Z:-0.05 [[ 9.99983990e-01 5.65853216e-03 0.00000000e+00 9.54311093e+01] [-5.65853216e-03 9.99983990e-01 0.00000000e+00 -3.78649529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95402651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:-0.38, Z:-0.06 [[ 9.99976688e-01 6.82809071e-03 0.00000000e+00 9.54609674e+01] [-6.82809071e-03 9.99976688e-01 0.00000000e+00 -3.79990443e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70757642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:-0.38, Z:-0.06 [[ 9.99953266e-01 9.66773865e-03 0.00000000e+00 9.54914310e+01] [-9.66773865e-03 9.99953266e-01 0.00000000e+00 -3.80706755e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51446737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:-0.38, Z:-0.06 [[ 9.99927290e-01 1.20588013e-02 0.00000000e+00 9.55217612e+01] [-1.20588013e-02 9.99927290e-01 0.00000000e+00 -3.80771259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60673936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:-0.38, Z:-0.06 [[ 9.99858501e-01 1.68219588e-02 0.00000000e+00 9.55525062e+01] [-1.68219588e-02 9.99858501e-01 0.00000000e+00 -3.81189584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83433564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:-0.38, Z:-0.06 [[ 9.99858501e-01 1.68219588e-02 0.00000000e+00 9.55835029e+01] [-1.68219588e-02 9.99858501e-01 0.00000000e+00 -3.81150138e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83433564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:-0.38, Z:-0.06 [[ 9.99828716e-01 1.85077731e-02 0.00000000e+00 9.56140434e+01] [-1.85077731e-02 9.99828716e-01 0.00000000e+00 -3.83183462e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82180780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:-0.39, Z:-0.05 [[ 9.99856767e-01 1.69246781e-02 0.00000000e+00 9.56448889e+01] [-1.69246781e-02 9.99856767e-01 0.00000000e+00 -3.85028984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96519408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:-0.38, Z:-0.06 [[ 9.99854181e-01 1.70767708e-02 0.00000000e+00 9.56748036e+01] [-1.70767708e-02 9.99854181e-01 0.00000000e+00 -3.83290833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54278617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:-0.38, Z:-0.06 [[ 9.99878962e-01 1.55582944e-02 0.00000000e+00 9.57057624e+01] [-1.55582944e-02 9.99878962e-01 0.00000000e+00 -3.78375844e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60845557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:-0.38, Z:-0.06 [[ 9.99888258e-01 1.49489717e-02 0.00000000e+00 9.57358418e+01] [-1.49489717e-02 9.99888258e-01 0.00000000e+00 -3.78450839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76161818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:-0.38, Z:-0.06 [[ 9.99880528e-01 1.54573778e-02 0.00000000e+00 9.57667144e+01] [-1.54573778e-02 9.99880528e-01 0.00000000e+00 -3.79462854e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79484030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-0.38, Z:-0.06 [[ 9.99882051e-01 1.53585310e-02 0.00000000e+00 9.57974141e+01] [-1.53585310e-02 9.99882051e-01 0.00000000e+00 -3.79576318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81804156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:-0.38, Z:-0.05 [[ 9.99871951e-01 1.60025461e-02 0.00000000e+00 9.58283267e+01] [-1.60025461e-02 9.99871951e-01 0.00000000e+00 -3.77687610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39784990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:-0.38, Z:-0.05 [[ 9.99883593e-01 1.52577944e-02 0.00000000e+00 9.58591503e+01] [-1.52577944e-02 9.99883593e-01 0.00000000e+00 -3.75802330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21357230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:-0.37, Z:-0.05 [[ 9.99888394e-01 1.49398877e-02 0.00000000e+00 9.58900980e+01] [-1.49398877e-02 9.99888394e-01 0.00000000e+00 -3.73017884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29290795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:-0.37, Z:-0.05 [[ 9.99901153e-01 1.40600354e-02 0.00000000e+00 9.59204607e+01] [-1.40600354e-02 9.99901153e-01 0.00000000e+00 -3.71470420e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46352322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-0.37, Z:-0.05 [[ 9.99856876e-01 1.69182332e-02 0.00000000e+00 9.59518548e+01] [-1.69182332e-02 9.99856876e-01 0.00000000e+00 -3.72024000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80104577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:-0.38, Z:-0.06 [[ 9.99908929e-01 1.34957234e-02 0.00000000e+00 9.59798720e+01] [-1.34957234e-02 9.99908929e-01 0.00000000e+00 -3.78343645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03707001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:-0.38, Z:-0.06 [[ 9.99906018e-01 1.37096397e-02 0.00000000e+00 9.60107943e+01] [-1.37096397e-02 9.99906018e-01 0.00000000e+00 -3.78822336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82135122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:-0.38, Z:-0.06 [[ 9.99903657e-01 1.38807789e-02 0.00000000e+00 9.60409323e+01] [-1.38807789e-02 9.99903657e-01 0.00000000e+00 -3.76978718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69339742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:-0.37, Z:-0.05 [[ 9.99896355e-01 1.43972298e-02 0.00000000e+00 9.60713481e+01] [-1.43972298e-02 9.99896355e-01 0.00000000e+00 -3.71542304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29325758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:-0.37, Z:-0.05 [[ 9.99873482e-01 1.59066091e-02 0.00000000e+00 9.61015729e+01] [-1.59066091e-02 9.99873482e-01 0.00000000e+00 -3.70157630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29532287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:-0.37, Z:-0.05 [[ 9.99843431e-01 1.76949913e-02 0.00000000e+00 9.61321223e+01] [-1.76949913e-02 9.99843431e-01 0.00000000e+00 -3.70030614e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43319331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-0.37, Z:-0.06 [[ 9.99803288e-01 1.98339611e-02 0.00000000e+00 9.61620261e+01] [-1.98339611e-02 9.99803288e-01 0.00000000e+00 -3.70504286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63008793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:-0.37, Z:-0.06 [[ 9.99747004e-01 2.24928434e-02 0.00000000e+00 9.61929810e+01] [-2.24928434e-02 9.99747004e-01 0.00000000e+00 -3.69409699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08243652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:-0.37, Z:-0.06 [[ 9.99744896e-01 2.25863319e-02 0.00000000e+00 9.62238500e+01] [-2.25863319e-02 9.99744896e-01 0.00000000e+00 -3.67775216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91030554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:-0.37, Z:-0.06 [[ 9.99757770e-01 2.20091174e-02 0.00000000e+00 9.62538946e+01] [-2.20091174e-02 9.99757770e-01 0.00000000e+00 -3.65283305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68426849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:-0.36, Z:-0.05 [[ 9.99746520e-01 2.25143233e-02 0.00000000e+00 9.62838666e+01] [-2.25143233e-02 9.99746520e-01 0.00000000e+00 -3.62535287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45282397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-0.36, Z:-0.05 [[ 9.99750868e-01 2.23204442e-02 0.00000000e+00 9.63132490e+01] [-2.23204442e-02 9.99750868e-01 0.00000000e+00 -3.61338975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36109065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-0.36, Z:-0.06 [[ 9.99756422e-01 2.20702606e-02 0.00000000e+00 9.63433681e+01] [-2.20702606e-02 9.99756422e-01 0.00000000e+00 -3.61571259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54607760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:-0.36, Z:-0.06 [[ 9.99778852e-01 2.10296878e-02 0.00000000e+00 9.63731984e+01] [-2.10296878e-02 9.99778852e-01 0.00000000e+00 -3.60181140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71036517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:-0.36, Z:-0.05 [[ 9.99763065e-01 2.17672701e-02 0.00000000e+00 9.64049036e+01] [-2.17672701e-02 9.99763065e-01 0.00000000e+00 -3.58352882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82581183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:-0.36, Z:-0.06 [[ 9.99830897e-01 1.83896019e-02 0.00000000e+00 9.64342608e+01] [-1.83896019e-02 9.99830897e-01 0.00000000e+00 -3.56676091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67912946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:-0.35, Z:-0.05 [[ 9.99846060e-01 1.75458470e-02 0.00000000e+00 9.64671975e+01] [-1.75458470e-02 9.99846060e-01 0.00000000e+00 -3.53815606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50069965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:-0.35, Z:-0.06 [[ 9.99902245e-01 1.39821165e-02 0.00000000e+00 9.64953146e+01] [-1.39821165e-02 9.99902245e-01 0.00000000e+00 -3.53073728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56240814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:-0.35, Z:-0.06 [[ 9.99930677e-01 1.17745920e-02 0.00000000e+00 9.65251086e+01] [-1.17745920e-02 9.99930677e-01 0.00000000e+00 -3.52396752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58808758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:-0.35, Z:-0.05 [[ 9.99966314e-01 8.20797840e-03 0.00000000e+00 9.65555906e+01] [-8.20797840e-03 9.99966314e-01 0.00000000e+00 -3.52890219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38597661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:-0.36, Z:-0.05 [[ 9.99983877e-01 5.67852080e-03 0.00000000e+00 9.65863050e+01] [-5.67852080e-03 9.99983877e-01 0.00000000e+00 -3.55659855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29541255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:-0.36, Z:-0.05 [[ 9.99994914e-01 3.18948928e-03 0.00000000e+00 9.66167443e+01] [-3.18948928e-03 9.99994914e-01 0.00000000e+00 -3.58714798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22329785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:-0.36, Z:-0.05 [[ 9.99999881e-01 4.87957385e-04 0.00000000e+00 9.66467590e+01] [-4.87957385e-04 9.99999881e-01 0.00000000e+00 -3.60918673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28165155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:-0.36, Z:-0.04 [[ 9.99999034e-01 -1.39016375e-03 0.00000000e+00 9.66770174e+01] [ 1.39016375e-03 9.99999034e-01 0.00000000e+00 -3.62273506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49997608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-0.36, Z:-0.05 [[ 9.99992481e-01 -3.87782332e-03 0.00000000e+00 9.67077599e+01] [ 3.87782332e-03 9.99992481e-01 0.00000000e+00 -3.62624984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34725989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:-0.36, Z:-0.04 [[ 9.99997277e-01 -2.33368091e-03 0.00000000e+00 9.67382707e+01] [ 2.33368091e-03 9.99997277e-01 0.00000000e+00 -3.64068844e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21546584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342320588 meters Centerline goodness : 0.894804 Centerline is valid? [True, False] Translation: X:96.76, Y:-0.35, Z:-0.04 [[ 9.99975741e-01 -4.22138168e-03 -5.54049838e-03 9.67602652e+01] [ 4.15297063e-03 9.99915710e-01 -1.23014157e-02 -3.54789073e-01] [ 5.59196034e-03 1.22781077e-02 9.99908985e-01 -3.73932016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:96.74, Y:-0.35, Z:-0.04 [[ 9.99997991e-01 -1.72582650e-03 -1.01997931e-03 9.67403521e+01] [ 1.70472244e-03 9.99791637e-01 -2.03414831e-02 -3.46951058e-01] [ 1.05487265e-03 2.03397035e-02 9.99792570e-01 -4.37525999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:-0.37, Z:-0.04 [[ 9.99999334e-01 -4.55601311e-06 -1.15382385e-03 9.67708884e+01] [ 4.54726864e-06 1.00000000e+00 -7.58131649e-06 -3.67303189e-01] [ 1.15382388e-03 7.57606470e-06 9.99999334e-01 -3.93365224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:-0.37, Z:-0.05 [[ 9.99996651e-01 -2.31667512e-03 -1.15388607e-03 9.68004638e+01] [ 2.31667864e-03 9.99997316e-01 1.71267009e-06 -3.70597328e-01] [ 1.15387900e-03 -4.38584756e-06 9.99999334e-01 -4.71427882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:-0.38, Z:-0.04 [[ 9.99994909e-01 -2.97496464e-03 -1.15382296e-03 9.68304596e+01] [ 2.97495772e-03 9.99995575e-01 -7.71965229e-06 -3.75774155e-01] [ 1.15384082e-03 4.28703848e-06 9.99999334e-01 -3.81983179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:-0.38, Z:-0.04 [[ 9.99980786e-01 -6.09060140e-03 -1.15385202e-03 9.68600264e+01] [ 6.09060142e-03 9.99981452e-01 -3.49536108e-06 -3.79360097e-01] [ 1.15385191e-03 -3.53235883e-06 9.99999334e-01 -4.48811004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:-0.38, Z:-0.04 [[ 9.99938115e-01 -1.10650676e-02 -1.15382091e-03 9.68899211e+01] [ 1.10650658e-02 9.99938780e-01 -7.98840619e-06 -3.80078050e-01] [ 1.15383867e-03 -4.77919251e-06 9.99999334e-01 -4.09137109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:-0.38, Z:-0.03 [[ 9.99916631e-01 -1.28607760e-02 -1.15382038e-03 9.69198696e+01] [ 1.28607753e-02 9.99917297e-01 -8.06491734e-06 -3.80769480e-01] [ 1.15382868e-03 -6.77477964e-06 9.99999334e-01 -3.35696571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:-0.38, Z:-0.04 [[ 9.99872092e-01 -1.59520906e-02 -1.15383682e-03 9.69502560e+01] [ 1.59520947e-02 9.99872757e-01 -5.69801796e-06 -3.84453531e-01] [ 1.15378090e-03 -1.27088250e-05 9.99999334e-01 -4.37904063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:-0.39, Z:-0.04 [[ 9.99823660e-01 -1.87434879e-02 -1.15381935e-03 9.69803611e+01] [ 1.87434909e-02 9.99824325e-01 -8.16652044e-06 -3.90199578e-01] [ 1.15376972e-03 -1.34615221e-05 9.99999334e-01 -4.45368637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:-0.40, Z:-0.04 [[ 9.99781127e-01 -2.08893960e-02 -1.15381881e-03 9.70101798e+01] [ 2.08894004e-02 9.99781793e-01 -8.24156928e-06 -3.99663178e-01] [ 1.15373920e-03 -1.58628178e-05 9.99999334e-01 -3.73605185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:-0.40, Z:-0.04 [[ 9.99768289e-01 -2.14950423e-02 -1.15383793e-03 9.70408835e+01] [ 2.14950502e-02 9.99768955e-01 -5.56488769e-06 -4.02091780e-01] [ 1.15369096e-03 -1.92382061e-05 9.99999334e-01 -4.46792595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:-0.40, Z:-0.04 [[ 9.99815457e-01 -1.91760261e-02 -1.15382096e-03 9.70701558e+01] [ 1.91760296e-02 9.99816123e-01 -8.01001900e-06 -4.04144386e-01] [ 1.15376240e-03 -1.41171641e-05 9.99999334e-01 -3.52643257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:-0.41, Z:-0.03 [[ 9.99855168e-01 -1.69797326e-02 -1.15383896e-03 9.70996917e+01] [ 1.69797376e-02 9.99855834e-01 -5.44998369e-06 -4.08593115e-01] [ 1.15376516e-03 -1.41426885e-05 9.99999334e-01 -3.09874972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:-0.41, Z:-0.04 [[ 9.99851558e-01 -1.71910061e-02 -1.15383196e-03 9.71297507e+01] [ 1.71910102e-02 9.99852224e-01 -6.43660173e-06 -4.11752600e-01] [ 1.15377210e-03 -1.33998907e-05 9.99999334e-01 -4.09622254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:-0.42, Z:-0.03 [[ 9.99899014e-01 -1.41644044e-02 -1.15382044e-03 9.71597070e+01] [ 1.41644045e-02 9.99899680e-01 -8.08107345e-06 -4.15346708e-01] [ 1.15381916e-03 -8.26292218e-06 9.99999334e-01 -3.09971078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:-0.42, Z:-0.04 [[ 9.99906107e-01 -1.36545147e-02 -1.15385077e-03 9.71897595e+01] [ 1.36545194e-02 9.99906773e-01 -3.78972375e-06 -4.18668705e-01] [ 1.15379495e-03 -1.19659099e-05 9.99999334e-01 -4.20904907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-0.42, Z:-0.04 [[ 9.99970100e-01 -7.64640492e-03 -1.15381945e-03 9.72185955e+01] [ 7.64640055e-03 9.99970766e-01 -8.19796980e-06 -4.21043034e-01] [ 1.15384841e-03 -6.24841017e-07 9.99999334e-01 -4.40867619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:-0.42, Z:-0.04 [[ 9.99994518e-01 -3.10355017e-03 -1.15381863e-03 9.72486143e+01] [ 3.10354265e-03 9.99995184e-01 -8.31224942e-06 -4.18288683e-01] [ 1.15383887e-03 4.73127853e-06 9.99999334e-01 -4.41927391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:-0.41, Z:-0.04 [[ 9.99999327e-01 -1.21361363e-04 -1.15381807e-03 9.72782384e+01] [ 1.21351764e-04 9.99999993e-01 -8.38946785e-06 -4.14453299e-01] [ 1.15381908e-03 8.24944435e-06 9.99999334e-01 -4.38568849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:-0.41, Z:-0.04 [[ 9.99993111e-01 3.52802050e-03 -1.15381750e-03 9.73079574e+01] [-3.52803262e-03 9.99993776e-01 -8.46708309e-06 -4.10698259e-01] [ 1.15378045e-03 1.25377305e-05 9.99999334e-01 -4.23189681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:-0.41, Z:-0.04 [[ 9.99953822e-01 9.54059297e-03 -1.15381693e-03 9.73373150e+01] [-9.54060918e-03 9.99954487e-01 -8.54386297e-06 -4.08954489e-01] [ 1.15368290e-03 1.95515848e-05 9.99999334e-01 -4.15767695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:-0.41, Z:-0.04 [[ 9.99919733e-01 1.26172746e-02 -1.15381636e-03 9.73671858e+01] [-1.26172930e-02 9.99920399e-01 -8.62043367e-06 -4.08554218e-01] [ 1.15361575e-03 2.31777808e-05 9.99999334e-01 -4.18907967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:-0.41, Z:-0.04 [[ 9.99894406e-01 1.44860337e-02 -1.15381579e-03 9.73964020e+01] [-1.44860534e-02 9.99895072e-01 -8.69585713e-06 -4.05912180e-01] [ 1.15356875e-03 2.54091760e-05 9.99999334e-01 -4.18886326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:-0.40, Z:-0.04 [[ 9.99871144e-01 1.60113551e-02 -1.15381522e-03 9.74260829e+01] [-1.60113758e-02 9.99871810e-01 -8.77066255e-06 -4.01197586e-01] [ 1.15352688e-03 2.72437016e-05 9.99999334e-01 -4.28474707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:-0.40, Z:-0.04 [[ 9.99872164e-01 1.59475755e-02 -1.15381465e-03 9.74562435e+01] [-1.59475963e-02 9.99872829e-01 -8.84466459e-06 -4.00981497e-01] [ 1.15352687e-03 2.72441042e-05 9.99999334e-01 -4.28126701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:-0.40, Z:-0.04 [[ 9.99861930e-01 1.65767581e-02 -1.15381409e-03 9.74862053e+01] [-1.65767794e-02 9.99862596e-01 -8.91826378e-06 -3.96031768e-01] [ 1.15350771e-03 2.80435540e-05 9.99999334e-01 -4.28300050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:-0.39, Z:-0.04 [[ 9.99870812e-01 1.60321156e-02 -1.15381414e-03 9.75160449e+01] [-1.60321366e-02 9.99871477e-01 -8.91076305e-06 -3.89128910e-01] [ 1.15352299e-03 2.74077178e-05 9.99999334e-01 -4.37666176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:-0.38, Z:-0.04 [[ 9.99874786e-01 1.57823330e-02 -1.15381356e-03 9.75458956e+01] [-1.57823539e-02 9.99875451e-01 -8.98501667e-06 -3.84741696e-01] [ 1.15352805e-03 2.71937856e-05 9.99999334e-01 -4.34045653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:-0.38, Z:-0.04 [[ 9.99872015e-01 1.59568940e-02 -1.15381298e-03 9.75751269e+01] [-1.59569151e-02 9.99872680e-01 -9.05958031e-06 -3.78936406e-01] [ 1.15352151e-03 2.74697165e-05 9.99999334e-01 -4.15704773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:-0.37, Z:-0.04 [[ 9.99865569e-01 1.63557963e-02 -1.15381239e-03 9.76045840e+01] [-1.63558178e-02 9.99866235e-01 -9.13372137e-06 -3.73007354e-01] [ 1.15350866e-03 2.80040387e-05 9.99999334e-01 -4.11033637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:-0.37, Z:-0.04 [[ 9.99851209e-01 1.72113118e-02 -1.15381180e-03 9.76359614e+01] [-1.72113338e-02 9.99851874e-01 -9.20821448e-06 -3.67325563e-01] [ 1.15348240e-03 2.90654844e-05 9.99999334e-01 -3.60585248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:-0.36, Z:-0.04 [[ 9.99874416e-01 1.58057081e-02 -1.15386478e-03 9.76657749e+01] [-1.58057216e-02 9.99875082e-01 -2.58984977e-06 -3.64482102e-01] [ 1.15367970e-03 2.08271899e-05 9.99999334e-01 -4.25088250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:-0.36, Z:-0.04 [[ 9.99894760e-01 1.44615914e-02 -1.15380904e-03 9.76953735e+01] [-1.44616119e-02 9.99895425e-01 -9.41809168e-06 -3.60360406e-01] [ 1.15355218e-03 2.61030390e-05 9.99999334e-01 -4.15818237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:-0.36, Z:-0.04 [[ 9.99910466e-01 1.33315069e-02 -1.15380842e-03 9.77245811e+01] [-1.33315267e-02 9.99911131e-01 -9.49371756e-06 -3.56985305e-01] [ 1.15357931e-03 2.48748953e-05 9.99999334e-01 -4.04092619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:-0.36, Z:-0.04 [[ 9.99972084e-01 7.38244310e-03 -1.15380779e-03 9.77538742e+01] [-7.38245906e-03 9.99972749e-01 -9.56934339e-06 -3.59100712e-01] [ 1.15370570e-03 1.80870150e-05 9.99999334e-01 -4.19927965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:-0.36, Z:-0.03 [[ 9.99991169e-01 4.04107702e-03 -1.15380715e-03 9.77839052e+01] [-4.04109084e-03 9.99991835e-01 -9.64534978e-06 -3.61692457e-01] [ 1.15375876e-03 1.43079041e-05 9.99999334e-01 -3.47354143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:-0.36, Z:-0.04 [[ 9.99998953e-01 8.73685248e-04 -1.15383949e-03 9.78134989e+01] [-8.73692559e-04 9.99999618e-01 -5.83260957e-06 -3.61644365e-01] [ 1.15383395e-03 6.84070443e-06 9.99999334e-01 -3.59759499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:-0.36, Z:-0.03 [[ 9.99984540e-01 -5.43943011e-03 -1.15385521e-03 9.78439146e+01] [ 5.43942914e-03 9.99985206e-01 -3.98087048e-06 -3.57327858e-01] [ 1.15385979e-03 -2.29550470e-06 9.99999334e-01 -3.31524377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:-0.36, Z:-0.04 [[ 9.99968287e-01 -7.87997319e-03 -1.15384810e-03 9.78739259e+01] [ 7.87997291e-03 9.99968953e-01 -4.79328643e-06 -3.56473238e-01] [ 1.15385004e-03 -4.29915733e-06 9.99999334e-01 -4.25672572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:-0.36, Z:-0.03 [[ 9.99977733e-01 -6.57287485e-03 -1.15380215e-03 9.79041300e+01] [ 6.57286761e-03 9.99978398e-01 -1.00619990e-05 -3.57600801e-01] [ 1.15384336e-03 2.47798615e-06 9.99999334e-01 -3.01755164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:-0.36, Z:-0.04 [[ 9.99972918e-01 -7.26857133e-03 -1.15385589e-03 9.79335603e+01] [ 7.26857177e-03 9.99973584e-01 -3.81753046e-06 -3.58770040e-01] [ 1.15385315e-03 -4.56945725e-06 9.99999334e-01 -3.89843513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.96, Y:-0.36, Z:-0.03 [[ 9.99986582e-01 -5.05011440e-03 -1.15380448e-03 9.79639092e+01] [ 5.05010641e-03 9.99987248e-01 -9.84342189e-06 -3.57797211e-01] [ 1.15383948e-03 4.01645442e-06 9.99999334e-01 -3.20271588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:-0.36, Z:-0.03 [[ 9.99993949e-01 -3.28196760e-03 -1.15384587e-03 9.79930580e+01] [ 3.28196413e-03 9.99994614e-01 -4.90473537e-06 -3.55769774e-01] [ 1.15385575e-03 1.11782494e-06 9.99999334e-01 -3.26456520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:-0.36, Z:-0.04 [[ 9.99986192e-01 -5.12684097e-03 -1.15383367e-03 9.80228919e+01] [ 5.12683712e-03 9.99986858e-01 -6.29430771e-06 -3.58735126e-01] [ 1.15385077e-03 3.78703527e-07 9.99999334e-01 -4.16360342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-0.36, Z:-0.03 [[ 9.99980720e-01 -6.10155960e-03 -1.15379868e-03 9.80531331e+01] [ 6.10155184e-03 9.99981385e-01 -1.02377165e-05 -3.63420611e-01] [ 1.15383966e-03 3.19755671e-06 9.99999334e-01 -3.45444824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:-0.37, Z:-0.04 [[ 9.99945267e-01 -1.03986169e-02 -1.15386443e-03 9.80824583e+01] [ 1.03986206e-02 9.99945933e-01 -2.81864749e-06 -3.66504950e-01] [ 1.15383135e-03 -9.18010517e-06 9.99999334e-01 -4.04597381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:-0.37, Z:-0.04 [[ 9.99889704e-01 -1.48070787e-02 -1.15379609e-03 9.81118986e+01] [ 1.48070766e-02 9.99890369e-01 -1.04000144e-05 -3.67496994e-01] [ 1.15382359e-03 -6.68547982e-06 9.99999334e-01 -3.83871266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-0.37, Z:-0.04 [[ 9.99878016e-01 -1.55763510e-02 -1.15379540e-03 9.81413675e+01] [ 1.55763493e-02 9.99878681e-01 -1.04756837e-05 -3.67793667e-01] [ 1.15381860e-03 -7.49751440e-06 9.99999334e-01 -3.84639420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-0.37, Z:-0.04 [[ 9.99886619e-01 -1.50139064e-02 -1.15379472e-03 9.81711502e+01] [ 1.50139042e-02 9.99887285e-01 -1.05511198e-05 -3.67762586e-01] [ 1.15382308e-03 -6.77303989e-06 9.99999334e-01 -3.84435058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:-0.37, Z:-0.03 [[ 9.99935655e-01 -1.12851313e-02 -1.15379402e-03 9.82012226e+01] [ 1.12851266e-02 9.99936321e-01 -1.06261095e-05 -3.67157891e-01] [ 1.15384047e-03 -2.39528580e-06 9.99999334e-01 -3.05919491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:-0.37, Z:-0.04 [[ 9.99963894e-01 -8.41903205e-03 -1.15385148e-03 9.82304236e+01] [ 8.41903254e-03 9.99964559e-01 -4.43081194e-06 -3.65319737e-01] [ 1.15384789e-03 -5.28366120e-06 9.99999334e-01 -3.73114430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:-0.36, Z:-0.04 [[ 9.99978679e-01 -6.42729111e-03 -1.15378924e-03 9.82600591e+01] [ 6.42728273e-03 9.99979345e-01 -1.09740589e-05 -3.64565481e-01] [ 1.15383595e-03 3.55809525e-06 9.99999334e-01 -3.66059257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:-0.37, Z:-0.04 [[ 9.99979909e-01 -6.23303391e-03 -1.15378851e-03 9.82899931e+01] [ 6.23302531e-03 9.99980574e-01 -1.10510180e-05 -3.65607874e-01] [ 1.15383498e-03 3.85920296e-06 9.99999334e-01 -3.63145018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:-0.37, Z:-0.04 [[ 9.99976995e-01 -6.68411161e-03 -1.15378777e-03 9.83192655e+01] [ 6.68410322e-03 9.99977661e-01 -1.11279165e-05 -3.67189950e-01] [ 1.15383637e-03 3.41562401e-06 9.99999334e-01 -3.62913681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.992320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.35, Y:-0.37, Z:-0.03 [[ 9.99974190e-01 -7.09142790e-03 -1.15378702e-03 9.83500984e+01] [ 7.09141969e-03 9.99974856e-01 -1.12046944e-05 -3.69629588e-01] [ 1.15383747e-03 3.02241723e-06 9.99999334e-01 -2.68565618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:-0.37, Z:-0.04 [[ 9.99971125e-01 -7.51115174e-03 -1.15381274e-03 9.83798923e+01] [ 7.51114689e-03 9.99971791e-01 -8.53747339e-06 -3.68835949e-01] [ 1.15384432e-03 -1.29230101e-07 9.99999334e-01 -3.54303492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:-0.37, Z:-0.03 [[ 9.99974575e-01 -7.03687375e-03 -1.15378965e-03 9.84097854e+01] [ 7.03686578e-03 9.99975241e-01 -1.09663742e-05 -3.66785417e-01] [ 1.15383826e-03 2.84703246e-06 9.99999334e-01 -3.48301767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:-0.36, Z:-0.03 [[ 9.99978219e-01 -6.49840757e-03 -1.15378892e-03 9.84399289e+01] [ 6.49839915e-03 9.99978885e-01 -1.10431522e-05 -3.64378160e-01] [ 1.15383632e-03 3.54513077e-06 9.99999334e-01 -3.40092542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:-0.36, Z:-0.02 [[ 9.99995154e-01 -2.89162412e-03 -1.15378855e-03 9.84702814e+01] [ 2.89161326e-03 9.99995819e-01 -1.10815148e-05 -3.64797371e-01] [ 1.15381577e-03 7.74515085e-06 9.99999334e-01 -2.42750572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:-0.37, Z:-0.02 [[ 9.99996891e-01 -2.21072796e-03 -1.15383665e-03 9.85001966e+01] [ 2.21072232e-03 9.99997556e-01 -6.16577110e-06 -3.66148578e-01] [ 1.15384746e-03 3.61493949e-06 9.99999334e-01 -1.94340955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:-0.37, Z:-0.03 [[ 9.99996739e-01 -2.27824047e-03 -1.15381181e-03 9.85298988e+01] [ 2.27823193e-03 9.99997405e-01 -8.71567396e-06 -3.67586870e-01] [ 1.15382867e-03 6.08699463e-06 9.99999334e-01 -3.29224731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:-0.37, Z:-0.03 [[ 9.99995271e-01 -2.85065998e-03 -1.15378507e-03 9.85595274e+01] [ 2.85064870e-03 9.99995937e-01 -1.14178254e-05 -3.68118751e-01] [ 1.15381293e-03 8.12873546e-06 9.99999334e-01 -3.34581511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:-0.37, Z:-0.03 [[ 9.99995915e-01 -2.61512116e-03 -1.15378430e-03 9.85893779e+01] [ 2.61510964e-03 9.99996581e-01 -1.14951173e-05 -3.66056941e-01] [ 1.15381042e-03 8.47779788e-06 9.99999334e-01 -3.37983654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:-0.36, Z:-0.02 [[ 9.99997602e-01 -1.86155753e-03 -1.15378353e-03 9.86194378e+01] [ 1.86154542e-03 9.99998267e-01 -1.15721365e-05 -3.64660216e-01] [ 1.15380307e-03 9.42428831e-06 9.99999334e-01 -2.46789318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:-0.36, Z:-0.03 [[ 9.99995279e-01 -2.84774601e-03 -1.15384247e-03 9.86491732e+01] [ 2.84774138e-03 9.99995945e-01 -5.66187314e-06 -3.64176108e-01] [ 1.15385392e-03 2.37600147e-06 9.99999334e-01 -2.53818251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:-0.36, Z:-0.03 [[ 9.99996084e-01 -2.54984394e-03 -1.15380867e-03 9.86794832e+01] [ 2.54983528e-03 9.99996749e-01 -8.97627394e-06 -3.64662298e-01] [ 1.15382781e-03 6.03421673e-06 9.99999334e-01 -3.26035883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:-0.36, Z:-0.03 [[ 9.99999200e-01 -5.18104573e-04 -1.15377803e-03 9.87086619e+01] [ 5.18091145e-04 9.99999866e-01 -1.19374497e-05 -3.64410116e-01] [ 1.15378406e-03 1.13396780e-05 9.99999334e-01 -3.35374726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:-0.36, Z:-0.02 [[ 9.99999255e-01 3.97494043e-04 -1.15377724e-03 9.87384913e+01] [-3.97508169e-04 9.99999921e-01 -1.20140323e-05 -3.62871615e-01] [ 1.15377237e-03 1.24726592e-05 9.99999334e-01 -2.39443978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:-0.36, Z:-0.03 [[ 9.99998381e-01 1.38067544e-03 -1.15374830e-03 9.87690548e+01] [-1.38069339e-03 9.99999047e-01 -1.47615702e-05 -3.61727155e-01] [ 1.15372682e-03 1.63545190e-05 9.99999334e-01 -3.49823846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:-0.36, Z:-0.03 [[ 9.99999176e-01 5.62981549e-04 -1.15377372e-03 9.87991285e+01] [-5.62996225e-04 9.99999841e-01 -1.23954656e-05 -3.60944346e-01] [ 1.15376656e-03 1.30450256e-05 9.99999334e-01 -3.41204912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:-0.36, Z:-0.03 [[ 9.99993829e-01 -3.31824083e-03 -1.15377289e-03 9.88289641e+01] [ 3.31822864e-03 9.99994495e-01 -1.24722280e-05 -3.63012441e-01] [ 1.15380793e-03 8.64366880e-06 9.99999334e-01 -3.25055020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:-0.36, Z:-0.03 [[ 9.99974355e-01 -7.06804235e-03 -1.15377204e-03 9.88587745e+01] [ 7.06803257e-03 9.99975021e-01 -1.25501171e-05 -3.64557183e-01] [ 1.15383193e-03 4.39489683e-06 9.99999334e-01 -3.35622587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:-0.37, Z:-0.03 [[ 9.99946528e-01 -1.02766293e-02 -1.15377120e-03 9.88879582e+01] [ 1.02766215e-02 9.99947194e-01 -1.26276678e-05 -3.65194924e-01] [ 1.15384004e-03 7.70122621e-07 9.99999334e-01 -2.92052252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:-0.36, Z:-0.04 [[ 9.99875303e-01 -1.57494880e-02 -1.15378699e-03 9.89173862e+01] [ 1.57494856e-02 9.99875969e-01 -1.11705287e-05 -3.64896011e-01] [ 1.15381981e-03 -7.00241587e-06 9.99999334e-01 -3.66659742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:-0.37, Z:-0.04 [[ 9.99854363e-01 -1.70270910e-02 -1.15377329e-03 9.89468987e+01] [ 1.70270879e-02 9.99855029e-01 -1.24408158e-05 -3.65426688e-01] [ 1.15381786e-03 -7.20639530e-06 9.99999334e-01 -3.61613388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:-0.37, Z:-0.03 [[ 9.99823909e-01 -1.87302049e-02 -1.15377247e-03 9.89767811e+01] [ 1.87302029e-02 9.99824574e-01 -1.25164393e-05 -3.66677685e-01] [ 1.15380450e-03 -9.09615716e-06 9.99999334e-01 -3.42247654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:-0.37, Z:-0.03 [[ 9.99793319e-01 -2.02974776e-02 -1.15377164e-03 9.90067472e+01] [ 2.02974766e-02 9.99793985e-01 -1.25923703e-05 -3.69017463e-01] [ 1.15378954e-03 -1.08288852e-05 9.99999334e-01 -3.47158812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:-0.37, Z:-0.04 [[ 9.99745690e-01 -2.25216494e-02 -1.15377082e-03 9.90364712e+01] [ 2.25216498e-02 9.99746355e-01 -1.26674735e-05 -3.72583415e-01] [ 1.15376346e-03 -1.33205703e-05 9.99999334e-01 -3.62769709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:-0.38, Z:-0.03 [[ 9.99650266e-01 -2.64199518e-02 -1.15376999e-03 9.90674367e+01] [ 2.64199547e-02 9.99650932e-01 -1.27422760e-05 -3.82263968e-01] [ 1.15370390e-03 -1.77447313e-05 9.99999334e-01 -2.98146725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:-0.39, Z:-0.04 [[ 9.99537570e-01 -3.03860792e-02 -1.15385896e-03 9.90974737e+01] [ 3.03860941e-02 9.99538236e-01 -4.62821210e-06 -3.87382703e-01] [ 1.15346678e-03 -3.04351951e-05 9.99999334e-01 -3.69665596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:-0.39, Z:-0.04 [[ 9.99495851e-01 -3.17287353e-02 -1.15377000e-03 9.91276027e+01] [ 3.17287417e-02 9.99496517e-01 -1.27061354e-05 -3.90646920e-01] [ 1.15359225e-03 -2.39079408e-05 9.99999334e-01 -3.56637488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:-0.39, Z:-0.03 [[ 9.99559639e-01 -2.96512601e-02 -1.15376919e-03 9.91582238e+01] [ 2.96512651e-02 9.99560304e-01 -1.27792390e-05 -3.91284600e-01] [ 1.15364081e-03 -2.14371047e-05 9.99999334e-01 -2.64003127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:-0.39, Z:-0.04 [[ 9.99550624e-01 -2.99535966e-02 -1.15382466e-03 9.91879105e+01] [ 2.99536076e-02 9.99551290e-01 -7.70829829e-06 -3.89730362e-01] [ 1.15353782e-03 -2.68563769e-05 9.99999334e-01 -3.58884862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:-0.39, Z:-0.03 [[ 9.99717955e-01 -2.37208576e-02 -1.15377123e-03 9.92187059e+01] [ 2.37208589e-02 9.99718621e-01 -1.26007414e-05 -3.92754900e-01] [ 1.15374548e-03 -1.47712571e-05 9.99999334e-01 -2.92680583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:-0.40, Z:-0.04 [[ 9.99680776e-01 -2.52391653e-02 -1.15383817e-03 9.92480549e+01] [ 2.52391747e-02 9.99681441e-01 -6.38994584e-06 -3.98368662e-01] [ 1.15363188e-03 -2.27340171e-05 9.99999334e-01 -3.97030784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:-0.40, Z:-0.04 [[ 9.99702968e-01 -2.43442870e-02 -1.15376751e-03 9.92768361e+01] [ 2.43442885e-02 9.99703634e-01 -1.27726878e-05 -4.04220805e-01] [ 1.15373651e-03 -1.53187552e-05 9.99999334e-01 -3.82291413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:-0.41, Z:-0.03 [[ 9.99804972e-01 -1.97151345e-02 -1.15376585e-03 9.93074313e+01] [ 1.97151327e-02 9.99805638e-01 -1.29209753e-05 -4.07986914e-01] [ 1.15379634e-03 -9.82819142e-06 9.99999334e-01 -2.53001412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:-0.41, Z:-0.03 [[ 9.99800045e-01 -1.99634090e-02 -1.15383019e-03 9.93366007e+01] [ 1.99634140e-02 9.99800711e-01 -7.14310556e-06 -4.07766475e-01] [ 1.15374285e-03 -1.58927125e-05 9.99999334e-01 -2.52662592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:-0.41, Z:-0.04 [[ 9.99804688e-01 -1.97295094e-02 -1.15382608e-03 9.93657637e+01] [ 1.97295139e-02 9.99805354e-01 -7.50325872e-06 -4.05405689e-01] [ 1.15374953e-03 -1.52626344e-05 9.99999334e-01 -3.62720219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:-0.40, Z:-0.04 [[ 9.99843284e-01 -1.76656560e-02 -1.15376160e-03 9.93941386e+01] [ 1.76656526e-02 9.99843950e-01 -1.31576923e-05 -4.02912745e-01] [ 1.15381399e-03 -7.22632121e-06 9.99999334e-01 -3.68748393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:-0.40, Z:-0.03 [[ 9.99914164e-01 -1.30511746e-02 -1.15375984e-03 9.94246734e+01] [ 1.30511679e-02 9.99914830e-01 -1.33103321e-05 -4.01710798e-01] [ 1.15383528e-03 -1.74872374e-06 9.99999334e-01 -2.66355777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:-0.41, Z:-0.03 [[ 9.99941746e-01 -1.07319173e-02 -1.15389222e-03 9.94542352e+01] [ 1.07319221e-02 9.99942411e-01 -2.00601499e-06 -4.05152041e-01] [ 1.15384730e-03 -1.03775834e-05 9.99999334e-01 -2.76204546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:-0.41, Z:-0.04 [[ 9.99952861e-01 -9.64080340e-03 -1.15378501e-03 9.94838226e+01] [ 9.64079705e-03 9.99953526e-01 -1.10602154e-05 -4.06999892e-01] [ 1.15383802e-03 -6.37131267e-08 9.99999334e-01 -3.51007037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:-0.41, Z:-0.04 [[ 9.99963954e-01 -8.41188763e-03 -1.15375659e-03 9.95136585e+01] [ 8.41187766e-03 9.99964619e-01 -1.34907050e-05 -4.07304043e-01] [ 1.15382925e-03 3.78495941e-06 9.99999334e-01 -3.56944558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:-0.41, Z:-0.04 [[ 9.99964233e-01 -8.37864405e-03 -1.15375569e-03 9.95433792e+01] [ 8.37863397e-03 9.99964899e-01 -1.35676618e-05 -4.08216708e-01] [ 1.15382887e-03 3.90027999e-06 9.99999334e-01 -3.79723189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:-0.41, Z:-0.04 [[ 9.99970337e-01 -7.61539882e-03 -1.15375477e-03 9.95726291e+01] [ 7.61538814e-03 9.99971002e-01 -1.36454878e-05 -4.13656699e-01] [ 1.15382523e-03 4.85879268e-06 9.99999334e-01 -4.06797600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:-0.42, Z:-0.04 [[ 9.99973366e-01 -7.20666008e-03 -1.15375385e-03 9.96022956e+01] [ 7.20664905e-03 9.99974032e-01 -1.37227167e-05 -4.15805643e-01] [ 1.15382278e-03 5.40765216e-06 9.99999334e-01 -3.79460157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:-0.42, Z:-0.03 [[ 9.99987587e-01 -4.84716348e-03 -1.15375292e-03 9.96324336e+01] [ 4.84715078e-03 9.99988252e-01 -1.38000823e-05 -4.15791148e-01] [ 1.15380626e-03 8.20749664e-06 9.99999334e-01 -3.43383367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.66, Y:-0.41, Z:-0.03 [[ 9.99997534e-01 -1.89757691e-03 -1.15375199e-03 9.96623626e+01] [ 1.89756217e-03 9.99998200e-01 -1.38774942e-05 -4.13432083e-01] [ 1.15377625e-03 1.16881439e-05 9.99999334e-01 -3.09439722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:-0.41, Z:-0.03 [[ 9.99988654e-01 4.62167090e-03 -1.15375106e-03 9.96916891e+01] [-4.62169007e-03 9.99989320e-01 -1.39543904e-05 -4.08329313e-01] [ 1.15367425e-03 1.92865119e-05 9.99999334e-01 -3.18427138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:-0.41, Z:-0.03 [[ 9.99966254e-01 8.13387806e-03 -1.15375014e-03 9.97217677e+01] [-8.13389966e-03 9.99966919e-01 -1.40298676e-05 -4.07711567e-01] [ 1.15359786e-03 2.34138821e-05 9.99999334e-01 -3.30318648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.402320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:99.75, Y:-0.41, Z:-0.03 [[ 9.99928701e-01 1.18853482e-02 -1.15374923e-03 9.97513887e+01] [-1.18853723e-02 9.99929366e-01 -1.41045546e-05 -4.06227499e-01] [ 1.15350010e-03 2.78162882e-05 9.99999334e-01 -3.43073424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:-0.40, Z:-0.04 [[ 9.99874808e-01 1.57809438e-02 -1.15374832e-03 9.97810000e+01] [-1.57809707e-02 9.99875473e-01 -1.41787341e-05 -4.03587993e-01] [ 1.15338089e-03 3.23842274e-05 9.99999334e-01 -3.58406789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:-0.40, Z:-0.04 [[ 9.99877034e-01 1.56392056e-02 -1.15374741e-03 9.98117765e+01] [-1.56392325e-02 9.99877700e-01 -1.42522605e-05 -4.03134542e-01] [ 1.15338341e-03 3.22942319e-05 9.99999334e-01 -3.54256164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:-0.40, Z:-0.04 [[ 9.99895170e-01 1.44332176e-02 -1.15374741e-03 9.98426276e+01] [-1.44332437e-02 9.99895835e-01 -1.42522605e-05 -4.01465603e-01] [ 1.15342152e-03 3.09030839e-05 9.99999334e-01 -3.58262057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:-0.40, Z:-0.04 [[ 9.99955336e-01 9.38059694e-03 -1.15374741e-03 9.98719933e+01] [-9.38061962e-03 9.99956001e-01 -1.42522605e-05 -3.96322838e-01] [ 1.15356295e-03 2.50744895e-05 9.99999334e-01 -3.50268815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:-0.38, Z:-0.04 [[ 9.99999230e-01 -4.57805923e-04 -1.15374649e-03 9.99018683e+01] [ 4.57789699e-04 9.99999895e-01 -1.43262158e-05 -3.76375754e-01] [ 1.15375293e-03 1.37980315e-05 9.99999334e-01 -3.97066965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:-0.38, Z:-0.04 [[ 9.99999290e-01 -2.97807036e-04 -1.15374556e-03 9.99311396e+01] [ 2.97790619e-04 9.99999956e-01 -1.44011311e-05 -3.78421640e-01] [ 1.15374979e-03 1.40575463e-05 9.99999334e-01 -3.80190216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:-0.38, Z:-0.04 [[ 9.99998683e-01 1.14146003e-03 -1.15374460e-03 9.99602882e+01] [-1.14147749e-03 9.99999348e-01 -1.44770602e-05 -3.78507194e-01] [ 1.15372733e-03 1.57940147e-05 9.99999334e-01 -3.57018399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:-0.38, Z:-0.03 [[ 9.99996039e-01 2.56725002e-03 -1.15374316e-03 9.99902371e+01] [-2.56726856e-03 9.99996704e-01 -1.45912589e-05 -3.76002830e-01] [ 1.15370190e-03 1.75531697e-05 9.99999334e-01 -3.39750130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:-0.38, Z:-0.03 [[ 9.99996205e-01 2.50181892e-03 -1.15374218e-03 1.00020396e+02] [-2.50183751e-03 9.99996870e-01 -1.46682901e-05 -3.75634791e-01] [ 1.15370187e-03 1.75547099e-05 9.99999334e-01 -3.39402125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:-0.37, Z:-0.03 [[ 9.99989491e-01 4.43687986e-03 -1.15374121e-03 1.00049660e+02] [-4.43689982e-03 9.99990157e-01 -1.47437809e-05 -3.72978077e-01] [ 1.15366444e-03 1.98626601e-05 9.99999334e-01 -3.24460205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:-0.37, Z:-0.03 [[ 9.99989783e-01 4.37073690e-03 -1.15374025e-03 1.00079820e+02] [-4.37075690e-03 9.99990448e-01 -1.48190834e-05 -3.72605400e-01] [ 1.15366446e-03 1.98616501e-05 9.99999334e-01 -3.24112190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:-0.37, Z:-0.03 [[ 9.99977065e-01 6.67371850e-03 -1.15373926e-03 1.00109894e+02] [-6.67374013e-03 9.99977730e-01 -1.48953959e-05 -3.71572467e-01] [ 1.15361416e-03 2.25948102e-05 9.99999334e-01 -3.34148316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:-0.37, Z:-0.03 [[ 9.99965686e-01 8.20344693e-03 -1.15373827e-03 1.00139221e+02] [-8.20346966e-03 9.99966351e-01 -1.49715159e-05 -3.71085398e-01] [ 1.15357663e-03 2.44356591e-05 9.99999334e-01 -3.28669145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:-0.37, Z:-0.03 [[ 9.99966220e-01 8.13806825e-03 -1.15373730e-03 1.00169381e+02] [-8.13809102e-03 9.99966885e-01 -1.50463873e-05 -3.70706688e-01] [ 1.15357664e-03 2.44350982e-05 9.99999334e-01 -3.28321129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:-0.37, Z:-0.03 [[ 9.99957804e-01 9.11370904e-03 -1.15373631e-03 1.00198884e+02] [-9.11373255e-03 9.99958469e-01 -1.51218196e-05 -3.68997996e-01] [ 1.15355058e-03 2.56360256e-05 9.99999334e-01 -3.43198007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:-0.37, Z:-0.03 [[ 9.99953477e-01 9.57665743e-03 -1.15373532e-03 1.00228052e+02] [-9.57668133e-03 9.99954142e-01 -1.51971797e-05 -3.66216313e-01] [ 1.15353687e-03 2.62454282e-05 9.99999334e-01 -3.42335636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:-0.36, Z:-0.03 [[ 9.99950673e-01 9.86514774e-03 -1.15373433e-03 1.00257434e+02] [-9.86517193e-03 9.99951338e-01 -1.52717245e-05 -3.64180365e-01] [ 1.15352753e-03 2.66527587e-05 9.99999334e-01 -3.41583748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:-0.36, Z:-0.03 [[ 9.99951306e-01 9.80073528e-03 -1.15373334e-03 1.00287593e+02] [-9.80075950e-03 9.99951971e-01 -1.53459730e-05 -3.63793999e-01] [ 1.15352753e-03 2.66526887e-05 9.99999334e-01 -3.41235742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:-0.36, Z:-0.03 [[ 9.99951491e-01 9.78182697e-03 -1.15373235e-03 1.00317464e+02] [-9.78185127e-03 9.99952156e-01 -1.54202913e-05 -3.62839281e-01] [ 1.15352631e-03 2.67051815e-05 9.99999334e-01 -3.33310521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:-0.36, Z:-0.03 [[ 9.99955290e-01 9.38543787e-03 -1.15373135e-03 1.00346954e+02] [-9.38546199e-03 9.99955955e-01 -1.54947226e-05 -3.62846931e-01] [ 1.15353511e-03 2.63223316e-05 9.99999334e-01 -3.26943644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:-0.36, Z:-0.03 [[ 9.99956916e-01 9.21057706e-03 -1.15373034e-03 1.00377009e+02] [-9.21060115e-03 9.99957581e-01 -1.55694084e-05 -3.60931684e-01] [ 1.15353800e-03 2.61952876e-05 9.99999334e-01 -3.26041190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:-0.36, Z:-0.03 [[ 9.99957512e-01 9.14563548e-03 -1.15372932e-03 1.00407168e+02] [-9.14565961e-03 9.99958177e-01 -1.56446523e-05 -3.60537390e-01] [ 1.15353799e-03 2.61956032e-05 9.99999334e-01 -3.25693181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:-0.36, Z:-0.03 [[ 9.99958772e-01 9.00686230e-03 -1.15372830e-03 1.00436679e+02] [-9.00688643e-03 9.99959437e-01 -1.57195804e-05 -3.56704739e-01] [ 1.15353992e-03 2.61104321e-05 9.99999334e-01 -3.17321029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:-0.35, Z:-0.03 [[ 9.99961550e-01 8.69299248e-03 -1.15372728e-03 1.00465846e+02] [-8.69301648e-03 9.99962215e-01 -1.57944945e-05 -3.52074281e-01] [ 1.15354638e-03 2.58232574e-05 9.99999334e-01 -3.05081141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:-0.35, Z:-0.03 [[ 9.99962122e-01 8.62695433e-03 -1.15372624e-03 1.00496004e+02] [-8.62697838e-03 9.99962787e-01 -1.58697243e-05 -3.51673331e-01] [ 1.15354640e-03 2.58222945e-05 9.99999334e-01 -3.04733132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:-0.35, Z:-0.03 [[ 9.99965035e-01 8.28238084e-03 -1.15372519e-03 1.00525826e+02] [-8.28240475e-03 9.99965700e-01 -1.59459170e-05 -3.47950331e-01] [ 1.15355354e-03 2.55009784e-05 9.99999334e-01 -2.92340502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:-0.35, Z:-0.03 [[ 9.99968977e-01 7.79186110e-03 -1.15372413e-03 1.00555384e+02] [-7.79188477e-03 9.99969643e-01 -1.60221097e-05 -3.46220786e-01] [ 1.15356426e-03 2.50112981e-05 9.99999334e-01 -2.90388190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:-0.35, Z:-0.03 [[ 9.99969489e-01 7.72588619e-03 -1.15372307e-03 1.00585542e+02] [-7.72590990e-03 9.99970155e-01 -1.60979056e-05 -3.45814255e-01] [ 1.15356427e-03 2.50109749e-05 9.99999334e-01 -2.90040179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:-0.35, Z:-0.03 [[ 9.99981072e-01 6.04360200e-03 -1.15372200e-03 1.00615034e+02] [-6.04362468e-03 9.99981737e-01 -1.61740246e-05 -3.45634325e-01] [ 1.15360318e-03 2.31463812e-05 9.99999334e-01 -3.02484110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:-0.34, Z:-0.03 [[ 9.99986618e-01 5.04299314e-03 -1.15372093e-03 1.00644570e+02] [-5.04301524e-03 9.99987284e-01 -1.62502027e-05 -3.43695688e-01] [ 1.15362431e-03 2.20682175e-05 9.99999334e-01 -3.24556510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:-0.34, Z:-0.03 [[ 9.99993851e-01 3.31151503e-03 -1.15371986e-03 1.00673850e+02] [-3.31153607e-03 9.99994517e-01 -1.63260714e-05 -3.40361582e-01] [ 1.15365947e-03 2.01465559e-05 9.99999334e-01 -3.44376708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:-0.34, Z:-0.03 [[ 9.99997259e-01 2.03754663e-03 -1.15371876e-03 1.00703242e+02] [-2.03756691e-03 9.99997924e-01 -1.64031616e-05 -3.36181086e-01] [ 1.15368294e-03 1.87538958e-05 9.99999334e-01 -3.48006373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:-0.33, Z:-0.03 [[ 9.99998070e-01 1.59006112e-03 -1.15371767e-03 1.00733122e+02] [-1.59008119e-03 9.99998736e-01 -1.64794727e-05 -3.27882940e-01] [ 1.15369001e-03 1.83139456e-05 9.99999334e-01 -2.98883453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:-0.33, Z:-0.03 [[ 9.99999299e-01 2.66374277e-04 -1.15371658e-03 1.00762316e+02] [-2.66393555e-04 9.99999964e-01 -1.65554000e-05 -3.25184298e-01] [ 1.15371213e-03 1.68627310e-05 9.99999334e-01 -3.04704645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:-0.32, Z:-0.02 [[ 9.99999117e-01 6.58838311e-04 -1.15371548e-03 1.00794097e+02] [-6.58857939e-04 9.99999783e-01 -1.66321731e-05 -3.23624695e-01] [ 1.15370427e-03 1.73922930e-05 9.99999334e-01 -2.22457689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:-0.32, Z:-0.03 [[ 9.99995436e-01 -2.79209575e-03 -1.15386866e-03 1.00823598e+02] [ 2.79209062e-03 9.99996102e-01 -6.05746005e-06 -3.22411898e-01] [ 1.15388107e-03 2.83572655e-06 9.99999334e-01 -3.38813378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:-0.32, Z:-0.03 [[ 9.99992214e-01 -3.77370698e-03 -1.15370770e-03 1.00853326e+02] [ 3.77368990e-03 9.99992879e-01 -1.69884537e-05 -3.20426817e-01] [ 1.15376359e-03 1.26345863e-05 9.99999334e-01 -3.48409163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:-0.32, Z:-0.03 [[ 9.99982695e-01 -5.76883010e-03 -1.15370655e-03 1.00883353e+02] [ 5.76881425e-03 9.99983360e-01 -1.70661997e-05 -3.16165975e-01] [ 1.15378580e-03 1.04103855e-05 9.99999334e-01 -3.43125649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:-0.32, Z:-0.03 [[ 9.99978372e-01 -6.47484818e-03 -1.15370541e-03 1.00913371e+02] [ 6.47483271e-03 9.99979038e-01 -1.71430324e-05 -3.15429796e-01] [ 1.15379222e-03 9.67261212e-06 9.99999334e-01 -3.29483064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:-0.31, Z:-0.03 [[ 9.99965215e-01 -8.26065593e-03 -1.15370427e-03 1.00942994e+02] [ 8.26064156e-03 9.99965880e-01 -1.72192094e-05 -3.14103301e-01] [ 1.15380715e-03 7.68827302e-06 9.99999334e-01 -3.18401204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:-0.31, Z:-0.03 [[ 9.99929937e-01 -1.17809433e-02 -1.15370312e-03 1.00972456e+02] [ 1.17809312e-02 9.99930602e-01 -1.72955790e-05 -3.05957008e-01] [ 1.15382682e-03 3.70267007e-06 9.99999334e-01 -3.13245596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:-0.30, Z:-0.03 [[ 9.99913093e-01 -1.31329677e-02 -1.15370197e-03 1.01002461e+02] [ 1.31329564e-02 9.99913759e-01 -1.73725323e-05 -3.02990241e-01] [ 1.15383062e-03 2.21950495e-06 9.99999334e-01 -3.30126338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:-0.30, Z:-0.02 [[ 9.99913905e-01 -1.30710279e-02 -1.15370197e-03 1.01032515e+02] [ 1.30710165e-02 9.99914570e-01 -1.73725323e-05 -3.04300315e-01] [ 1.15383048e-03 2.29097915e-06 9.99999334e-01 -2.15619873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:-0.31, Z:-0.03 [[ 9.99897946e-01 -1.42395769e-02 -1.15373474e-03 1.01062666e+02] [ 1.42395689e-02 9.99898612e-01 -1.51829876e-05 -3.08877524e-01] [ 1.15383397e-03 -1.24724727e-06 9.99999334e-01 -3.42878469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.09, Y:-0.31, Z:-0.02 [[ 9.99875727e-01 -1.57226029e-02 -1.15370634e-03 1.01092892e+02] [ 1.57225936e-02 9.99876392e-01 -1.70997752e-05 -3.12195290e-01] [ 1.15383258e-03 -1.04160579e-06 9.99999334e-01 -2.49286243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.12, Y:-0.31, Z:-0.03 [[ 9.99867811e-01 -1.62181648e-02 -1.15371078e-03 1.01123325e+02] [ 1.62181562e-02 9.99868477e-01 -1.68009374e-05 -3.07734149e-01] [ 1.15383152e-03 -1.91234517e-06 9.99999334e-01 -3.06308032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.15, Y:-0.30, Z:-0.03 [[ 9.99869579e-01 -1.61088281e-02 -1.15370614e-03 1.01154216e+02] [ 1.61088191e-02 9.99870244e-01 -1.71139935e-05 -3.04285135e-01] [ 1.15383213e-03 -1.47308200e-06 9.99999334e-01 -2.94225018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:-0.31, Z:-0.03 [[ 9.99889526e-01 -1.48190641e-02 -1.15370614e-03 1.01184761e+02] [ 1.48190542e-02 9.99890192e-01 -1.71139935e-05 -3.08145471e-01] [ 1.15383307e-03 1.52690117e-08 9.99999334e-01 -2.95176423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:-0.31, Z:-0.03 [[ 9.99889526e-01 -1.48190641e-02 -1.15370614e-03 1.01215755e+02] [ 1.48190542e-02 9.99890192e-01 -1.71139935e-05 -3.07685709e-01] [ 1.15383307e-03 1.52690114e-08 9.99999334e-01 -2.94818765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:-0.31, Z:-0.03 [[ 9.99894070e-01 -1.45092067e-02 -1.15370614e-03 1.01245115e+02] [ 1.45091966e-02 9.99894736e-01 -1.71139935e-05 -3.10805613e-01] [ 1.15383301e-03 3.72831434e-07 9.99999334e-01 -2.97567486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:-0.31, Z:-0.03 [[ 9.99902509e-01 -1.39155437e-02 -1.15370411e-03 1.01274617e+02] [ 1.39155331e-02 9.99903174e-01 -1.72497578e-05 -3.12331098e-01] [ 1.15383244e-03 1.19366840e-06 9.99999334e-01 -3.19148215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:-0.31, Z:-0.03 [[ 9.99912645e-01 -1.31670174e-02 -1.15370295e-03 1.01304376e+02] [ 1.31670062e-02 9.99913311e-01 -1.73266507e-05 -3.12444702e-01] [ 1.15383108e-03 2.13432324e-06 9.99999334e-01 -3.13460803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:-0.31, Z:-0.03 [[ 9.99909297e-01 -1.34189039e-02 -1.15370179e-03 1.01334487e+02] [ 1.34188927e-02 9.99909962e-01 -1.74038614e-05 -3.13063538e-01] [ 1.15383145e-03 1.92088221e-06 9.99999334e-01 -3.10098327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.022320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.36, Y:-0.32, Z:-0.03 [[ 9.99888437e-01 -1.48923932e-02 -1.15370064e-03 1.01363815e+02] [ 1.48923830e-02 9.99889102e-01 -1.74796700e-05 -3.15433874e-01] [ 1.15383301e-03 2.96368106e-07 9.99999334e-01 -2.92410323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.052320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:101.39, Y:-0.32, Z:-0.03 [[ 9.99849906e-01 -1.72868442e-02 -1.15369948e-03 1.01393940e+02] [ 1.72868355e-02 9.99850571e-01 -1.75560537e-05 -3.18563721e-01] [ 1.15383057e-03 -2.39039444e-06 9.99999334e-01 -2.68263704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:-0.32, Z:-0.03 [[ 9.99840042e-01 -1.78482171e-02 -1.15369831e-03 1.01423218e+02] [ 1.78482086e-02 9.99840708e-01 -1.76323040e-05 -3.19122876e-01] [ 1.15382924e-03 -2.96196457e-06 9.99999334e-01 -2.83108066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:-0.32, Z:-0.03 [[ 9.99845206e-01 -1.75565429e-02 -1.15369715e-03 1.01452677e+02] [ 1.75565342e-02 9.99845872e-01 -1.77082889e-05 -3.20097400e-01] [ 1.15383023e-03 -2.54937558e-06 9.99999334e-01 -2.96349750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:-0.33, Z:-0.03 [[ 9.99855226e-01 -1.69763373e-02 -1.15369598e-03 1.01482712e+02] [ 1.69763281e-02 9.99855892e-01 -1.77838934e-05 -3.26753468e-01] [ 1.15383163e-03 -1.80420281e-06 9.99999334e-01 -3.17412859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:-0.33, Z:-0.03 [[ 9.99860645e-01 -1.66540867e-02 -1.15369480e-03 1.01512358e+02] [ 1.66540771e-02 9.99861311e-01 -1.78604704e-05 -3.29105064e-01] [ 1.15383224e-03 -1.35574062e-06 9.99999334e-01 -3.20926878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.54, Y:-0.33, Z:-0.03 [[ 9.99878949e-01 -1.55163125e-02 -1.15369361e-03 1.01542217e+02] [ 1.55163021e-02 9.99879615e-01 -1.79364694e-05 -3.29395272e-01] [ 1.15383303e-03 3.32394753e-08 9.99999334e-01 -3.14654210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:-0.33, Z:-0.03 [[ 9.99901399e-01 -1.39950675e-02 -1.15369242e-03 1.01571508e+02] [ 1.39950560e-02 9.99902064e-01 -1.80130319e-05 -3.28380517e-01] [ 1.15383153e-03 1.86526571e-06 9.99999334e-01 -3.12653780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:-0.32, Z:-0.03 [[ 9.99947190e-01 -1.02120509e-02 -1.15369121e-03 1.01601232e+02] [ 1.02120369e-02 9.99947856e-01 -1.80898636e-05 -3.24562982e-01] [ 1.15381579e-03 6.30737111e-06 9.99999334e-01 -3.17404755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:-0.32, Z:-0.03 [[ 9.99967687e-01 -7.95572492e-03 -1.15369001e-03 1.01630811e+02] [ 7.95570926e-03 9.99968353e-01 -1.81664404e-05 -3.22060241e-01] [ 1.15379802e-03 8.98743112e-06 9.99999334e-01 -3.05996133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:-0.32, Z:-0.03 [[ 9.99987176e-01 -4.93127164e-03 -1.15368881e-03 1.01660402e+02] [ 4.93125388e-03 9.99987841e-01 -1.82425572e-05 -3.19426097e-01] [ 1.15376474e-03 1.25531909e-05 9.99999334e-01 -2.95894639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:-0.31, Z:-0.03 [[ 9.99998434e-01 -1.34164273e-03 -1.15368759e-03 1.01690283e+02] [ 1.34162248e-03 9.99999100e-01 -1.83191194e-05 -3.13158676e-01] [ 1.15371113e-03 1.67712775e-05 9.99999334e-01 -2.82191110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:-0.31, Z:-0.03 [[ 9.99999261e-01 -3.84001108e-04 -1.15368638e-03 1.01719780e+02] [ 3.83980141e-04 9.99999926e-01 -1.83949716e-05 -3.09904867e-01] [ 1.15369336e-03 1.79519653e-05 9.99999334e-01 -2.87414753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:-0.31, Z:-0.03 [[ 9.99999142e-01 -6.21213247e-04 -1.15368515e-03 1.01748964e+02] [ 6.21192350e-04 9.99999807e-01 -1.84715480e-05 -3.07649762e-01] [ 1.15369641e-03 1.77548718e-05 9.99999334e-01 -2.97609862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:-0.31, Z:-0.03 [[ 9.99996747e-01 -2.27490738e-03 -1.15368392e-03 1.01778563e+02] [ 2.27488749e-03 9.99997412e-01 -1.85481244e-05 -3.06123864e-01] [ 1.15372313e-03 1.59235630e-05 9.99999334e-01 -3.02642387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:-0.31, Z:-0.03 [[ 9.99989691e-01 -4.39178832e-03 -1.15368268e-03 1.01807928e+02] [ 4.39176975e-03 9.99990356e-01 -1.86253338e-05 -3.05165146e-01] [ 1.15375335e-03 1.35584331e-05 9.99999334e-01 -3.08151486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:-0.31, Z:-0.03 [[ 9.99946396e-01 -1.02894990e-02 -1.15368143e-03 1.01837274e+02] [ 1.02894842e-02 9.99947062e-01 -1.87021503e-05 -3.06317970e-01] [ 1.15381279e-03 6.83036092e-06 9.99999334e-01 -2.98473925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:-0.31, Z:-0.03 [[ 9.99916334e-01 -1.28838532e-02 -1.15368018e-03 1.01866817e+02] [ 1.28838401e-02 9.99917000e-01 -1.87792380e-05 -3.07249131e-01] [ 1.15382637e-03 3.91383592e-06 9.99999334e-01 -2.89596792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:-0.31, Z:-0.03 [[ 9.99896993e-01 -1.43063910e-02 -1.15367891e-03 1.01896781e+02] [ 1.43063788e-02 9.99897658e-01 -1.88565228e-05 -3.07376944e-01] [ 1.15383061e-03 2.34961293e-06 9.99999334e-01 -2.72531270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:-0.31, Z:-0.03 [[ 9.99880399e-01 -1.54226206e-02 -1.15367766e-03 1.01926521e+02] [ 1.54226090e-02 9.99881064e-01 -1.89330843e-05 -3.05909040e-01] [ 1.15383244e-03 1.13810048e-06 9.99999334e-01 -2.61265711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:-0.30, Z:-0.03 [[ 9.99878369e-01 -1.55536581e-02 -1.15367640e-03 1.01956565e+02] [ 1.55536465e-02 9.99879035e-01 -1.90094665e-05 -3.00544112e-01] [ 1.15383251e-03 1.06327946e-06 9.99999334e-01 -2.69454528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:-0.30, Z:-0.01 [[ 9.99920393e-01 -1.25649369e-02 -1.15367577e-03 1.01986982e+02] [ 1.25649233e-02 9.99921058e-01 -1.90476018e-05 -2.98543478e-01] [ 1.15382403e-03 4.55023789e-06 9.99999334e-01 -1.42735076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:-0.30, Z:-0.01 [[ 9.99931624e-01 -1.16368716e-02 -1.15381573e-03 1.02016828e+02] [ 1.16368673e-02 9.99932289e-01 -1.04862544e-05 -2.98422746e-01] [ 1.15385963e-03 -2.94126304e-06 9.99999334e-01 -1.42692737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:-0.30, Z:-0.03 [[ 9.99942197e-01 -1.06897538e-02 -1.15372329e-03 1.02046266e+02] [ 1.06897423e-02 9.99942863e-01 -1.61217141e-05 -3.00028518e-01] [ 1.15382971e-03 3.78777753e-06 9.99999334e-01 -2.59048484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:-0.30, Z:-0.03 [[ 9.99952488e-01 -9.67939973e-03 -1.15367374e-03 1.02076074e+02] [ 9.67938412e-03 9.99953153e-01 -1.91128894e-05 -3.01704037e-01] [ 1.15380469e-03 7.94513006e-06 9.99999334e-01 -2.69948224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.772320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.11, Y:-0.30, Z:-0.02 [[ 9.99961463e-01 -8.70297618e-03 -1.15367247e-03 1.02106721e+02] [ 8.70295983e-03 9.99962128e-01 -1.91891975e-05 -2.99583080e-01] [ 1.15379578e-03 9.14809281e-06 9.99999334e-01 -2.23341632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:-0.30, Z:-0.03 [[ 9.99964663e-01 -8.32712425e-03 -1.15377340e-03 1.02136318e+02] [ 8.32711467e-03 9.99965329e-01 -1.31049465e-05 -2.97491373e-01] [ 1.15384252e-03 3.49688002e-06 9.99999334e-01 -2.69025349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:-0.30, Z:-0.02 [[ 9.99963027e-01 -8.52137852e-03 -1.15375829e-03 1.02166018e+02] [ 8.52136803e-03 9.99963692e-01 -1.40067463e-05 -2.95593011e-01] [ 1.15383575e-03 4.17462945e-06 9.99999334e-01 -2.44539250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:-0.29, Z:-0.03 [[ 9.99940738e-01 -1.08254032e-02 -1.15374129e-03 1.02195495e+02] [ 1.08253931e-02 9.99941404e-01 -1.50174410e-05 -2.92846109e-01] [ 1.15383626e-03 2.52684797e-06 9.99999334e-01 -2.59410454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.23, Y:-0.29, Z:-0.02 [[ 9.99947934e-01 -1.01389073e-02 -1.15366680e-03 1.02225540e+02] [ 1.01388916e-02 9.99948600e-01 -1.94387329e-05 -2.91982533e-01] [ 1.15380459e-03 7.74081819e-06 9.99999334e-01 -1.93288792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:-0.29, Z:-0.03 [[ 9.99920880e-01 -1.25260762e-02 -1.15381099e-03 1.02255214e+02] [ 1.25260719e-02 9.99921546e-01 -1.09372329e-05 -2.92918357e-01] [ 1.15385747e-03 -3.51635197e-06 9.99999334e-01 -2.61906033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:-0.30, Z:-0.03 [[ 9.99909056e-01 -1.34368808e-02 -1.15366268e-03 1.02284532e+02] [ 1.34368671e-02 9.99909721e-01 -1.96461490e-05 -2.95310078e-01] [ 1.15382252e-03 4.14275018e-06 9.99999334e-01 -2.97354343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:-0.30, Z:-0.03 [[ 9.99898375e-01 -1.42094494e-02 -1.15366137e-03 1.02314322e+02] [ 1.42094361e-02 9.99899041e-01 -1.97230392e-05 -2.97043147e-01] [ 1.15382515e-03 3.32815729e-06 9.99999334e-01 -2.65560706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:-0.30, Z:-0.03 [[ 9.99875300e-01 -1.57496931e-02 -1.15371267e-03 1.02343574e+02] [ 1.57496842e-02 9.99875966e-01 -1.67333919e-05 -2.96151560e-01] [ 1.15383311e-03 -1.43930496e-06 9.99999334e-01 -3.20693126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:-0.29, Z:-0.02 [[ 9.99859734e-01 -1.67086937e-02 -1.15365388e-03 1.02373427e+02] [ 1.67086817e-02 9.99860400e-01 -2.01065342e-05 -2.91582674e-01] [ 1.15382878e-03 8.27678547e-07 9.99999334e-01 -1.94484327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.40, Y:-0.29, Z:-0.03 [[ 9.99832071e-01 -1.82893302e-02 -1.15370839e-03 1.02403848e+02] [ 1.82893228e-02 9.99832736e-01 -1.69811685e-05 -2.91869408e-01] [ 1.15382599e-03 -4.12222822e-06 9.99999334e-01 -2.87173598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:-0.29, Z:-0.03 [[ 9.99809997e-01 -1.94586675e-02 -1.15365958e-03 1.02434266e+02] [ 1.94586576e-02 9.99810662e-01 -1.98215673e-05 -2.94193462e-01] [ 1.15382685e-03 -2.63086569e-06 9.99999334e-01 -2.89354572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:-0.30, Z:-0.03 [[ 9.99870110e-01 -1.60758504e-02 -1.15365958e-03 1.02464163e+02] [ 1.60758382e-02 9.99870775e-01 -1.98215673e-05 -2.97839871e-01] [ 1.15382915e-03 1.27294778e-06 9.99999334e-01 -2.99891281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:-0.30, Z:-0.03 [[ 9.99916158e-01 -1.28975327e-02 -1.15365893e-03 1.02493716e+02] [ 1.28975184e-02 9.99916823e-01 -1.98593206e-05 -2.97454892e-01] [ 1.15381911e-03 4.97831821e-06 9.99999334e-01 -2.89358093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:-0.30, Z:-0.03 [[ 9.99948977e-01 -1.00355753e-02 -1.15365761e-03 1.02523866e+02] [ 1.00355589e-02 9.99949642e-01 -1.99357467e-05 -2.96942412e-01] [ 1.15379958e-03 8.35713059e-06 9.99999334e-01 -2.70084667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:-0.30, Z:-0.02 [[ 9.99977679e-01 -6.58111008e-03 -1.15365629e-03 1.02553933e+02] [ 6.58109138e-03 9.99978344e-01 -2.00117290e-05 -2.95959561e-01] [ 1.15376301e-03 1.24189648e-05 9.99999334e-01 -2.47145233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:-0.30, Z:-0.02 [[ 9.99988907e-01 -4.56676040e-03 -1.15365496e-03 1.02583581e+02] [ 4.56674027e-03 9.99989572e-01 -2.00881694e-05 -2.95024793e-01] [ 1.15373467e-03 1.48195040e-05 9.99999334e-01 -2.41540345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:-0.29, Z:-0.02 [[ 9.99998235e-01 -1.48299904e-03 -1.15365362e-03 1.02613374e+02] [ 1.48297677e-03 9.99998900e-01 -2.01649987e-05 -2.94844498e-01] [ 1.15368226e-03 1.84541216e-05 9.99999334e-01 -2.45184662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:-0.30, Z:-0.03 [[ 9.99988426e-01 4.67083536e-03 -1.15365227e-03 1.02643484e+02] [-4.67086182e-03 9.99989091e-01 -2.02422060e-05 -2.97877945e-01] [ 1.15354513e-03 2.56305221e-05 9.99999334e-01 -2.89439432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:-0.30, Z:-0.03 [[ 9.99979451e-01 6.30601261e-03 -1.15365092e-03 1.02673070e+02] [-6.30604025e-03 9.99980117e-01 -2.03187657e-05 -2.99238060e-01] [ 1.15349985e-03 2.75933173e-05 9.99999334e-01 -3.02773159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:-0.30, Z:-0.02 [[ 9.99966856e-01 8.05952752e-03 -1.15364958e-03 1.02703876e+02] [-8.05955641e-03 9.99967521e-01 -2.03941783e-05 -3.00955835e-01] [ 1.15344775e-03 2.96914063e-05 9.99999334e-01 -2.26489845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:-0.30, Z:-0.03 [[ 9.99960982e-01 8.75803144e-03 -1.15373908e-03 1.02733252e+02] [-8.75805502e-03 9.99961647e-01 -1.53876124e-05 -3.01590168e-01] [ 1.15356006e-03 2.54915223e-05 9.99999334e-01 -2.78267278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:-0.30, Z:-0.02 [[ 9.99926999e-01 1.20277169e-02 -1.15363720e-03 1.02762529e+02] [-1.20277491e-02 9.99927664e-01 -2.09876034e-05 -2.98906637e-01] [ 1.15330132e-03 3.48617301e-05 9.99999334e-01 -2.37723436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:-0.30, Z:-0.02 [[ 9.99900537e-01 1.40564802e-02 -1.15363584e-03 1.02792307e+02] [-1.40565139e-02 9.99901202e-01 -2.10619583e-05 -2.96419802e-01] [ 1.15322581e-03 3.72759616e-05 9.99999334e-01 -1.60636679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:-0.30, Z:-0.02 [[ 9.99899731e-01 1.41137424e-02 -1.15373567e-03 1.02821076e+02] [-1.41137699e-02 9.99900396e-01 -1.56910190e-05 -2.95063248e-01] [ 1.15339930e-03 3.19730055e-05 9.99999334e-01 -2.46529932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:-0.29, Z:-0.03 [[ 9.99837484e-01 1.79909587e-02 -1.15362092e-03 1.02850452e+02] [-1.79909958e-02 9.99838149e-01 -2.17717362e-05 -2.94289943e-01] [ 1.15304251e-03 4.25229871e-05 9.99999334e-01 -2.92344134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:-0.29, Z:-0.03 [[ 9.99796830e-01 2.01238224e-02 -1.15361953e-03 1.02879955e+02] [-2.01238610e-02 9.99797494e-01 -2.18451442e-05 -2.92068893e-01] [ 1.15294630e-03 4.50559848e-05 9.99999334e-01 -2.89346315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:-0.29, Z:-0.03 [[ 9.99773282e-01 2.12615420e-02 -1.15361814e-03 1.02908675e+02] [-2.12615814e-02 9.99773947e-01 -2.19179533e-05 -2.87920192e-01] [ 1.15289135e-03 4.64407302e-05 9.99999334e-01 -2.70718397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:-0.28, Z:-0.03 [[ 9.99765048e-01 2.16452594e-02 -1.15360825e-03 1.02936988e+02] [-2.16452997e-02 9.99765713e-01 -2.24268777e-05 -2.75444670e-01] [ 1.15285254e-03 4.73918047e-05 9.99999334e-01 -2.54508549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:-0.27, Z:-0.03 [[ 9.99766079e-01 2.15975830e-02 -1.15359817e-03 1.02965784e+02] [-2.15976238e-02 9.99766744e-01 -2.29339712e-05 -2.70722503e-01] [ 1.15283377e-03 4.78435857e-05 9.99999334e-01 -2.68049026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:-0.27, Z:-0.03 [[ 9.99784395e-01 2.07324087e-02 -1.15358782e-03 1.02994678e+02] [-2.07324495e-02 9.99785059e-01 -2.34433018e-05 -2.68407968e-01] [ 1.15285383e-03 4.73549484e-05 9.99999334e-01 -2.78248528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:-0.27, Z:-0.03 [[ 9.99817126e-01 1.90888472e-02 -1.15357725e-03 1.03023757e+02] [-1.90888876e-02 9.99817790e-01 -2.39522125e-05 -2.66593392e-01] [ 1.15290984e-03 4.59683387e-05 9.99999334e-01 -2.88694675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.05, Y:-0.26, Z:-0.02 [[ 9.99927604e-01 1.19773075e-02 -1.15356641e-03 1.03051824e+02] [-1.19773437e-02 9.99928269e-01 -2.44633761e-05 -2.62435660e-01] [ 1.15319066e-03 3.82782664e-05 9.99999334e-01 -2.20616300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.08, Y:-0.26, Z:-0.02 [[ 9.99927538e-01 1.19828227e-02 -1.15348094e-03 1.03080983e+02] [-1.19828635e-02 9.99928203e-01 -2.84765316e-05 -2.61810593e-01] [ 1.15305690e-03 4.22964728e-05 9.99999334e-01 -2.20277630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.11, Y:-0.26, Z:-0.03 [[ 9.99950149e-01 9.91806638e-03 -1.15348119e-03 1.03110521e+02] [-9.91810581e-03 9.99950814e-01 -2.84650973e-05 -2.59978992e-01] [ 1.15314213e-03 3.99040268e-05 9.99999334e-01 -2.79352705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:-0.26, Z:-0.03 [[ 9.99985036e-01 5.34771540e-03 -1.15356329e-03 1.03139629e+02] [-5.34774735e-03 9.99985700e-01 -2.46178837e-05 -2.59054375e-01] [ 1.15341514e-03 3.07864803e-05 9.99999334e-01 -2.72367257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:-0.26, Z:-0.03 [[ 9.99996530e-01 2.36830396e-03 -1.15356008e-03 1.03169567e+02] [-2.36833411e-03 9.99997195e-01 -2.47673588e-05 -2.58069130e-01] [ 1.15349819e-03 2.74992886e-05 9.99999334e-01 -2.63912846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:-0.26, Z:-0.03 [[ 9.99999048e-01 -7.56656689e-04 -1.15355845e-03 1.03198759e+02] [ 7.56628535e-04 9.99999713e-01 -2.48428377e-05 -2.56785828e-01] [ 1.15357692e-03 2.39699988e-05 9.99999334e-01 -2.59386531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:-0.25, Z:-0.03 [[ 9.99992308e-01 -3.74877798e-03 -1.15355681e-03 1.03228373e+02] [ 3.74875172e-03 9.99992973e-01 -2.49188276e-05 -2.51855515e-01] [ 1.15364212e-03 2.05942378e-05 9.99999334e-01 -2.52134996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:-0.25, Z:-0.03 [[ 9.99994654e-01 -3.05970155e-03 -1.15355516e-03 1.03258116e+02] [ 3.05967476e-03 9.99995319e-01 -2.49952018e-05 -2.49928250e-01] [ 1.15362624e-03 2.14655645e-05 9.99999334e-01 -2.62229071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:-0.25, Z:-0.03 [[ 9.99997925e-01 -1.67912858e-03 -1.15355349e-03 1.03287697e+02] [ 1.67910078e-03 9.99998590e-01 -2.50720244e-05 -2.48159841e-01] [ 1.15359396e-03 2.31350398e-05 9.99999334e-01 -2.66787793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:-0.25, Z:-0.03 [[ 9.99998956e-01 -8.70617810e-04 -1.15355183e-03 1.03317550e+02] [ 8.70589379e-04 9.99999621e-01 -2.51479408e-05 -2.46246997e-01] [ 1.15357329e-03 2.41436446e-05 9.99999334e-01 -2.64442897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:-0.24, Z:-0.03 [[ 9.99999323e-01 1.53291976e-04 -1.15355015e-03 1.03347235e+02] [-1.53321176e-04 9.99999988e-01 -2.52246884e-05 -2.43858546e-01] [ 1.15354627e-03 2.54015350e-05 9.99999334e-01 -2.56530583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:-0.24, Z:-0.02 [[ 9.99997298e-01 -2.01827655e-03 -1.15354848e-03 1.03377128e+02] [ 2.01824870e-03 9.99997963e-01 -2.53011073e-05 -2.43754980e-01] [ 1.15359719e-03 2.29728913e-05 9.99999334e-01 -2.43842131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:-0.24, Z:-0.02 [[ 9.99991027e-01 -4.07612239e-03 -1.15354679e-03 1.03406626e+02] [ 4.07609583e-03 9.99991692e-01 -2.53779899e-05 -2.44749690e-01] [ 1.15364065e-03 2.06757949e-05 9.99999334e-01 -2.39506972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:-0.24, Z:-0.02 [[ 9.99981776e-01 -5.92592432e-03 -1.15354509e-03 1.03436593e+02] [ 5.92589890e-03 9.99982441e-01 -2.54549327e-05 -2.44989088e-01] [ 1.15367568e-03 1.86186772e-05 9.99999334e-01 -2.43948129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:-0.24, Z:-0.02 [[ 9.99963996e-01 -8.40694786e-03 -1.15354339e-03 1.03466178e+02] [ 8.40692400e-03 9.99964661e-01 -2.55315597e-05 -2.43152727e-01] [ 1.15371727e-03 1.58328888e-05 9.99999334e-01 -2.49523730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:-0.24, Z:-0.03 [[ 9.99911849e-01 -1.32273950e-02 -1.15354169e-03 1.03496691e+02] [ 1.32273742e-02 9.99912514e-01 -2.56083669e-05 -2.37286742e-01] [ 1.15377950e-03 1.03477819e-05 9.99999334e-01 -2.77505090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:-0.24, Z:-0.03 [[ 9.99884621e-01 -1.51464064e-02 -1.15354169e-03 1.03527096e+02] [ 1.51463870e-02 9.99885287e-01 -2.56083669e-05 -2.37682589e-01] [ 1.15379724e-03 8.13342345e-06 9.99999334e-01 -2.88209760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:-0.24, Z:-0.03 [[ 9.99876617e-01 -1.56658969e-02 -1.15354169e-03 1.03557464e+02] [ 1.56658778e-02 9.99877282e-01 -2.56083669e-05 -2.41436514e-01] [ 1.15380131e-03 7.53396411e-06 9.99999334e-01 -2.81605987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:-0.24, Z:-0.03 [[ 9.99879144e-01 -1.55037851e-02 -1.15354169e-03 1.03587757e+02] [ 1.55037659e-02 9.99879809e-01 -2.56083669e-05 -2.39196069e-01] [ 1.15380007e-03 7.72103167e-06 9.99999334e-01 -2.63454914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:-0.24, Z:-0.03 [[ 9.99870161e-01 -1.60726357e-02 -1.15354169e-03 1.03618343e+02] [ 1.60726169e-02 9.99870827e-01 -2.56083669e-05 -2.36119105e-01] [ 1.15380428e-03 7.06460834e-06 9.99999334e-01 -2.58594380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:-0.23, Z:-0.03 [[ 9.99852376e-01 -1.71434029e-02 -1.15354169e-03 1.03648850e+02] [ 1.71433847e-02 9.99853041e-01 -2.56083669e-05 -2.34770644e-01] [ 1.15381118e-03 5.82897752e-06 9.99999334e-01 -2.51430278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:-0.24, Z:-0.03 [[ 9.99825593e-01 -1.86400651e-02 -1.15354169e-03 1.03679259e+02] [ 1.86400480e-02 9.99826259e-01 -2.56083669e-05 -2.36122512e-01] [ 1.15381861e-03 4.10182821e-06 9.99999334e-01 -2.56985068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:-0.24, Z:-0.03 [[ 9.99777956e-01 -2.10406162e-02 -1.15354169e-03 1.03709726e+02] [ 2.10406007e-02 9.99778622e-01 -2.56083669e-05 -2.41522012e-01] [ 1.15382513e-03 1.33147073e-06 9.99999334e-01 -2.50396606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:-0.24, Z:-0.02 [[ 9.99765317e-01 -2.16328302e-02 -1.15354169e-03 1.03740631e+02] [ 2.16328151e-02 9.99765983e-01 -2.56083669e-05 -2.41847094e-01] [ 1.15382572e-03 6.48003036e-07 9.99999334e-01 -2.49507339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:-0.24, Z:-0.02 [[ 9.99761393e-01 -2.18134317e-02 -1.15354169e-03 1.03770976e+02] [ 2.18134167e-02 9.99762059e-01 -2.56083669e-05 -2.41401206e-01] [ 1.15382582e-03 4.39571093e-07 9.99999334e-01 -2.40633003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:-0.24, Z:-0.02 [[ 9.99742946e-01 -2.26431204e-02 -1.15354169e-03 1.03801900e+02] [ 2.26431059e-02 9.99743612e-01 -2.56083669e-05 -2.41919475e-01] [ 1.15382579e-03 -5.17982427e-07 9.99999334e-01 -2.46943855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:-0.24, Z:-0.02 [[ 9.99720403e-01 -2.36174661e-02 -1.15354169e-03 1.03832751e+02] [ 2.36174523e-02 9.99721069e-01 -2.56083669e-05 -2.44534800e-01] [ 1.15382473e-03 -1.64250890e-06 9.99999334e-01 -2.49963135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:-0.25, Z:-0.02 [[ 9.99670138e-01 -2.56570527e-02 -1.15354169e-03 1.03863387e+02] [ 2.56570402e-02 9.99670804e-01 -2.56083669e-05 -2.51198084e-01] [ 1.15381898e-03 -3.99654579e-06 9.99999334e-01 -2.25661612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:-0.25, Z:-0.02 [[ 9.99644961e-01 -2.66199488e-02 -1.15354169e-03 1.03893667e+02] [ 2.66199369e-02 9.99645626e-01 -2.56083669e-05 -2.52033242e-01] [ 1.15381460e-03 -5.10793207e-06 9.99999334e-01 -2.02535375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.92, Y:-0.25, Z:-0.02 [[ 9.99640208e-01 -2.67978217e-02 -1.15354169e-03 1.03924154e+02] [ 2.67978100e-02 9.99640874e-01 -2.56083669e-05 -2.52495267e-01] [ 1.15381367e-03 -5.31323776e-06 9.99999334e-01 -2.03772259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:-0.26, Z:-0.02 [[ 9.99630729e-01 -2.71491391e-02 -1.15354169e-03 1.03954750e+02] [ 2.71491277e-02 9.99631394e-01 -2.56083669e-05 -2.55109282e-01] [ 1.15381173e-03 -5.71874010e-06 9.99999334e-01 -2.12383280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:-0.27, Z:-0.02 [[ 9.99598887e-01 -2.82972684e-02 -1.15354169e-03 1.03985052e+02] [ 2.82972577e-02 9.99599552e-01 -2.56083669e-05 -2.65719436e-01] [ 1.15380440e-03 -7.04397136e-06 9.99999334e-01 -2.41195186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:-0.27, Z:-0.02 [[ 9.99555561e-01 -2.97884095e-02 -1.15354169e-03 1.04015202e+02] [ 2.97883998e-02 9.99556227e-01 -2.56083669e-05 -2.68413317e-01] [ 1.15379261e-03 -8.76517546e-06 9.99999334e-01 -2.43007195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:-0.27, Z:-0.02 [[ 9.99523691e-01 -3.08392795e-02 -1.15354169e-03 1.04045442e+02] [ 3.08392704e-02 9.99524356e-01 -2.56083669e-05 -2.69355786e-01] [ 1.15378276e-03 -9.97821468e-06 9.99999334e-01 -2.30097752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:-0.27, Z:-0.02 [[ 9.99495083e-01 -3.17529187e-02 -1.15354169e-03 1.04075828e+02] [ 3.17529103e-02 9.99495749e-01 -2.56083669e-05 -2.70704533e-01] [ 1.15377315e-03 -1.10328689e-05 9.99999334e-01 -2.26043990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:-0.28, Z:-0.02 [[ 9.99436133e-01 -3.35571822e-02 -1.15354169e-03 1.04106738e+02] [ 3.35571750e-02 9.99436799e-01 -2.56083669e-05 -2.79616577e-01] [ 1.15375136e-03 -1.31156731e-05 9.99999334e-01 -2.09655010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:-0.28, Z:-0.02 [[ 9.99357934e-01 -3.58104593e-02 -1.15354169e-03 1.04136464e+02] [ 3.58104536e-02 9.99358600e-01 -2.56083669e-05 -2.84253812e-01] [ 1.15371885e-03 -1.57169265e-05 9.99999334e-01 -2.21929287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:-0.29, Z:-0.02 [[ 9.99276210e-01 -3.80226838e-02 -1.15354002e-03 1.04166389e+02] [ 3.80226795e-02 9.99276876e-01 -2.56832828e-05 -2.88146728e-01] [ 1.15368241e-03 -1.81959890e-05 9.99999334e-01 -2.33000875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:-0.29, Z:-0.02 [[ 9.99138944e-01 -4.14733719e-02 -1.15353836e-03 1.04196601e+02] [ 4.14733698e-02 9.99139609e-01 -2.57574062e-05 -2.92232647e-01] [ 1.15361412e-03 -2.21058955e-05 9.99999334e-01 -2.31500317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:-0.30, Z:-0.02 [[ 9.99105856e-01 -4.22629704e-02 -1.15353671e-03 1.04226885e+02] [ 4.22629688e-02 9.99106521e-01 -2.58313346e-05 -2.97200937e-01] [ 1.15359776e-03 -2.29436483e-05 9.99999334e-01 -2.33779120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:-0.31, Z:-0.02 [[ 9.99049010e-01 -4.35860578e-02 -1.15353588e-03 1.04257012e+02] [ 4.35860570e-02 9.99049676e-01 -2.58683157e-05 -3.07884315e-01] [ 1.15356715e-03 -2.44343655e-05 9.99999334e-01 -2.06353268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:-0.31, Z:-0.02 [[ 9.99106903e-01 -4.22382139e-02 -1.15353422e-03 1.04286524e+02] [ 4.22382121e-02 9.99107568e-01 -2.59421324e-05 -3.10669834e-01] [ 1.15360052e-03 -2.28042595e-05 9.99999334e-01 -2.05202429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:-0.31, Z:-0.02 [[ 9.99172243e-01 -4.06632408e-02 -1.15353255e-03 1.04316404e+02] [ 4.06632378e-02 9.99172908e-01 -2.60161299e-05 -3.11494963e-01] [ 1.15363637e-03 -2.09117736e-05 9.99999334e-01 -2.08410723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:-0.31, Z:-0.02 [[ 9.99366693e-01 -3.55651764e-02 -1.15353087e-03 1.04345864e+02] [ 3.55651700e-02 9.99367359e-01 -2.60904216e-05 -3.13555079e-01] [ 1.15372901e-03 -1.49516231e-05 9.99999334e-01 -2.35238190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:-0.32, Z:-0.02 [[ 9.99424256e-01 -3.39090736e-02 -1.15352916e-03 1.04375247e+02] [ 3.39090660e-02 9.99424922e-01 -2.61657104e-05 -3.16771948e-01] [ 1.15375305e-03 -1.29644509e-05 9.99999334e-01 -2.36497031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:-0.32, Z:-0.02 [[ 9.99415276e-01 -3.41727336e-02 -1.15352570e-03 1.04404626e+02] [ 3.41727260e-02 9.99415941e-01 -2.63173165e-05 -3.22323262e-01] [ 1.15375131e-03 -1.31171896e-05 9.99999334e-01 -2.27483865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.43, Y:-0.33, Z:-0.02 [[ 9.99403748e-01 -3.45082165e-02 -1.15352219e-03 1.04434080e+02] [ 3.45082089e-02 9.99404414e-01 -2.64703115e-05 -3.27801805e-01] [ 1.15374861e-03 -1.33514563e-05 9.99999334e-01 -2.03660879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:-0.33, Z:-0.02 [[ 9.99355939e-01 -3.58660856e-02 -1.15351958e-03 1.04463559e+02] [ 3.58660788e-02 9.99356605e-01 -2.65836824e-05 -3.32452507e-01] [ 1.15373086e-03 -1.48056633e-05 9.99999334e-01 -1.63048283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:-0.33, Z:-0.02 [[ 9.99390810e-01 -3.48809124e-02 -1.15351784e-03 1.04492322e+02] [ 3.48809048e-02 9.99391476e-01 -2.66589704e-05 -3.31234426e-01] [ 1.15374579e-03 -1.35930160e-05 9.99999334e-01 -1.75610764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:-0.33, Z:-0.02 [[ 9.99452855e-01 -3.30554221e-02 -1.15351431e-03 1.04521420e+02] [ 3.30554132e-02 9.99453520e-01 -2.68106641e-05 -3.29510533e-01] [ 1.15377018e-03 -1.13338975e-05 9.99999334e-01 -1.87260720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:-0.33, Z:-0.02 [[ 9.99538435e-01 -3.03576523e-02 -1.15351168e-03 1.04550489e+02] [ 3.03576415e-02 9.99539100e-01 -2.69236642e-05 -3.28831582e-01] [ 1.15379736e-03 -8.10665683e-06 9.99999334e-01 -2.25387627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:-0.33, Z:-0.02 [[ 9.99602888e-01 -2.81555589e-02 -1.15350807e-03 1.04579134e+02] [ 2.81555464e-02 9.99603554e-01 -2.70771950e-05 -3.29413392e-01] [ 1.15381314e-03 -5.41120770e-06 9.99999334e-01 -2.39125449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:-0.34, Z:-0.02 [[ 9.99680321e-01 -2.52571957e-02 -1.15350446e-03 1.04607909e+02] [ 2.52571811e-02 9.99680986e-01 -2.72304270e-05 -3.36182968e-01] [ 1.15382424e-03 -1.91254893e-06 9.99999334e-01 -2.37959358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:-0.34, Z:-0.02 [[ 9.99696200e-01 -2.46206470e-02 -1.15350077e-03 1.04636575e+02] [ 2.46206318e-02 9.99696866e-01 -2.73856275e-05 -3.40298241e-01] [ 1.15382536e-03 -1.02261005e-06 9.99999334e-01 -2.15868002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:-0.34, Z:-0.02 [[ 9.99714199e-01 -2.38786400e-02 -1.15349706e-03 1.04665109e+02] [ 2.38786241e-02 9.99714865e-01 -2.75409804e-05 -3.43787745e-01] [ 1.15382580e-03 -1.08136492e-08 9.99999334e-01 -2.02400359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:-0.35, Z:-0.02 [[ 9.99731778e-01 -2.31309755e-02 -1.15349331e-03 1.04694091e+02] [ 2.31309590e-02 9.99732443e-01 -2.76972909e-05 -3.45665979e-01] [ 1.15382535e-03 1.00845545e-06 9.99999334e-01 -1.76657815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:-0.34, Z:-0.02 [[ 9.99767252e-01 -2.15432576e-02 -1.15348954e-03 1.04723108e+02] [ 2.15432398e-02 9.99767917e-01 -2.78533217e-05 -3.44721347e-01] [ 1.15382189e-03 2.99693709e-06 9.99999334e-01 -1.79030491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:-0.34, Z:-0.02 [[ 9.99882859e-01 -1.52622733e-02 -1.15348578e-03 1.04752270e+02] [ 1.52622512e-02 9.99883525e-01 -2.80080295e-05 -3.38284310e-01] [ 1.15377890e-03 1.03999589e-05 9.99999334e-01 -2.30093844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.78, Y:-0.34, Z:-0.02 [[ 9.99935512e-01 -1.12978197e-02 -1.15348201e-03 1.04780743e+02] [ 1.12977947e-02 9.99936177e-01 -2.81624338e-05 -3.35557456e-01] [ 1.15372657e-03 1.51288147e-05 9.99999334e-01 -2.36142198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:-0.34, Z:-0.02 [[ 9.99994509e-01 -3.10661789e-03 -1.15347828e-03 1.04809294e+02] [ 3.10658730e-03 9.99995174e-01 -2.83146517e-05 -3.35558329e-01] [ 1.15356067e-03 2.47311153e-05 9.99999334e-01 -2.25689659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:-0.34, Z:-0.02 [[ 9.99998153e-01 -1.53734428e-03 -1.15346502e-03 1.04839046e+02] [ 1.53731203e-03 9.99998818e-01 -2.88450072e-05 -3.36659337e-01] [ 1.15350800e-03 2.70717183e-05 9.99999334e-01 -2.12442141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:-0.34, Z:-0.02 [[ 9.99999334e-01 -3.58009966e-05 -1.15346315e-03 1.04868957e+02] [ 3.57676628e-05 9.99999999e-01 -2.89194915e-05 -3.36941177e-01] [ 1.15346418e-03 2.88782155e-05 9.99999334e-01 -2.00950800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:-0.34, Z:-0.02 [[ 9.99999335e-01 -1.03837249e-06 -1.15346131e-03 1.04898588e+02] [ 1.00493111e-06 1.00000000e+00 -2.89927661e-05 -3.37787343e-01] [ 1.15346134e-03 2.89915877e-05 9.99999334e-01 -2.03076349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:-0.34, Z:-0.02 [[ 9.99998664e-01 -1.15810678e-03 -1.15345946e-03 1.04928714e+02] [ 1.15807403e-03 9.99999329e-01 -2.90659859e-05 -3.38552674e-01] [ 1.15349235e-03 2.77301556e-05 9.99999334e-01 -2.05838165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:-0.34, Z:-0.02 [[ 9.99999213e-01 -4.93068044e-04 -1.15345759e-03 1.04958410e+02] [ 4.93034760e-04 9.99999878e-01 -2.91401041e-05 -3.38747554e-01] [ 1.15347182e-03 2.85713865e-05 9.99999334e-01 -2.06158463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:-0.34, Z:-0.02 [[ 9.99999180e-01 -5.57011582e-04 -1.15345571e-03 1.04988568e+02] [ 5.56978255e-04 9.99999844e-01 -2.92142785e-05 -3.37998935e-01] [ 1.15347180e-03 2.85718048e-05 9.99999334e-01 -2.05810434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:-0.34, Z:-0.02 [[ 9.99998386e-01 1.37721464e-03 -1.15345384e-03 1.05018403e+02] [-1.37724934e-03 9.99999051e-01 -2.92880344e-05 -3.35688676e-01] [ 1.15341241e-03 3.08765807e-05 9.99999334e-01 -1.91511296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.05, Y:-0.33, Z:-0.02 [[ 9.99992670e-01 3.65083543e-03 -1.15345196e-03 1.05047721e+02] [-3.65087172e-03 9.99993335e-01 -2.93616659e-05 -3.32252697e-01] [ 1.15333708e-03 3.35725558e-05 9.99999334e-01 -1.85836556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:-0.33, Z:-0.02 [[ 9.99978224e-01 6.49771682e-03 -1.15345010e-03 1.05077273e+02] [-6.49775509e-03 9.99978889e-01 -2.94348171e-05 -3.28808795e-01] [ 1.15323449e-03 3.69290124e-05 9.99999334e-01 -1.76658584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:-0.33, Z:-0.02 [[ 9.99970228e-01 7.62976215e-03 -1.15344824e-03 1.05107018e+02] [-7.62980126e-03 9.99970892e-01 -2.95075614e-05 -3.28696542e-01] [ 1.15318953e-03 3.83072637e-05 9.99999334e-01 -1.87868839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:-0.33, Z:-0.02 [[ 9.99967241e-01 8.01161691e-03 -1.15344638e-03 1.05136432e+02] [-8.01165635e-03 9.99967906e-01 -2.95797707e-05 -3.27380113e-01] [ 1.15317238e-03 3.88198177e-05 9.99999334e-01 -1.93628568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:-0.32, Z:-0.02 [[ 9.99965084e-01 8.27649253e-03 -1.15344452e-03 1.05166107e+02] [-8.27653224e-03 9.99965748e-01 -2.96520995e-05 -3.24455920e-01] [ 1.15315960e-03 3.91975849e-05 9.99999334e-01 -1.86147834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:-0.32, Z:-0.02 [[ 9.99971351e-01 7.48104461e-03 -1.15344267e-03 1.05195948e+02] [-7.48108387e-03 9.99972016e-01 -2.97239248e-05 -3.20049287e-01] [ 1.15318803e-03 3.83520747e-05 9.99999334e-01 -1.84214024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:-0.32, Z:-0.02 [[ 9.99978072e-01 6.52112701e-03 -1.15344081e-03 1.05225584e+02] [-6.52116571e-03 9.99978737e-01 -2.97960934e-05 -3.15926769e-01] [ 1.15322198e-03 3.73172187e-05 9.99999334e-01 -1.76449024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:-0.31, Z:-0.02 [[ 9.99994041e-01 3.25390286e-03 -1.15343894e-03 1.05255528e+02] [-3.25393947e-03 9.99994705e-01 -2.98680898e-05 -3.14831452e-01] [ 1.15333565e-03 3.36211323e-05 9.99999334e-01 -1.99188596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:-0.32, Z:-0.02 [[ 9.99999105e-01 6.77524015e-04 -1.15343706e-03 1.05285247e+02] [-6.77559000e-04 9.99999770e-01 -2.99408333e-05 -3.15000500e-01] [ 1.15341651e-03 3.07223282e-05 9.99999334e-01 -2.02275900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:-0.31, Z:-0.02 [[ 9.99998344e-01 -1.40789865e-03 -1.15343515e-03 1.05315093e+02] [ 1.40786496e-03 9.99999009e-01 -3.00140515e-05 -3.14206863e-01] [ 1.15347626e-03 2.83901209e-05 9.99999334e-01 -1.98753080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:-0.31, Z:-0.02 [[ 9.99965627e-01 -8.21068481e-03 -1.15343322e-03 1.05344385e+02] [ 8.21065556e-03 9.99966292e-01 -3.00879867e-05 -3.13696953e-01] [ 1.15364139e-03 2.06165096e-05 9.99999334e-01 -1.89363806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:-0.31, Z:-0.02 [[ 9.99922744e-01 -1.23764361e-02 -1.15343126e-03 1.05373910e+02] [ 1.23764095e-02 9.99923409e-01 -3.01630679e-05 -3.14607257e-01] [ 1.15371623e-03 1.58854000e-05 9.99999334e-01 -1.95280422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:-0.32, Z:-0.02 [[ 9.99867871e-01 -1.62144896e-02 -1.15342927e-03 1.05402309e+02] [ 1.62144655e-02 9.99868536e-01 -3.02388445e-05 -3.15599805e-01] [ 1.15376795e-03 1.15326100e-05 9.99999334e-01 -1.97717129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:-0.32, Z:-0.02 [[ 9.99816571e-01 -1.91179219e-02 -1.15342522e-03 1.05431235e+02] [ 1.91178995e-02 9.99817236e-01 -3.03924557e-05 -3.15761579e-01] [ 1.15379546e-03 8.33581330e-06 9.99999334e-01 -1.99348305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:-0.31, Z:-0.02 [[ 9.99793105e-01 -2.03080715e-02 -1.15342214e-03 1.05460339e+02] [ 2.03080498e-02 9.99793770e-01 -3.05090265e-05 -3.14629036e-01] [ 1.15380385e-03 7.07896004e-06 9.99999334e-01 -1.99387549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:-0.31, Z:-0.02 [[ 9.99755721e-01 -2.20718647e-02 -1.15341794e-03 1.05488914e+02] [ 2.20718440e-02 9.99756387e-01 -3.06672172e-05 -3.13891081e-01] [ 1.15381383e-03 5.20166519e-06 9.99999334e-01 -1.63969949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:-0.32, Z:-0.02 [[ 9.99757610e-01 -2.19861693e-02 -1.15341380e-03 1.05517475e+02] [ 2.19861483e-02 9.99758275e-01 -3.08220082e-05 -3.16138110e-01] [ 1.15381265e-03 5.45541032e-06 9.99999334e-01 -1.57556163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:-0.32, Z:-0.01 [[ 9.99750656e-01 -2.23001119e-02 -1.15340963e-03 1.05546352e+02] [ 2.23000910e-02 9.99751322e-01 -3.09771031e-05 -3.19662010e-01] [ 1.15381360e-03 5.24823932e-06 9.99999334e-01 -1.48426348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:-0.32, Z:-0.02 [[ 9.99759754e-01 -2.18884377e-02 -1.15340546e-03 1.05574988e+02] [ 2.18884164e-02 9.99760419e-01 -3.11316486e-05 -3.23095099e-01] [ 1.15381055e-03 5.87795032e-06 9.99999334e-01 -1.62810609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.61, Y:-0.32, Z:-0.01 [[ 9.99795669e-01 -2.01814029e-02 -1.15340125e-03 1.05605227e+02] [ 2.01813802e-02 9.99796335e-01 -3.12868654e-05 -3.24272346e-01] [ 1.15379776e-03 8.00324329e-06 9.99999334e-01 -6.69061346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:-0.32, Z:-0.02 [[ 9.99763817e-01 -2.17020777e-02 -1.15362917e-03 1.05633905e+02] [ 2.17020658e-02 9.99764482e-01 -2.28398187e-05 -3.22956298e-01] [ 1.15385314e-03 -2.20171178e-06 9.99999334e-01 -1.76887518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:-0.32, Z:-0.02 [[ 9.99762346e-01 -2.17697149e-02 -1.15339919e-03 1.05662679e+02] [ 2.17696933e-02 9.99763012e-01 -3.13114260e-05 -3.22659066e-01] [ 1.15380749e-03 6.19483822e-06 9.99999334e-01 -1.83676609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:-0.32, Z:-0.02 [[ 9.99779039e-01 -2.09891002e-02 -1.15339499e-03 1.05691753e+02] [ 2.09890779e-02 9.99779705e-01 -3.14653040e-05 -3.24120094e-01] [ 1.15380133e-03 7.24965413e-06 9.99999334e-01 -1.85564027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:-0.33, Z:-0.02 [[ 9.99849044e-01 -1.73366540e-02 -1.15339078e-03 1.05721014e+02] [ 1.73366290e-02 9.99849709e-01 -3.16188192e-05 -3.27420719e-01] [ 1.15376560e-03 1.16181381e-05 9.99999334e-01 -1.76834923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:-0.33, Z:-0.01 [[ 9.99903624e-01 -1.38351921e-02 -1.15338653e-03 1.05752545e+02] [ 1.38351646e-02 9.99904289e-01 -3.17729677e-05 -3.25980427e-01] [ 1.15371573e-03 1.58126130e-05 9.99999334e-01 -8.47221810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:-0.32, Z:-0.02 [[ 9.99906094e-01 -1.36554940e-02 -1.15364668e-03 1.05780872e+02] [ 1.36554773e-02 9.99906759e-01 -2.23070145e-05 -3.23718449e-01] [ 1.15384373e-03 6.55132361e-06 9.99999334e-01 -1.71484300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:-0.32, Z:-0.02 [[ 9.99940651e-01 -1.08334521e-02 -1.15338629e-03 1.05809480e+02] [ 1.08334226e-02 9.99941316e-01 -3.17626210e-05 -3.21121089e-01] [ 1.15366270e-03 1.92656148e-05 9.99999334e-01 -1.76711326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:-0.32, Z:-0.02 [[ 9.99979733e-01 -6.26117407e-03 -1.15338206e-03 1.05838239e+02] [ 6.26114142e-03 9.99980398e-01 -3.19153586e-05 -3.19608377e-01] [ 1.15355928e-03 2.46932235e-05 9.99999334e-01 -1.80245398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:-0.32, Z:-0.02 [[ 9.99989243e-01 -4.49255427e-03 -1.15336738e-03 1.05867446e+02] [ 4.49251984e-03 9.99989908e-01 -3.24373772e-05 -3.18985090e-01] [ 1.15350147e-03 2.72555024e-05 9.99999334e-01 -1.82320334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:-0.32, Z:-0.02 [[ 9.99994874e-01 -2.98679324e-03 -1.15336530e-03 1.05897606e+02] [ 2.98675773e-03 9.99995539e-01 -3.25111275e-05 -3.18446686e-01] [ 1.15345726e-03 2.90661381e-05 9.99999334e-01 -1.77449541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:-0.32, Z:-0.02 [[ 9.99994066e-01 -3.24613062e-03 -1.15336323e-03 1.05927291e+02] [ 3.24609519e-03 9.99994731e-01 -3.25845742e-05 -3.17889297e-01] [ 1.15346293e-03 2.88404540e-05 9.99999334e-01 -1.84796730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.96, Y:-0.32, Z:-0.02 [[ 9.99991478e-01 -3.96394431e-03 -1.15336116e-03 1.05957074e+02] [ 3.96390927e-03 9.99992143e-01 -3.26577745e-05 -3.16599631e-01] [ 1.15348155e-03 2.80856772e-05 9.99999334e-01 -1.72077649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:-0.31, Z:-0.02 [[ 9.99977567e-01 -6.59811706e-03 -1.15335907e-03 1.05986393e+02] [ 6.59808369e-03 9.99978232e-01 -3.27311658e-05 -3.13096814e-01] [ 1.15354993e-03 2.51204719e-05 9.99999334e-01 -1.78562590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:-0.31, Z:-0.02 [[ 9.99974664e-01 -7.02428611e-03 -1.15335697e-03 1.06015515e+02] [ 7.02425294e-03 9.99975329e-01 -3.28049712e-05 -3.10168745e-01] [ 1.15355895e-03 2.47026689e-05 9.99999334e-01 -1.78265614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:-0.31, Z:-0.02 [[ 9.99973949e-01 -7.12543658e-03 -1.15335487e-03 1.06045219e+02] [ 7.12540339e-03 9.99974613e-01 -3.28788321e-05 -3.06910276e-01] [ 1.15355986e-03 2.46598569e-05 9.99999334e-01 -1.79740256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.07, Y:-0.30, Z:-0.02 [[ 9.99981700e-01 -5.93881085e-03 -1.15335275e-03 1.06074470e+02] [ 5.93877679e-03 9.99982365e-01 -3.29530561e-05 -3.03272996e-01] [ 1.15352811e-03 2.61029485e-05 9.99999334e-01 -1.69475829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:-0.30, Z:-0.01 [[ 9.99992034e-01 -3.82114085e-03 -1.15335062e-03 1.06104050e+02] [ 3.82110529e-03 9.99992699e-01 -3.30273499e-05 -2.97156884e-01] [ 1.15346840e-03 2.86200126e-05 9.99999334e-01 -1.47316252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:-0.30, Z:-0.02 [[ 9.99997448e-01 -1.94238784e-03 -1.15334849e-03 1.06133405e+02] [ 1.94235095e-03 9.99998113e-01 -3.31016299e-05 -2.95076974e-01] [ 1.15341061e-03 3.08613379e-05 9.99999334e-01 -1.51148012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:-0.29, Z:-0.02 [[ 9.99999222e-01 -4.75595902e-04 -1.15334638e-03 1.06163040e+02] [ 4.75557956e-04 9.99999886e-01 -3.31750204e-05 -2.93350979e-01] [ 1.15336202e-03 3.26265115e-05 9.99999334e-01 -1.62729215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:-0.29, Z:-0.02 [[ 9.99999301e-01 -2.60400709e-04 -1.15334427e-03 1.06192718e+02] [ 2.60362535e-04 9.99999966e-01 -3.32480971e-05 -2.91676192e-01] [ 1.15335289e-03 3.29477862e-05 9.99999334e-01 -1.80130657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:-0.29, Z:-0.02 [[ 9.99999231e-01 4.55415354e-04 -1.15334216e-03 1.06222538e+02] [-4.55454087e-04 9.99999896e-01 -3.33209972e-05 -2.86606599e-01] [ 1.15332687e-03 3.38462660e-05 9.99999334e-01 -2.02676602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:-0.28, Z:-0.02 [[ 9.99999196e-01 -5.26892277e-04 -1.15334004e-03 1.06252013e+02] [ 5.26854112e-04 9.99999861e-01 -3.33942642e-05 -2.81952469e-01] [ 1.15335748e-03 3.27865954e-05 9.99999334e-01 -2.08543084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:-0.28, Z:-0.02 [[ 9.99998366e-01 -1.39203905e-03 -1.15333792e-03 1.06282007e+02] [ 1.39200138e-03 9.99999031e-01 -3.34675310e-05 -2.75779434e-01] [ 1.15338339e-03 3.18620284e-05 9.99999334e-01 -1.97066691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:-0.27, Z:-0.02 [[ 9.99997119e-01 -2.10527344e-03 -1.15333578e-03 1.06311908e+02] [ 2.10523615e-03 9.99997783e-01 -3.35409209e-05 -2.69895024e-01] [ 1.15340384e-03 3.11127800e-05 9.99999334e-01 -1.70129780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:-0.27, Z:-0.02 [[ 9.99996179e-01 -2.51237321e-03 -1.15333364e-03 1.06341056e+02] [ 2.51233611e-03 9.99996844e-01 -3.36146002e-05 -2.65581076e-01] [ 1.15341445e-03 3.07169100e-05 9.99999334e-01 -1.63785707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:-0.26, Z:-0.01 [[ 9.99991101e-01 -4.05804056e-03 -1.15333147e-03 1.06370713e+02] [ 4.05800440e-03 9.99991766e-01 -3.36886968e-05 -2.61403264e-01] [ 1.15345868e-03 2.90081729e-05 9.99999334e-01 -1.44704458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:-0.26, Z:-0.02 [[ 9.99987872e-01 -4.78800566e-03 -1.15332931e-03 1.06399883e+02] [ 4.78796990e-03 9.99988537e-01 -3.37624870e-05 -2.56587715e-01] [ 1.15347775e-03 2.82399715e-05 9.99999334e-01 -1.62296361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:-0.25, Z:-0.02 [[ 9.99978892e-01 -6.39419985e-03 -1.15332715e-03 1.06429431e+02] [ 6.39416508e-03 9.99979557e-01 -3.38362348e-05 -2.50800801e-01] [ 1.15351993e-03 2.64609564e-05 9.99999334e-01 -1.87077533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:-0.24, Z:-0.02 [[ 9.99949806e-01 -9.95266505e-03 -1.15332497e-03 1.06458516e+02] [ 9.95263255e-03 9.99950471e-01 -3.39102190e-05 -2.43992611e-01] [ 1.15360535e-03 2.24298972e-05 9.99999334e-01 -2.08625144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:-0.24, Z:-0.01 [[ 9.99911456e-01 -1.32570823e-02 -1.15331786e-03 1.06487670e+02] [ 1.32570517e-02 9.99912121e-01 -3.41504215e-05 -2.44144286e-01] [ 1.15366924e-03 1.88578031e-05 9.99999334e-01 -1.20392887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.52, Y:-0.24, Z:-0.02 [[ 9.99899610e-01 -1.41223377e-02 -1.15319880e-03 1.06518783e+02] [ 1.41223030e-02 9.99900275e-01 -3.81702379e-05 -2.44916330e-01] [ 1.15362285e-03 2.18805830e-05 9.99999334e-01 -1.79491944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:-0.24, Z:-0.02 [[ 9.99863379e-01 -1.64891631e-02 -1.15331896e-03 1.06548784e+02] [ 1.64891348e-02 9.99864044e-01 -3.41071765e-05 -2.43445991e-01] [ 1.15372456e-03 1.50852850e-05 9.99999334e-01 -1.55796564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.58, Y:-0.24, Z:-0.02 [[ 9.99829399e-01 -1.84348288e-02 -1.15331668e-03 1.06578207e+02] [ 1.84348017e-02 9.99830064e-01 -3.41841187e-05 -2.40053668e-01] [ 1.15375087e-03 1.29171226e-05 9.99999334e-01 -1.53921703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:-0.23, Z:-0.02 [[ 9.99815928e-01 -1.91515251e-02 -1.15331438e-03 1.06607453e+02] [ 1.91514983e-02 9.99816593e-01 -3.42615773e-05 -2.34605416e-01] [ 1.15375901e-03 1.21675723e-05 9.99999334e-01 -1.80357037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:-0.23, Z:-0.02 [[ 9.99815827e-01 -1.91567645e-02 -1.15331209e-03 1.06637399e+02] [ 1.91567376e-02 9.99816492e-01 -3.43383091e-05 -2.32612561e-01] [ 1.15375826e-03 1.22382878e-05 9.99999334e-01 -1.84553857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:-0.23, Z:-0.02 [[ 9.99810583e-01 -1.94285192e-02 -1.15330980e-03 1.06667374e+02] [ 1.94284924e-02 9.99811248e-01 -3.44151009e-05 -2.30179968e-01] [ 1.15376075e-03 1.20015113e-05 9.99999334e-01 -1.93605513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:-0.23, Z:-0.02 [[ 9.99766879e-01 -2.15605527e-02 -1.15330749e-03 1.06697364e+02] [ 2.15605273e-02 9.99767544e-01 -3.44922999e-05 -2.31686008e-01] [ 1.15378307e-03 9.61834137e-06 9.99999334e-01 -1.96506955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:-0.24, Z:-0.02 [[ 9.99751583e-01 -2.22585225e-02 -1.15330519e-03 1.06727246e+02] [ 2.22584974e-02 9.99752248e-01 -3.45690914e-05 -2.35088592e-01] [ 1.15378892e-03 8.88966320e-06 9.99999334e-01 -2.02943586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:-0.24, Z:-0.02 [[ 9.99739994e-01 -2.27731138e-02 -1.15330286e-03 1.06756847e+02] [ 2.27730890e-02 9.99740659e-01 -3.46468719e-05 -2.38211170e-01] [ 1.15379277e-03 8.37359493e-06 9.99999334e-01 -1.93593817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:-0.24, Z:-0.02 [[ 9.99741363e-01 -2.27129398e-02 -1.15330052e-03 1.06786641e+02] [ 2.27129149e-02 9.99742028e-01 -3.47244057e-05 -2.38502364e-01] [ 1.15379169e-03 8.52060817e-06 9.99999334e-01 -1.74768485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:-0.23, Z:-0.01 [[ 9.99787458e-01 -2.05842089e-02 -1.15329819e-03 1.06816416e+02] [ 2.05841825e-02 9.99788123e-01 -3.48015894e-05 -2.29307865e-01] [ 1.15377020e-03 1.10544921e-05 9.99999334e-01 -1.49676524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.85, Y:-0.23, Z:-0.01 [[ 9.99786082e-01 -2.06508959e-02 -1.15329587e-03 1.06846563e+02] [ 2.06508694e-02 9.99786747e-01 -3.48783948e-05 -2.28411428e-01] [ 1.15377020e-03 1.10543713e-05 9.99999334e-01 -1.49328529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:-0.22, Z:-0.01 [[ 9.99833486e-01 -1.82118107e-02 -1.15329354e-03 1.06875807e+02] [ 1.82117825e-02 9.99834151e-01 -3.49553209e-05 -2.23404891e-01] [ 1.15373886e-03 1.39459692e-05 9.99999334e-01 -1.48725458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:-0.22, Z:-0.02 [[ 9.99886131e-01 -1.50464365e-02 -1.15329121e-03 1.06905833e+02] [ 1.50464061e-02 9.99886796e-01 -3.50320512e-05 -2.21091990e-01] [ 1.15368776e-03 1.76751744e-05 9.99999334e-01 -1.56283575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:-0.22, Z:-0.02 [[ 9.99912421e-01 -1.31841054e-02 -1.15328888e-03 1.06935897e+02] [ 1.31840736e-02 9.99913086e-01 -3.51085272e-05 -2.20822332e-01] [ 1.15365152e-03 1.99004069e-05 9.99999334e-01 -1.68171782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:-0.22, Z:-0.02 [[ 9.99938581e-01 -1.10229166e-02 -1.15328655e-03 1.06965372e+02] [ 1.10228833e-02 9.99939246e-01 -3.51850029e-05 -2.20899256e-01] [ 1.15360432e-03 2.24702988e-05 9.99999334e-01 -1.75430179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:-0.22, Z:-0.02 [[ 9.99945794e-01 -1.03479055e-02 -1.15328422e-03 1.06995407e+02] [ 1.03478717e-02 9.99946459e-01 -3.52611522e-05 -2.16515918e-01] [ 1.15358735e-03 2.33252038e-05 9.99999334e-01 -1.74825885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.03, Y:-0.21, Z:-0.02 [[ 9.99951888e-01 -9.74121586e-03 -1.15328190e-03 1.07025083e+02] [ 9.74118158e-03 9.99952553e-01 -3.53367295e-05 -2.11616275e-01] [ 1.15357140e-03 2.41007010e-05 9.99999334e-01 -1.80383423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:-0.21, Z:-0.02 [[ 9.99955086e-01 -9.40721455e-03 -1.15327960e-03 1.07054578e+02] [ 9.40717996e-03 9.99955751e-01 -3.54115574e-05 -2.07018203e-01] [ 1.15356170e-03 2.45608581e-05 9.99999334e-01 -1.65409224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:-0.20, Z:-0.02 [[ 9.99963736e-01 -8.43784045e-03 -1.15327731e-03 1.07084564e+02] [ 8.43780513e-03 9.99964400e-01 -3.54862708e-05 -2.01829380e-01] [ 1.15353568e-03 2.57538548e-05 9.99999334e-01 -1.54950974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:-0.19, Z:-0.01 [[ 9.99984850e-01 -5.38238557e-03 -1.15327498e-03 1.07114148e+02] [ 5.38234813e-03 9.99985514e-01 -3.55615430e-05 -1.92442398e-01] [ 1.15344968e-03 2.93536767e-05 9.99999334e-01 -1.38895022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:-0.19, Z:-0.01 [[ 9.99993937e-01 -3.28565856e-03 -1.15327267e-03 1.07143553e+02] [ 3.28561964e-03 9.99994602e-01 -3.56365563e-05 -1.88179368e-01] [ 1.15338353e-03 3.18471249e-05 9.99999334e-01 -1.43664816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:-0.19, Z:-0.01 [[ 9.99997920e-01 -1.68225318e-03 -1.15327032e-03 1.07172699e+02] [ 1.68221311e-03 9.99998584e-01 -3.57123225e-05 -1.85642982e-01] [ 1.15332876e-03 3.37722017e-05 9.99999334e-01 -1.48484109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:-0.18, Z:-0.02 [[ 9.99999199e-01 5.22246085e-04 -1.15326801e-03 1.07201936e+02] [-5.22287704e-04 9.99999863e-01 -3.57867941e-05 -1.80056390e-01] [ 1.15324916e-03 3.63891032e-05 9.99999334e-01 -1.50503675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:-0.17, Z:-0.02 [[ 9.99999163e-01 5.86259699e-04 -1.15326571e-03 1.07231067e+02] [-5.86301445e-04 9.99999827e-01 -3.58605802e-05 -1.73376961e-01] [ 1.15324449e-03 3.65367115e-05 9.99999334e-01 -1.56795023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:-0.17, Z:-0.02 [[ 9.99999327e-01 1.27448601e-04 -1.15326226e-03 1.07259999e+02] [-1.27490170e-04 9.99999991e-01 -3.59713451e-05 -1.65555103e-01] [ 1.15325767e-03 3.61183505e-05 9.99999334e-01 -1.58045358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:-0.16, Z:-0.01 [[ 9.99999242e-01 -4.31418889e-04 -1.15325874e-03 1.07289193e+02] [ 4.31377561e-04 9.99999906e-01 -3.60836882e-05 -1.58860098e-01] [ 1.15327420e-03 3.55861709e-05 9.99999334e-01 -8.97046471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:-0.15, Z:-0.02 [[ 9.99997672e-01 1.82398327e-03 -1.15325838e-03 1.07319109e+02] [-1.82402611e-03 9.99998336e-01 -3.60951917e-05 -1.53589797e-01] [ 1.15319063e-03 3.81986811e-05 9.99999334e-01 -1.72769334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:-0.15, Z:-0.02 [[ 9.99995186e-01 2.88079133e-03 -1.15325408e-03 1.07348917e+02] [-2.88083503e-03 9.99995850e-01 -3.62321537e-05 -1.49716310e-01] [ 1.15314492e-03 3.95543140e-05 9.99999334e-01 -1.67159179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:-0.14, Z:-0.02 [[ 9.99981667e-01 5.94446438e-03 -1.15325176e-03 1.07378707e+02] [-5.94451020e-03 9.99982331e-01 -3.63058278e-05 -1.40855475e-01] [ 1.15301557e-03 4.31606791e-05 9.99999334e-01 -1.53510218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:-0.13, Z:-0.01 [[ 9.99974527e-01 7.04378068e-03 -1.15324943e-03 1.07408663e+02] [-7.04382731e-03 9.99975191e-01 -3.63796128e-05 -1.34677400e-01] [ 1.15296457e-03 4.45019760e-05 9.99999334e-01 -1.42082186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:-0.13, Z:-0.02 [[ 9.99972080e-01 7.38299182e-03 -1.15324711e-03 1.07436910e+02] [-7.38303876e-03 9.99972744e-01 -3.64532178e-05 -1.28533317e-01] [ 1.15294654e-03 4.49666681e-05 9.99999334e-01 -1.52448748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:-0.12, Z:-0.02 [[ 9.99973312e-01 7.21428352e-03 -1.15323058e-03 1.07465862e+02] [-7.21433095e-03 9.99973976e-01 -3.69688073e-05 -1.23329936e-01] [ 1.15293386e-03 4.52876077e-05 9.99999334e-01 -1.58998830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:-0.11, Z:-0.02 [[ 9.99964122e-01 8.39198098e-03 -1.15321388e-03 1.07493984e+02] [-8.39202978e-03 9.99964786e-01 -3.74825045e-05 -1.12895936e-01] [ 1.15285872e-03 4.71589649e-05 9.99999334e-01 -1.62068142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.52, Y:-0.10, Z:-0.01 [[ 9.99975172e-01 6.95163825e-03 -1.15319698e-03 1.07523330e+02] [-6.95168668e-03 9.99975836e-01 -3.79953696e-05 -1.04287429e-01] [ 1.15290499e-03 4.60110903e-05 9.99999334e-01 -5.90133114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.55, Y:-0.09, Z:-0.01 [[ 9.99957894e-01 9.10382705e-03 -1.15315127e-03 1.07553299e+02] [-9.10387850e-03 9.99958558e-01 -3.93724913e-05 -9.48937538e-02] [ 1.15274504e-03 4.98689825e-05 9.99999334e-01 -1.30071597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:-0.09, Z:-0.01 [[ 9.99960351e-01 8.82983145e-03 -1.15318331e-03 1.07581409e+02] [-8.82988161e-03 9.99961015e-01 -3.84104518e-05 -8.58414187e-02] [ 1.15279920e-03 4.85914009e-05 9.99999334e-01 -1.19866576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:-0.07, Z:-0.01 [[ 9.99969079e-01 7.77886283e-03 -1.15316595e-03 1.07609644e+02] [-7.77891288e-03 9.99969743e-01 -3.89247576e-05 -7.35964172e-02] [ 1.15282827e-03 4.78939315e-05 9.99999334e-01 -1.26439317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:-0.07, Z:-0.01 [[ 9.99978051e-01 6.52434489e-03 -1.15314837e-03 1.07638556e+02] [-6.52439470e-03 9.99978715e-01 -3.94388487e-05 -6.77872365e-02] [ 1.15286651e-03 4.69615782e-05 9.99999334e-01 -1.32299241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:-0.06, Z:-0.01 [[ 9.99990889e-01 4.10998932e-03 -1.15313045e-03 1.07667151e+02] [-4.11003813e-03 9.99991553e-01 -3.99558634e-05 -6.06550344e-02] [ 1.15295649e-03 4.46949095e-05 9.99999334e-01 -1.41847685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:-0.05, Z:-0.01 [[ 9.99998568e-01 1.23882145e-03 -1.15312530e-03 1.07695433e+02] [-1.23886852e-03 9.99999232e-01 -4.01041538e-05 -5.25246726e-02] [ 1.15307473e-03 4.15326670e-05 9.99999334e-01 -1.35393205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:-0.04, Z:-0.01 [[ 9.99998978e-01 -8.45304834e-04 -1.15312012e-03 1.07724916e+02] [ 8.45258979e-04 9.99999642e-01 -4.02524707e-05 -4.44814723e-02] [ 1.15315373e-03 3.92777445e-05 9.99999334e-01 -1.30117691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.75, Y:-0.04, Z:-0.01 [[ 9.99978658e-01 -6.43073157e-03 -1.15311750e-03 1.07754419e+02] [ 6.43068934e-03 9.99979322e-01 -4.03273453e-05 -3.63782537e-02] [ 1.15335299e-03 3.29111442e-05 9.99999334e-01 -1.16434139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:-0.03, Z:-0.01 [[ 9.99944623e-01 -1.04604778e-02 -1.15311486e-03 1.07785284e+02] [ 1.04604381e-02 9.99945287e-01 -4.04027951e-05 -3.38555457e-02] [ 1.15347440e-03 2.83384711e-05 9.99999334e-01 -1.23137616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:-0.03, Z:-0.01 [[ 9.99898009e-01 -1.42352460e-02 -1.15311486e-03 1.07816164e+02] [ 1.42352089e-02 9.99898673e-01 -4.04027951e-05 -3.11373024e-02] [ 1.15357316e-03 2.39838435e-05 9.99999334e-01 -1.26221818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:-0.03, Z:-0.01 [[ 9.99837780e-01 -1.79745215e-02 -1.15311747e-03 1.07847865e+02] [ 1.79744869e-02 9.99838445e-01 -4.03280262e-05 -2.92242633e-02] [ 1.15365606e-03 1.95947892e-05 9.99999334e-01 -1.43639330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:-0.03, Z:-0.01 [[ 9.99768350e-01 -2.14922379e-02 -1.15312007e-03 1.07880308e+02] [ 2.14922058e-02 9.99769015e-01 -4.02535690e-05 -2.86983040e-02] [ 1.15371886e-03 1.54611505e-05 9.99999334e-01 -1.44642244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:-0.03, Z:-0.01 [[ 9.99566357e-01 -2.94239311e-02 -1.15313813e-03 1.07912165e+02] [ 2.94239048e-02 9.99567022e-01 -3.97293665e-05 -3.07767286e-02] [ 1.15380784e-03 5.78231154e-06 9.99999334e-01 -1.45173609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:-0.03, Z:-0.01 [[ 9.99541762e-01 -3.02479131e-02 -1.15315587e-03 1.07945500e+02] [ 3.02478880e-02 9.99542427e-01 -3.92075306e-05 -2.86748129e-02] [ 1.15381417e-03 4.30903455e-06 9.99999334e-01 -1.41496466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:-0.02, Z:-0.01 [[ 9.99562426e-01 -2.95571621e-02 -1.15317568e-03 1.07978961e+02] [ 2.95571372e-02 9.99563092e-01 -3.86160060e-05 -2.47391321e-02] [ 1.15381323e-03 4.51453689e-06 9.99999334e-01 -1.34188487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:-0.02, Z:-0.01 [[ 9.99676588e-01 -2.54045004e-02 -1.15319527e-03 1.08011441e+02] [ 2.54044734e-02 9.99677254e-01 -3.80218266e-05 -1.91481101e-02] [ 1.15378901e-03 8.71321131e-06 9.99999334e-01 -1.33307616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.772320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.04, Y:-0.02, Z:-0.01 [[ 9.99735570e-01 -2.29665027e-02 -1.15321188e-03 1.08043307e+02] [ 2.29664747e-02 9.99736235e-01 -3.75111075e-05 -1.81431828e-02] [ 1.15376921e-03 1.10159769e-05 9.99999334e-01 -1.30802050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:-0.02, Z:-0.01 [[ 9.99772836e-01 -2.12825445e-02 -1.15322840e-03 1.08074395e+02] [ 2.12825160e-02 9.99773501e-01 -3.69962361e-05 -1.88795334e-02] [ 1.15375457e-03 1.24442300e-05 9.99999334e-01 -5.80193546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:-0.02, Z:-0.01 [[ 9.99795576e-01 -2.01860562e-02 -1.15314788e-03 1.08106285e+02] [ 2.01860240e-02 9.99796241e-01 -3.95054492e-05 -1.99570605e-02] [ 1.15371038e-03 1.62199024e-05 9.99999334e-01 -6.48915678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:-0.02, Z:-0.01 [[ 9.99817173e-01 -1.90863807e-02 -1.15318198e-03 1.08138374e+02] [ 1.90863491e-02 9.99817838e-01 -3.84272754e-05 -2.02627593e-02] [ 1.15370536e-03 1.64102160e-05 9.99999334e-01 -5.25714091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:-0.02, Z:-0.01 [[ 9.99804502e-01 -1.97389716e-02 -1.15319426e-03 1.08170692e+02] [ 1.97389409e-02 9.99805167e-01 -3.80320013e-05 -1.90106431e-02] [ 1.15372029e-03 1.52617328e-05 9.99999334e-01 -1.34801396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.20, Y:-0.02, Z:-0.01 [[ 9.99799423e-01 -1.99945884e-02 -1.15327287e-03 1.08202492e+02] [ 1.99945608e-02 9.99800088e-01 -3.54765032e-05 -1.59460816e-02] [ 1.15375166e-03 1.24102028e-05 9.99999334e-01 -1.24819094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.23, Y:-0.01, Z:-0.01 [[ 9.99783297e-01 -2.07852990e-02 -1.15328861e-03 1.08234941e+02] [ 2.07852725e-02 9.99783962e-01 -3.49571722e-05 -1.17008942e-02] [ 1.15376606e-03 1.09781787e-05 9.99999334e-01 -1.05802758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:-0.01, Z:-0.01 [[ 9.99756714e-01 -2.20268759e-02 -1.15330402e-03 1.08266843e+02] [ 2.20268508e-02 9.99757379e-01 -3.44414265e-05 -8.12220741e-03] [ 1.15378284e-03 9.02939196e-06 9.99999334e-01 -1.12123462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:-0.01, Z:-0.00 [[ 9.99680039e-01 -2.52683376e-02 -1.15331924e-03 1.08296815e+02] [ 2.52683152e-02 9.99680705e-01 -3.39239932e-05 -9.90347080e-03] [ 1.15380819e-03 4.77070480e-06 9.99999334e-01 -3.95727961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:-0.01, Z:-0.02 [[ 9.99654355e-01 -2.62648093e-02 -1.15322045e-03 1.08329106e+02] [ 2.62647838e-02 9.99655020e-01 -3.72820341e-05 -1.23602105e-02] [ 1.15380182e-03 6.98006203e-06 9.99999334e-01 -1.51421809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:-0.01, Z:-0.02 [[ 9.99583981e-01 -2.88189966e-02 -1.15332410e-03 1.08361376e+02] [ 2.88189768e-02 9.99584646e-01 -3.37388900e-05 -1.42777595e-02] [ 1.15381738e-03 4.87233516e-07 9.99999334e-01 -1.54588300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.39, Y:-0.02, Z:-0.01 [[ 9.99532360e-01 -3.05570182e-02 -1.15333887e-03 1.08394029e+02] [ 3.05570002e-02 9.99533025e-01 -3.32260463e-05 -1.55535090e-02] [ 1.15381558e-03 -2.03206773e-06 9.99999334e-01 -1.35509074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:-0.02, Z:-0.01 [[ 9.99374055e-01 -3.53577089e-02 -1.15334411e-03 1.08426588e+02] [ 3.53576943e-02 9.99374721e-01 -3.30431086e-05 -1.81704199e-02] [ 1.15379128e-03 -7.75716325e-06 9.99999334e-01 -1.24345417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:-0.02, Z:-0.01 [[ 9.99330942e-01 -3.65559567e-02 -1.15335869e-03 1.08460051e+02] [ 3.65559435e-02 9.99331608e-01 -3.25262861e-05 -1.83491670e-02] [ 1.15377682e-03 -9.65759101e-06 9.99999334e-01 -1.27691436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:-0.02, Z:-0.01 [[ 9.99308266e-01 -3.71706671e-02 -1.15337478e-03 1.08493135e+02] [ 3.71706550e-02 9.99308932e-01 -3.19453982e-05 -1.80078087e-02] [ 1.15376515e-03 -1.09483955e-05 9.99999334e-01 -1.28984361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:-0.02, Z:-0.01 [[ 9.99298119e-01 -3.74424758e-02 -1.15339062e-03 1.08526542e+02] [ 3.74424646e-02 9.99298785e-01 -3.13628454e-05 -1.84430108e-02] [ 1.15375615e-03 -1.18449549e-05 9.99999334e-01 -1.32417863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:-0.02, Z:-0.01 [[ 9.99323885e-01 -3.67483577e-02 -1.15340622e-03 1.08559048e+02] [ 3.67483467e-02 9.99324551e-01 -3.07783604e-05 -2.03235323e-02] [ 1.15375820e-03 -1.16282208e-05 9.99999334e-01 -1.49655022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:-0.02, Z:-0.01 [[ 9.99390702e-01 -3.48840236e-02 -1.15341950e-03 1.08591297e+02] [ 3.48840119e-02 9.99391367e-01 -3.02722395e-05 -2.46216018e-02] [ 1.15377351e-03 -9.98210494e-06 9.99999334e-01 -1.37397844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:-0.02, Z:-0.01 [[ 9.99413355e-01 -3.42288740e-02 -1.15343252e-03 1.08623130e+02] [ 3.42288624e-02 9.99414020e-01 -2.97677211e-05 -2.38169356e-02] [ 1.15377555e-03 -9.73042503e-06 9.99999334e-01 -1.27908983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:-0.02, Z:-0.01 [[ 9.99400622e-01 -3.45986411e-02 -1.15344544e-03 1.08655782e+02] [ 3.45986304e-02 9.99401288e-01 -2.92583335e-05 -2.26021640e-02] [ 1.15376716e-03 -1.06668358e-05 9.99999334e-01 -1.15617049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:-0.02, Z:-0.01 [[ 9.99348429e-01 -3.60747469e-02 -1.15345986e-03 1.08688515e+02] [ 3.60747378e-02 9.99349094e-01 -2.86782880e-05 -2.38904098e-02] [ 1.15374363e-03 -1.29511600e-05 9.99999334e-01 -1.22598214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:-0.03, Z:-0.01 [[ 9.99279981e-01 -3.79234759e-02 -1.15346689e-03 1.08721007e+02] [ 3.79234684e-02 9.99280646e-01 -2.83927322e-05 -2.81407892e-02] [ 1.15371389e-03 -1.53711764e-05 9.99999334e-01 -1.35360283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.432320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.75, Y:-0.04, Z:-0.00 [[ 9.99168143e-01 -4.07638468e-02 -1.15347357e-03 1.08751618e+02] [ 4.07638415e-02 9.99168809e-01 -2.81186245e-05 -3.75040187e-02] [ 1.15366104e-03 -1.89247801e-05 9.99999334e-01 -3.94075066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:-0.04, Z:-0.02 [[ 9.99173974e-01 -4.06206893e-02 -1.15335034e-03 1.08784759e+02] [ 4.06206780e-02 9.99174639e-01 -3.32238831e-05 -3.75898241e-02] [ 1.15374798e-03 -1.36534333e-05 9.99999334e-01 -1.59068260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:-0.04, Z:-0.02 [[ 9.99193979e-01 -4.01255692e-02 -1.15348656e-03 1.08818314e+02] [ 4.01255642e-02 9.99194645e-01 -2.75126180e-05 -3.64883692e-02] [ 1.15366155e-03 -1.87938566e-05 9.99999334e-01 -1.58687766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:-0.04, Z:-0.01 [[ 9.99145515e-01 -4.13147684e-02 -1.15349991e-03 1.08850870e+02] [ 4.13147648e-02 9.99146180e-01 -2.69410378e-05 -3.53904751e-02] [ 1.15362809e-03 -2.07385603e-05 9.99999334e-01 -1.48214793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:-0.04, Z:-0.01 [[ 9.99129038e-01 -4.17113268e-02 -1.15351217e-03 1.08883518e+02] [ 4.17113241e-02 9.99129704e-01 -2.64056176e-05 -3.56753654e-02] [ 1.15360968e-03 -2.17319004e-05 9.99999334e-01 -1.46700120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:-0.04, Z:-0.01 [[ 9.99096756e-01 -4.24775348e-02 -1.15352481e-03 1.08915418e+02] [ 4.24775332e-02 9.99097422e-01 -2.58409492e-05 -3.95619247e-02] [ 1.15358133e-03 -2.31812802e-05 9.99999334e-01 -1.45643416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:-0.05, Z:-0.02 [[ 9.99102086e-01 -4.23519915e-02 -1.15353572e-03 1.08948332e+02] [ 4.23519904e-02 9.99102752e-01 -2.53444847e-05 -5.34319138e-02] [ 1.15357410e-03 -2.35328063e-05 9.99999334e-01 -1.51276499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:-0.06, Z:-0.01 [[ 9.99139601e-01 -4.14575214e-02 -1.15354797e-03 1.08980657e+02] [ 4.14575204e-02 9.99140267e-01 -2.47742299e-05 -5.72811882e-02] [ 1.15358330e-03 -2.30703243e-05 9.99999334e-01 -1.47292668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:-0.06, Z:-0.01 [[ 9.99171551e-01 -4.06802263e-02 -1.15355850e-03 1.09012631e+02] [ 4.06802253e-02 9.99172217e-01 -2.42738407e-05 -5.82877493e-02] [ 1.15359107e-03 -2.26732886e-05 9.99999334e-01 -1.36879373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:-0.06, Z:-0.01 [[ 9.99352596e-01 -3.59591156e-02 -1.15356885e-03 1.09044836e+02] [ 3.59591121e-02 9.99353262e-01 -2.37716601e-05 -5.92304241e-02] [ 1.15367760e-03 -1.77250413e-05 9.99999334e-01 -1.30601364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:-0.06, Z:-0.01 [[ 9.99474719e-01 -3.23875802e-02 -1.15357254e-03 1.09077445e+02] [ 3.23875746e-02 9.99475385e-01 -2.35913087e-05 -6.02620133e-02] [ 1.15373142e-03 -1.37824999e-05 9.99999334e-01 -1.49852011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:-0.06, Z:-0.02 [[ 9.99571072e-01 -2.92633201e-02 -1.15358280e-03 1.09109246e+02] [ 2.92633130e-02 9.99571737e-01 -2.30781503e-05 -6.20623045e-02] [ 1.15376411e-03 -1.06894031e-05 9.99999334e-01 -1.57388136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.14, Y:-0.06, Z:-0.02 [[ 9.99675613e-01 -2.54428298e-02 -1.15359284e-03 1.09141427e+02] [ 2.54428207e-02 9.99676279e-01 -2.25647811e-05 -6.41886851e-02] [ 1.15379351e-03 -6.79319447e-06 9.99999334e-01 -1.52441408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:-0.07, Z:-0.00 [[ 9.99705215e-01 -2.42518678e-02 -1.15360268e-03 1.09169675e+02] [ 2.42518585e-02 9.99705880e-01 -2.20501578e-05 -6.69229137e-02] [ 1.15379814e-03 -5.93335127e-06 9.99999334e-01 -4.57378530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:-0.07, Z:-0.01 [[ 9.99887358e-01 -1.49646677e-02 -1.15331855e-03 1.09202230e+02] [ 1.49646348e-02 9.99888023e-01 -3.70707385e-05 -7.26666822e-02] [ 1.15374416e-03 1.98075718e-05 9.99999334e-01 -1.03589340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.23, Y:-0.07, Z:0.00 [[ 9.99904915e-01 -1.37415559e-02 -1.15361043e-03 1.09231573e+02] [ 1.37415406e-02 9.99905580e-01 -2.11529713e-05 -7.49546964e-02] [ 1.15379218e-03 5.29857546e-06 9.99999334e-01 6.45583034e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.26, Y:-0.07, Z:-0.01 [[ 9.99949158e-01 -1.00174828e-02 -1.15355092e-03 1.09262535e+02] [ 1.00174613e-02 9.99949824e-01 -2.43894990e-05 -7.49036039e-02] [ 1.15373736e-03 1.28326073e-05 9.99999334e-01 -8.00985939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.29, Y:-0.07, Z:0.00 [[ 9.99975765e-01 -6.86576054e-03 -1.15361174e-03 1.09292015e+02] [ 6.86574082e-03 9.99976430e-01 -2.10578779e-05 -7.30284538e-02] [ 1.15372912e-03 1.31369684e-05 9.99999334e-01 2.67216761e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:-0.07, Z:-0.01 [[ 9.99989170e-01 -4.50886641e-03 -1.15363074e-03 1.09322624e+02] [ 4.50884631e-03 9.99989835e-01 -2.00258900e-05 -7.08566070e-02] [ 1.15370931e-03 1.48241294e-05 9.99999334e-01 -5.15418756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:-0.07, Z:-0.01 [[ 9.99999304e-01 2.48297785e-04 -1.15361377e-03 1.09352104e+02] [-2.48322120e-04 9.99999969e-01 -2.09511839e-05 -6.85389487e-02] [ 1.15360853e-03 2.12376371e-05 9.99999334e-01 -1.42180966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:-0.07, Z:-0.01 [[ 9.99998801e-01 1.03327496e-03 -1.15360928e-03 1.09381984e+02] [-1.03330010e-03 9.99999466e-01 -2.11952051e-05 -6.89011847e-02] [ 1.15358677e-03 2.23872043e-05 9.99999334e-01 -1.33449071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:-0.07, Z:-0.00 [[ 9.99997720e-01 1.79681520e-03 -1.15360789e-03 1.09411633e+02] [-1.79684094e-03 9.99998385e-01 -2.12704990e-05 -6.97333609e-02] [ 1.15356781e-03 2.33433004e-05 9.99999334e-01 -3.76111374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:-0.07, Z:-0.01 [[ 9.99996331e-01 2.45113294e-03 -1.15362106e-03 1.09441642e+02] [-2.45115830e-03 9.99996996e-01 -2.05633488e-05 -7.10954747e-02] [ 1.15356719e-03 2.33909812e-05 9.99999334e-01 -1.14571982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.47, Y:-0.07, Z:-0.01 [[ 9.99996163e-01 2.51874815e-03 -1.15359719e-03 1.09471186e+02] [-2.51877501e-03 9.99996828e-01 -2.18252667e-05 -7.08404427e-02] [ 1.15353856e-03 2.47308347e-05 9.99999334e-01 -1.26521435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:-0.07, Z:-0.01 [[ 9.99993296e-01 3.47519699e-03 -1.15359574e-03 1.09500525e+02] [-3.47522456e-03 9.99993961e-01 -2.19016887e-05 -7.12504034e-02] [ 1.15351266e-03 2.59105461e-05 9.99999334e-01 -1.37098189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:-0.07, Z:-0.01 [[ 9.99994223e-01 3.19728792e-03 -1.15359428e-03 1.09530121e+02] [-3.19731540e-03 9.99994888e-01 -2.19782592e-05 -7.13809919e-02] [ 1.15351811e-03 2.56665369e-05 9.99999334e-01 -5.98768307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:-0.07, Z:-0.01 [[ 9.99994534e-01 3.09852696e-03 -1.15368599e-03 1.09559922e+02] [-3.09854890e-03 9.99995199e-01 -1.72284339e-05 -6.99990011e-02] [ 1.15362707e-03 2.08030922e-05 9.99999334e-01 -1.20559072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.59, Y:-0.07, Z:-0.00 [[ 9.99994663e-01 3.05657839e-03 -1.15357958e-03 1.09589581e+02] [-3.05660655e-03 9.99995328e-01 -2.26484962e-05 -6.69739589e-02] [ 1.15350496e-03 2.61744142e-05 9.99999334e-01 -7.71182931e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:-0.06, Z:-0.01 [[ 9.99979359e-01 6.32060824e-03 -1.15356215e-03 1.09619482e+02] [-6.32063958e-03 9.99980024e-01 -2.35203242e-05 -6.40123817e-02] [ 1.15339044e-03 3.08110893e-05 9.99999334e-01 -9.78151903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:-0.06, Z:-0.01 [[ 9.99977950e-01 6.53985397e-03 -1.15357006e-03 1.09649363e+02] [-6.53988499e-03 9.99978614e-01 -2.31258095e-05 -6.42635974e-02] [ 1.15339415e-03 3.06695150e-05 9.99999334e-01 -1.13311129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:-0.06, Z:-0.00 [[ 9.99990323e-01 4.24544481e-03 -1.15356853e-03 1.09679053e+02] [-4.24547440e-03 9.99990988e-01 -2.32017270e-05 -6.41108686e-02] [ 1.15345963e-03 2.80989481e-05 9.99999334e-01 -4.13271329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.71, Y:-0.06, Z:-0.01 [[ 9.99999207e-01 5.05473937e-04 -1.15366234e-03 1.09708938e+02] [-5.05495733e-04 9.99999872e-01 -1.86010422e-05 -5.86066941e-02] [ 1.15365279e-03 1.91841988e-05 9.99999334e-01 -1.24067850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:-0.06, Z:-0.00 [[ 9.99998341e-01 -1.40941935e-03 -1.15356214e-03 1.09739033e+02] [ 1.40939316e-03 9.99999007e-01 -2.35161752e-05 -5.55627561e-02] [ 1.15359414e-03 2.18903136e-05 9.99999334e-01 -3.00305181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.77, Y:-0.05, Z:-0.01 [[ 9.99996121e-01 -2.53527728e-03 -1.15359709e-03 1.09768853e+02] [ 2.53525383e-03 9.99996786e-01 -2.17907972e-05 -5.38407643e-02] [ 1.15364863e-03 1.88660512e-05 9.99999334e-01 -9.72056090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:-0.05, Z:0.00 [[ 9.99992406e-01 -3.72253113e-03 -1.15356754e-03 1.09798918e+02] [ 3.72250678e-03 9.99993071e-01 -2.32566048e-05 -5.31234777e-02] [ 1.15364612e-03 1.89622652e-05 9.99999334e-01 2.01691344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:-0.05, Z:-0.01 [[ 9.99984497e-01 -5.44740785e-03 -1.15366433e-03 1.09828924e+02] [ 5.44739022e-03 9.99985163e-01 -1.84183705e-05 -5.15006168e-02] [ 1.15374754e-03 1.21336252e-05 9.99999334e-01 -8.84447593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.86, Y:-0.05, Z:-0.01 [[ 9.99973551e-01 -7.18102834e-03 -1.15357086e-03 1.09858960e+02] [ 7.18100648e-03 9.99974216e-01 -2.30882180e-05 -4.83502471e-02] [ 1.15370692e-03 1.48038075e-05 9.99999334e-01 -1.11456428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:-0.04, Z:-0.02 [[ 9.99950673e-01 -9.86513665e-03 -1.15356935e-03 1.09889332e+02] [ 9.86511650e-03 9.99951338e-01 -2.31636835e-05 -4.28049732e-02] [ 1.15374173e-03 1.17824449e-05 9.99999334e-01 -1.51860089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:-0.04, Z:-0.01 [[ 9.99935607e-01 -1.12894474e-02 -1.15356935e-03 1.09919328e+02] [ 1.12894282e-02 9.99936272e-01 -2.31636835e-05 -4.15319166e-02] [ 1.15375734e-03 1.01390536e-05 9.99999334e-01 -1.45796183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:-0.04, Z:-0.01 [[ 9.99915887e-01 -1.29185376e-02 -1.15356935e-03 1.09949792e+02] [ 1.29185195e-02 9.99916552e-01 -2.31636835e-05 -4.07049244e-02] [ 1.15377233e-03 8.25932696e-06 9.99999334e-01 -1.26748284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.98, Y:-0.04, Z:-0.00 [[ 9.99911971e-01 -1.32181242e-02 -1.15356935e-03 1.09980086e+02] [ 1.32181062e-02 9.99912637e-01 -2.31636835e-05 -3.87381131e-02] [ 1.15377475e-03 7.91364221e-06 9.99999334e-01 -2.81665952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:-0.03, Z:-0.01 [[ 9.99890752e-01 -1.47361009e-02 -1.15363499e-03 1.10010842e+02] [ 1.47360877e-02 9.99891418e-01 -1.98997580e-05 -3.40095289e-02] [ 1.15380297e-03 2.89751758e-06 9.99999334e-01 -9.92060003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:-0.03, Z:-0.01 [[ 9.99880408e-01 -1.54220197e-02 -1.15356754e-03 1.10041335e+02] [ 1.54220031e-02 9.99881074e-01 -2.32470488e-05 -3.17628603e-02] [ 1.15378886e-03 5.45394651e-06 9.99999334e-01 -1.00624085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:-0.03, Z:-0.01 [[ 9.99868276e-01 -1.61894871e-02 -1.15356754e-03 1.10072434e+02] [ 1.61894710e-02 9.99868942e-01 -2.32470488e-05 -2.89239741e-02] [ 1.15379271e-03 4.56833841e-06 9.99999334e-01 -1.03368208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:-0.03, Z:-0.01 [[ 9.99820870e-01 -1.88917294e-02 -1.15356905e-03 1.10103735e+02] [ 1.88917153e-02 9.99821535e-01 -2.31715021e-05 -2.68674593e-02] [ 1.15380093e-03 1.37445328e-06 9.99999334e-01 -1.10688860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:-0.03, Z:-0.01 [[ 9.99783057e-01 -2.07968154e-02 -1.15357057e-03 1.10135197e+02] [ 2.07968026e-02 9.99783723e-01 -2.30957072e-05 -2.61459086e-02] [ 1.15380140e-03 -8.99882642e-07 9.99999334e-01 -1.11278941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.17, Y:-0.03, Z:-0.01 [[ 9.99670426e-01 -2.56458298e-02 -1.15357207e-03 1.10166907e+02] [ 2.56458203e-02 9.99671092e-01 -2.30207092e-05 -2.78715393e-02] [ 1.15378303e-03 -6.57117971e-06 9.99999334e-01 -1.29453909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:-0.03, Z:-0.01 [[ 9.99620636e-01 -2.75182272e-02 -1.15357354e-03 1.10199350e+02] [ 2.75182191e-02 9.99621302e-01 -2.29464488e-05 -2.66798318e-02] [ 1.15376813e-03 -8.80654576e-06 9.99999334e-01 -1.27290179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:-0.02, Z:-0.01 [[ 9.99561629e-01 -2.95840853e-02 -1.15358360e-03 1.10231153e+02] [ 2.95840791e-02 9.99562295e-01 -2.24295256e-05 -2.37767036e-02] [ 1.15374222e-03 -1.17080152e-05 9.99999334e-01 -1.17592574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:-0.02, Z:-0.01 [[ 9.99513258e-01 -3.11755648e-02 -1.15359333e-03 1.10263582e+02] [ 3.11755603e-02 9.99513924e-01 -2.19169886e-05 -2.16851791e-02] [ 1.15371587e-03 -1.40575978e-05 9.99999334e-01 -1.09113136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:-0.02, Z:-0.01 [[ 9.99442309e-01 -3.33727468e-02 -1.15360281e-03 1.10295874e+02] [ 3.33727443e-02 9.99442975e-01 -2.14063008e-05 -2.45407330e-02] [ 1.15367461e-03 -1.71045290e-05 9.99999334e-01 -1.05970441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:-0.03, Z:-0.01 [[ 9.99433615e-01 -3.36321089e-02 -1.15361205e-03 1.10327684e+02] [ 3.36321072e-02 9.99434280e-01 -2.08962289e-05 -2.73453001e-02] [ 1.15366221e-03 -1.79140105e-05 9.99999334e-01 -1.05624213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.36, Y:-0.03, Z:-0.01 [[ 9.99455779e-01 -3.29668753e-02 -1.15362094e-03 1.10359664e+02] [ 3.29668737e-02 9.99456445e-01 -2.03934322e-05 -2.88506778e-02] [ 1.15366619e-03 -1.76489421e-05 9.99999334e-01 -1.20199550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.39, Y:-0.03, Z:-0.00 [[ 9.99448592e-01 -3.31840378e-02 -1.15362968e-03 1.10389809e+02] [ 3.31840369e-02 9.99449258e-01 -1.98860040e-05 -3.01351862e-02] [ 1.15365423e-03 -1.84070513e-05 9.99999334e-01 -1.48801906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:-0.03, Z:-0.01 [[ 9.99408804e-01 -3.43614789e-02 -1.15362606e-03 1.10421104e+02] [ 3.43614786e-02 9.99409470e-01 -2.00965107e-05 -3.23619169e-02] [ 1.15363536e-03 -1.95556675e-05 9.99999334e-01 -1.46078589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:-0.03, Z:-0.01 [[ 9.99381579e-01 -3.51444008e-02 -1.15363698e-03 1.10452898e+02] [ 3.51444018e-02 9.99382245e-01 -1.94489951e-05 -3.34014052e-02] [ 1.15360784e-03 -2.11069141e-05 9.99999334e-01 -1.37458196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:-0.03, Z:-0.01 [[ 9.99391830e-01 -3.48516800e-02 -1.15364533e-03 1.10485188e+02] [ 3.48516814e-02 9.99392495e-01 -1.89401364e-05 -3.35242888e-02] [ 1.15360458e-03 -2.12778620e-05 9.99999334e-01 -1.12196392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.52, Y:-0.03, Z:-0.01 [[ 9.99414651e-01 -3.41909931e-02 -1.15365343e-03 1.10517652e+02] [ 3.41909946e-02 9.99415317e-01 -1.84333021e-05 -3.38657208e-02] [ 1.15360916e-03 -2.10220461e-05 9.99999334e-01 -1.00088883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.55, Y:-0.03, Z:-0.01 [[ 9.99461580e-01 -3.27905483e-02 -1.15366139e-03 1.10549749e+02] [ 3.27905495e-02 9.99462245e-01 -1.79211462e-05 -3.48690584e-02] [ 1.15362865e-03 -1.99176938e-05 9.99999334e-01 -9.33454228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.58, Y:-0.04, Z:-0.01 [[ 9.99474677e-01 -3.23888778e-02 -1.15366907e-03 1.10581786e+02] [ 3.23888793e-02 9.99475342e-01 -1.74122769e-05 -4.10120548e-02] [ 1.15362775e-03 -1.99629184e-05 9.99999334e-01 -1.16613930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.61, Y:-0.04, Z:-0.00 [[ 9.99526519e-01 -3.07474593e-02 -1.15367651e-03 1.10613470e+02] [ 3.07474603e-02 9.99527185e-01 -1.69046263e-05 -4.35013493e-02] [ 1.15365081e-03 -1.85760002e-05 9.99999334e-01 -1.88047556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.64, Y:-0.05, Z:-0.01 [[ 9.99481656e-01 -3.21727733e-02 -1.15373394e-03 1.10644279e+02] [ 3.21727799e-02 9.99482322e-01 -1.28936516e-05 -4.67772695e-02] [ 1.15355150e-03 -2.42318597e-05 9.99999334e-01 -1.22646819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:-0.05, Z:-0.01 [[ 9.99499549e-01 -3.16120436e-02 -1.15368217e-03 1.10675642e+02] [ 3.16120456e-02 9.99500214e-01 -1.65110874e-05 -4.95955639e-02] [ 1.15362752e-03 -1.99674288e-05 9.99999334e-01 -1.15261693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:-0.05, Z:-0.01 [[ 9.99532835e-01 -3.05414711e-02 -1.15368320e-03 1.10707391e+02] [ 3.05414724e-02 9.99533500e-01 -1.64388422e-05 -5.16728243e-02] [ 1.15364707e-03 -1.88040210e-05 9.99999334e-01 -9.97113032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.74, Y:-0.05, Z:-0.01 [[ 9.99580292e-01 -2.89466549e-02 -1.15368423e-03 1.10738273e+02] [ 2.89466552e-02 9.99580958e-01 -1.63660747e-05 -5.06066963e-02] [ 1.15367453e-03 -1.70360938e-05 9.99999334e-01 -9.46266185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:-0.05, Z:-0.01 [[ 9.99582119e-01 -2.88835020e-02 -1.15368526e-03 1.10770105e+02] [ 2.88835025e-02 9.99582784e-01 -1.62931314e-05 -5.01403689e-02] [ 1.15367452e-03 -1.70361481e-05 9.99999334e-01 -9.42593453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:-0.05, Z:-0.01 [[ 9.99612922e-01 -2.77970372e-02 -1.15368628e-03 1.10801809e+02] [ 2.77970370e-02 9.99613588e-01 -1.62202424e-05 -4.94733952e-02] [ 1.15369136e-03 -1.58550964e-05 9.99999334e-01 -9.74555934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:-0.05, Z:-0.01 [[ 9.99658556e-01 -2.61044018e-02 -1.15368730e-03 1.10833513e+02] [ 2.61044006e-02 9.99659222e-01 -1.61472446e-05 -5.11850202e-02] [ 1.15371567e-03 -1.39745843e-05 9.99999334e-01 -9.31284501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:-0.06, Z:0.00 [[ 9.99711536e-01 -2.39898731e-02 -1.15368833e-03 1.10864199e+02] [ 2.39898705e-02 9.99712202e-01 -1.60735895e-05 -5.76012670e-02] [ 1.15374190e-03 -1.16078807e-05 9.99999334e-01 1.53181975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.89, Y:-0.06, Z:-0.01 [[ 9.99725860e-01 -2.33853363e-02 -1.15364303e-03 1.10894842e+02] [ 2.33853295e-02 9.99726526e-01 -1.93315143e-05 -5.83626940e-02] [ 1.15377961e-03 -7.65210767e-06 9.99999334e-01 -9.56236514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.93, Y:-0.06, Z:0.00 [[ 9.99750458e-01 -2.23089647e-02 -1.15368980e-03 1.10925676e+02] [ 2.23089611e-02 9.99751124e-01 -1.59479292e-05 -5.76217295e-02] [ 1.15375846e-03 -9.79367142e-06 9.99999334e-01 2.28258357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:-0.06, Z:-0.01 [[ 9.99751737e-01 -2.22515975e-02 -1.15367032e-03 1.10956559e+02] [ 2.22515923e-02 9.99752403e-01 -1.73785779e-05 -5.62876231e-02] [ 1.15377138e-03 -8.29673825e-06 9.99999334e-01 -9.77854940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.99, Y:-0.06, Z:0.00 [[ 9.99760486e-01 -2.18549575e-02 -1.15369581e-03 1.10987063e+02] [ 2.18549542e-02 9.99761152e-01 -1.54792316e-05 -5.60395745e-02] [ 1.15375855e-03 -9.73844487e-06 9.99999334e-01 2.78012879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:-0.06, Z:-0.01 [[ 9.99771324e-01 -2.13534369e-02 -1.15366148e-03 1.11017934e+02] [ 2.13534302e-02 9.99771989e-01 -1.80960303e-05 -5.70084435e-02] [ 1.15378484e-03 -6.54273769e-06 9.99999334e-01 -9.11268802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.05, Y:-0.06, Z:-0.01 [[ 9.99782090e-01 -2.08432471e-02 -1.15370160e-03 1.11048233e+02] [ 2.08432437e-02 9.99782756e-01 -1.50124136e-05 -5.64279074e-02] [ 1.15376388e-03 -9.03774140e-06 9.99999334e-01 -1.05561797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:-0.06, Z:-0.01 [[ 9.99812305e-01 -1.93396686e-02 -1.15370160e-03 1.11078401e+02] [ 1.93396642e-02 9.99812971e-01 -1.50124136e-05 -5.51731135e-02] [ 1.15377616e-03 -7.30260572e-06 9.99999334e-01 -1.14469939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.11, Y:-0.05, Z:0.00 [[ 9.99846984e-01 -1.74549928e-02 -1.15370160e-03 1.11108097e+02] [ 1.74549871e-02 9.99847650e-01 -1.50124136e-05 -5.35962705e-02] [ 1.15378788e-03 -5.12773015e-06 9.99999334e-01 1.39906526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:-0.05, Z:-0.01 [[ 9.99857505e-01 -1.68415690e-02 -1.15368399e-03 1.11138849e+02] [ 1.68415613e-02 9.99858171e-01 -1.63782916e-05 -5.29460500e-02] [ 1.15379620e-03 -3.05388185e-06 9.99999334e-01 -7.79464835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:-0.05, Z:-0.01 [[ 9.99857106e-01 -1.68652298e-02 -1.15370624e-03 1.11169132e+02] [ 1.68652242e-02 9.99857772e-01 -1.46228757e-05 -5.24665563e-02] [ 1.15378877e-03 -4.83672814e-06 9.99999334e-01 -7.77723157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.20, Y:-0.05, Z:-0.01 [[ 9.99857611e-01 -1.68352919e-02 -1.15370624e-03 1.11199756e+02] [ 1.68352863e-02 9.99858276e-01 -1.46228757e-05 -5.22466013e-02] [ 1.15378891e-03 -4.80218122e-06 9.99999334e-01 -8.08653924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:-0.05, Z:-0.01 [[ 9.99844646e-01 -1.75884338e-02 -1.15370624e-03 1.11230203e+02] [ 1.75884286e-02 9.99845312e-01 -1.46228757e-05 -5.20322759e-02] [ 1.15378496e-03 -5.67127585e-06 9.99999334e-01 -8.45951318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:-0.05, Z:-0.01 [[ 9.99838737e-01 -1.79212125e-02 -1.15370624e-03 1.11260465e+02] [ 1.79212075e-02 9.99839402e-01 -1.46228757e-05 -5.10375679e-02] [ 1.15378301e-03 -6.05529135e-06 9.99999334e-01 -7.74837619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.892320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.29, Y:-0.05, Z:-0.01 [[ 9.99851636e-01 -1.71864482e-02 -1.15370624e-03 1.11290561e+02] [ 1.71864427e-02 9.99852302e-01 -1.46228757e-05 -4.96751962e-02] [ 1.15378715e-03 -5.20740000e-06 9.99999334e-01 -7.69559750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:-0.05, Z:-0.01 [[ 9.99872591e-01 -1.59207851e-02 -1.15370624e-03 1.11321435e+02] [ 1.59207789e-02 9.99873256e-01 -1.46228757e-05 -4.81581726e-02] [ 1.15379282e-03 -3.74688929e-06 9.99999334e-01 -7.08395609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:-0.05, Z:-0.01 [[ 9.99897396e-01 -1.42781464e-02 -1.15370624e-03 1.11352263e+02] [ 1.42781390e-02 9.99898062e-01 -1.46228757e-05 -4.62996615e-02] [ 1.15379742e-03 -1.85140274e-06 9.99999334e-01 -7.29271748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:-0.04, Z:-0.01 [[ 9.99916700e-01 -1.28554329e-02 -1.15370624e-03 1.11382716e+02] [ 1.28554246e-02 9.99917366e-01 -1.46228757e-05 -4.45043166e-02] [ 1.15379888e-03 -2.09725979e-07 9.99999334e-01 -7.60763542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:-0.04, Z:-0.01 [[ 9.99944077e-01 -1.05124382e-02 -1.15370624e-03 1.11412925e+02] [ 1.05124284e-02 9.99944743e-01 -1.46228757e-05 -4.35619594e-02] [ 1.15379621e-03 2.49380374e-06 9.99999334e-01 -8.99730867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.44, Y:-0.04, Z:0.00 [[ 9.99942925e-01 -1.06214933e-02 -1.15370624e-03 1.11442848e+02] [ 1.06214835e-02 9.99943590e-01 -1.46228757e-05 -4.34126851e-02] [ 1.15379647e-03 2.36796928e-06 9.99999334e-01 3.23488066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:-0.04, Z:-0.01 [[ 9.99925363e-01 -1.21629513e-02 -1.15371632e-03 1.11473208e+02] [ 1.21629435e-02 9.99926029e-01 -1.38361456e-05 -4.27823913e-02] [ 1.15379927e-03 -1.97473542e-07 9.99999334e-01 -8.33247308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:-0.04, Z:-0.01 [[ 9.99906293e-01 -1.36409305e-02 -1.15370543e-03 1.11503906e+02] [ 1.36409227e-02 9.99906958e-01 -1.46913506e-05 -4.16293238e-02] [ 1.15379849e-03 -1.04763266e-06 9.99999334e-01 -8.40471250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:-0.04, Z:-0.01 [[ 9.99843001e-01 -1.76816772e-02 -1.15370543e-03 1.11534306e+02] [ 1.76816720e-02 9.99843667e-01 -1.46913506e-05 -4.03341985e-02] [ 1.15378484e-03 -5.71039697e-06 9.99999334e-01 -8.72527353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.57, Y:-0.04, Z:-0.01 [[ 9.99806129e-01 -1.96564060e-02 -1.15370543e-03 1.11565043e+02] [ 1.96564021e-02 9.99806794e-01 -1.46913506e-05 -4.13140707e-02] [ 1.15377131e-03 -7.98919556e-06 9.99999334e-01 -8.92030373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:-0.04, Z:-0.01 [[ 9.99777272e-01 -2.10731091e-02 -1.15370543e-03 1.11596010e+02] [ 2.10731062e-02 9.99777937e-01 -1.46913506e-05 -4.22710730e-02] [ 1.15375883e-03 -9.62407867e-06 9.99999334e-01 -8.65768290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:-0.04, Z:-0.01 [[ 9.99737666e-01 -2.28750419e-02 -1.15370543e-03 1.11626833e+02] [ 2.28750401e-02 9.99738332e-01 -1.46913506e-05 -4.34876910e-02] [ 1.15373961e-03 -1.17035615e-05 9.99999334e-01 -8.44441658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:-0.05, Z:-0.01 [[ 9.99650059e-01 -2.64278092e-02 -1.15370543e-03 1.11657299e+02] [ 2.64278098e-02 9.99650724e-01 -1.46913506e-05 -4.86339744e-02] [ 1.15369073e-03 -1.58036983e-05 9.99999334e-01 -8.66664980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:-0.05, Z:-0.00 [[ 9.99635501e-01 -2.69728303e-02 -1.15370543e-03 1.11688194e+02] [ 2.69728313e-02 9.99636167e-01 -1.46913506e-05 -5.29902839e-02] [ 1.15368194e-03 -1.64327064e-05 9.99999334e-01 -3.40874105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:-0.06, Z:-0.00 [[ 9.99584210e-01 -2.88110457e-02 -1.15380611e-03 1.11718398e+02] [ 2.88110572e-02 9.99584875e-01 -6.67411429e-06 -5.73071020e-02] [ 1.15351942e-03 -2.65710346e-05 9.99999334e-01 -2.38216969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:-0.06, Z:-0.00 [[ 9.99561843e-01 -2.95768470e-02 -1.15375736e-03 1.11748468e+02] [ 2.95768546e-02 9.99562509e-01 -1.04910533e-05 -6.06321209e-02] [ 1.15356290e-03 -2.36380573e-05 9.99999334e-01 -4.09069524e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:-0.06, Z:-0.01 [[ 9.99558601e-01 -2.96862175e-02 -1.15375905e-03 1.11778720e+02] [ 2.96862253e-02 9.99559267e-01 -1.03602545e-05 -6.19039349e-02] [ 1.15355811e-03 -2.38950697e-05 9.99999334e-01 -6.78643224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:-0.06, Z:0.00 [[ 9.99650632e-01 -2.64061001e-02 -1.15370125e-03 1.11809079e+02] [ 2.64061005e-02 9.99651298e-01 -1.48505383e-05 -6.18691425e-02] [ 1.15369110e-03 -1.56194012e-05 9.99999334e-01 7.65395225e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:-0.06, Z:-0.01 [[ 9.99656056e-01 -2.61999538e-02 -1.15381477e-03 1.11839158e+02] [ 2.61999644e-02 9.99656722e-01 -5.93322246e-06 -6.29703664e-02] [ 1.15357414e-03 -2.42987242e-05 9.99999334e-01 -7.96205818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:-0.07, Z:-0.00 [[ 9.99761713e-01 -2.17987540e-02 -1.15370447e-03 1.11869949e+02] [ 2.17987516e-02 9.99762379e-01 -1.46312448e-05 -6.53725178e-02] [ 1.15374926e-03 -1.05215588e-05 9.99999334e-01 -1.81682841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:-0.07, Z:-0.01 [[ 9.99811306e-01 -1.93912615e-02 -1.15375958e-03 1.11900714e+02] [ 1.93912627e-02 9.99811972e-01 -1.02101466e-05 -6.83325429e-02] [ 1.15374063e-03 -1.21646351e-05 9.99999334e-01 -1.13648090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:-0.07, Z:-0.01 [[ 9.99940794e-01 -1.08202396e-02 -1.15370791e-03 1.11930214e+02] [ 1.08202302e-02 9.99941459e-01 -1.43613525e-05 -7.07748371e-02] [ 1.15379576e-03 1.87711713e-06 9.99999334e-01 -9.40349488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:-0.07, Z:-0.01 [[ 9.99971324e-01 -7.48472372e-03 -1.15370697e-03 1.11960240e+02] [ 7.48471204e-03 9.99971989e-01 -1.44365233e-05 -6.88981376e-02] [ 1.15378270e-03 5.80094487e-06 9.99999334e-01 -6.86340899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:-0.07, Z:-0.00 [[ 9.99987541e-01 -4.85662326e-03 -1.15370601e-03 1.11990325e+02] [ 4.85660975e-03 9.99988206e-01 -1.45125678e-05 -6.65499206e-02] [ 1.15376289e-03 8.90928710e-06 9.99999334e-01 -4.00997373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:-0.06, Z:-0.00 [[ 9.99999226e-01 4.65375442e-04 -1.15370504e-03 1.12020290e+02] [-4.65392583e-04 9.99999892e-01 -1.45891455e-05 -6.49089549e-02] [ 1.15369813e-03 1.51260600e-05 9.99999334e-01 -4.44096789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:-0.06, Z:0.00 [[ 9.99995896e-01 2.62228757e-03 -1.15370407e-03 1.12049944e+02] [-2.62230623e-03 9.99996562e-01 -1.46658433e-05 -6.28954004e-02] [ 1.15366164e-03 1.76911484e-05 9.99999334e-01 3.08945657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:-0.06, Z:-0.01 [[ 9.99988730e-01 4.60528138e-03 -1.15377743e-03 1.12079818e+02] [-4.60529487e-03 9.99989396e-01 -9.03613535e-06 -5.91278901e-02] [ 1.15372358e-03 1.43495188e-05 9.99999334e-01 -6.11079855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.11, Y:-0.06, Z:0.00 [[ 9.99972384e-01 7.34166870e-03 -1.15369391e-03 1.12109641e+02] [-7.34169127e-03 9.99973049e-01 -1.53240782e-05 -5.50918181e-02] [ 1.15355031e-03 2.37937195e-05 9.99999334e-01 3.06587547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:-0.05, Z:-0.01 [[ 9.99919762e-01 1.26149814e-02 -1.15375180e-03 1.12138916e+02] [-1.26150025e-02 9.99920428e-01 -1.10262688e-05 -4.97793258e-02] [ 1.15352090e-03 2.55799659e-05 9.99999334e-01 -5.70065386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:-0.05, Z:-0.01 [[ 9.99898239e-01 1.42190341e-02 -1.15368978e-03 1.12167414e+02] [-1.42190616e-02 9.99898904e-01 -1.56102877e-05 -4.68865831e-02] [ 1.15335118e-03 3.20130851e-05 9.99999334e-01 -5.77888708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:-0.04, Z:-0.01 [[ 9.99874682e-01 1.57889212e-02 -1.15368240e-03 1.12196378e+02] [-1.57889503e-02 9.99875347e-01 -1.61374417e-05 -4.15121780e-02] [ 1.15328380e-03 3.43508535e-05 9.99999334e-01 -6.05443163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:-0.04, Z:-0.01 [[ 9.99840528e-01 1.78209868e-02 -1.15367482e-03 1.12224858e+02] [-1.78210178e-02 9.99841193e-01 -1.66624071e-05 -3.52189049e-02] [ 1.15319467e-03 3.72194095e-05 9.99999334e-01 -6.06553860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:-0.03, Z:-0.01 [[ 9.99801741e-01 1.98783193e-02 -1.15366702e-03 1.12253100e+02] [-1.98783524e-02 9.99802406e-01 -1.71858542e-05 -3.01110433e-02] [ 1.15309744e-03 4.01154466e-05 9.99999334e-01 -6.27363439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:-0.03, Z:-0.01 [[ 9.99756392e-01 2.20414507e-02 -1.15366420e-03 1.12282205e+02] [-2.20414854e-02 9.99757057e-01 -1.73732048e-05 -2.54643966e-02] [ 1.15300100e-03 4.27974452e-05 9.99999334e-01 -6.65508696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:-0.02, Z:-0.01 [[ 9.99728641e-01 2.32661543e-02 -1.15365622e-03 1.12310794e+02] [-2.32661904e-02 9.99729305e-01 -1.78877293e-05 -2.29382671e-02] [ 1.15292776e-03 4.47240607e-05 9.99999334e-01 -6.18964813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:-0.02, Z:0.00 [[ 9.99749344e-01 2.23588707e-02 -1.15364802e-03 1.12340105e+02] [-2.23589068e-02 9.99750008e-01 -1.84020432e-05 -1.86162763e-02] [ 1.15294817e-03 4.41917392e-05 9.99999334e-01 4.71892352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:-0.01, Z:-0.01 [[ 9.99747726e-01 2.24310919e-02 -1.15373464e-03 1.12369096e+02] [-2.24311219e-02 9.99748391e-01 -1.30948311e-05 -1.38324020e-02] [ 1.15315061e-03 3.89710898e-05 9.99999334e-01 -5.06190757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.40, Y:-0.01, Z:-0.01 [[ 9.99810663e-01 1.94244010e-02 -1.15363354e-03 1.12397639e+02] [-1.94244360e-02 9.99811328e-01 -1.91767788e-05 -8.06300253e-03] [ 1.15304338e-03 4.15818287e-05 9.99999334e-01 -5.55388453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.43, Y:-0.01, Z:-0.00 [[ 9.99836779e-01 1.80301251e-02 -1.15362471e-03 1.12426055e+02] [-1.80301598e-02 9.99837443e-01 -1.96935970e-05 -6.43508896e-03] [ 1.15308211e-03 4.04904205e-05 9.99999334e-01 -4.38439298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.45, Y:-0.00, Z:-0.00 [[ 9.99837795e-01 1.79736757e-02 -1.15361561e-03 1.12453887e+02] [-1.79737110e-02 9.99838460e-01 -2.02131615e-05 -3.31663288e-03] [ 1.15306595e-03 4.09446363e-05 9.99999334e-01 -4.18938479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:0.00, Z:-0.00 [[ 9.99828325e-01 1.84929634e-02 -1.15360485e-03 1.12482133e+02] [-1.84929997e-02 9.99828990e-01 -2.08097698e-05 1.54847584e-03] [ 1.15302273e-03 4.21398114e-05 9.99999334e-01 -4.43491821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:0.01, Z:-0.01 [[ 9.99781003e-01 2.08953218e-02 -1.15359527e-03 1.12510559e+02] [-2.08953603e-02 9.99781668e-01 -2.13278413e-05 1.23899919e-02] [ 1.15289775e-03 4.54279594e-05 9.99999334e-01 -6.59438323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:0.02, Z:-0.01 [[ 9.99785459e-01 2.06810247e-02 -1.15358545e-03 1.12538567e+02] [-2.06810636e-02 9.99786124e-01 -2.18465389e-05 1.55641420e-02] [ 1.15288691e-03 4.56992260e-05 9.99999334e-01 -7.43509999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:0.02, Z:-0.01 [[ 9.99772586e-01 2.12942587e-02 -1.15357390e-03 1.12567122e+02] [-2.12942987e-02 9.99773250e-01 -2.24401993e-05 1.78868705e-02] [ 1.15283448e-03 4.69996432e-05 9.99999334e-01 -5.74820213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:0.02, Z:-0.00 [[ 9.99776964e-01 2.10877159e-02 -1.15356365e-03 1.12594954e+02] [-2.10877564e-02 9.99777628e-01 -2.29550969e-05 2.13553235e-02] [ 1.15282306e-03 4.72760463e-05 9.99999334e-01 -3.54139459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:0.03, Z:-0.00 [[ 9.99811640e-01 1.93740504e-02 -1.15355162e-03 1.12623771e+02] [-1.93740904e-02 9.99812304e-01 -2.35444015e-05 2.67930595e-02] [ 1.15287896e-03 4.58889801e-05 9.99999334e-01 -2.31662515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:0.04, Z:-0.00 [[ 9.99903518e-01 1.38428093e-02 -1.15354084e-03 1.12652255e+02] [-1.38428462e-02 9.99904183e-01 -2.40616002e-05 3.73015612e-02] [ 1.15309723e-03 4.00275671e-05 9.99999334e-01 -3.36162891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:0.04, Z:-0.00 [[ 9.99910586e-01 1.33225386e-02 -1.15352976e-03 1.12680667e+02] [-1.33225759e-02 9.99911250e-01 -2.45811260e-05 3.76380701e-02] [ 1.15309991e-03 3.99469159e-05 9.99999334e-01 -3.32877999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:0.04, Z:-0.00 [[ 9.99944368e-01 1.04848071e-02 -1.15351666e-03 1.12708362e+02] [-1.04848431e-02 9.99945032e-01 -2.51813224e-05 3.99586120e-02] [ 1.15318923e-03 3.72743627e-05 9.99999334e-01 -4.65505636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:112.74, Y:0.04, Z:-0.00 [[ 9.99972794e-01 7.28571200e-03 -1.15350321e-03 1.12737068e+02] [-7.28574658e-03 9.99973458e-01 -2.57830066e-05 4.15193835e-02] [ 1.15328475e-03 3.41864373e-05 9.99999334e-01 -4.74848089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:0.04, Z:-0.00 [[ 9.99993745e-01 3.34346303e-03 -1.15349120e-03 1.12766163e+02] [-3.34349560e-03 9.99994410e-01 -2.63096286e-05 4.34912239e-02] [ 1.15339679e-03 3.01661568e-05 9.99999334e-01 -4.70978395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:0.05, Z:-0.01 [[ 9.99987129e-01 -4.94087806e-03 -1.15348861e-03 1.12794645e+02] [ 4.94085087e-03 9.99987794e-01 -2.64226624e-05 4.89230613e-02] [ 1.15360508e-03 2.07231071e-05 9.99999334e-01 -5.86463655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:0.05, Z:-0.01 [[ 9.99965396e-01 -8.23865442e-03 -1.15348513e-03 1.12824862e+02] [ 8.23862924e-03 9.99966062e-01 -2.65739723e-05 5.12882385e-02] [ 1.15366491e-03 1.70699164e-05 9.99999334e-01 -6.07983377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:0.05, Z:-0.01 [[ 9.99923918e-01 -1.22811706e-02 -1.15348513e-03 1.12855463e+02] [ 1.22811482e-02 9.99924584e-01 -2.65739723e-05 5.25332921e-02] [ 1.15372449e-03 1.24058287e-05 9.99999334e-01 -7.16174973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:0.05, Z:-0.01 [[ 9.99865171e-01 -1.63801776e-02 -1.15348513e-03 1.12886289e+02] [ 1.63801578e-02 9.99865836e-01 -2.65739723e-05 5.39970206e-02] [ 1.15376566e-03 7.67612086e-06 9.99999334e-01 -6.98801184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.92, Y:0.06, Z:-0.00 [[ 9.99749053e-01 -2.23718566e-02 -1.15348686e-03 1.12917341e+02] [ 2.23718409e-02 9.99749719e-01 -2.64983585e-05 6.06056588e-02] [ 1.15379098e-03 6.86084157e-07 9.99999334e-01 -4.78695277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:0.06, Z:0.01 [[ 9.99714298e-01 -2.38744837e-02 -1.15348858e-03 1.12947911e+02] [ 2.38744691e-02 9.99714964e-01 -2.64233223e-05 6.20831621e-02] [ 1.15379064e-03 -1.12315441e-06 9.99999334e-01 6.59201481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:0.06, Z:-0.01 [[ 9.99629776e-01 -2.71841816e-02 -1.15354717e-03 1.12978842e+02] [ 2.71841721e-02 9.99630442e-01 -2.38587927e-05 6.12292597e-02] [ 1.15376945e-03 -7.50826530e-06 9.99999334e-01 -5.97086867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:0.06, Z:-0.01 [[ 9.99469077e-01 -3.25612322e-02 -1.15349613e-03 1.13011554e+02] [ 3.25612237e-02 9.99469742e-01 -2.61132631e-05 5.53488544e-02] [ 1.15373476e-03 -1.14598467e-05 9.99999334e-01 -6.94512271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:0.06, Z:-0.01 [[ 9.99418800e-01 -3.40695129e-02 -1.15350740e-03 1.13043680e+02] [ 3.40695060e-02 9.99419466e-01 -2.56056870e-05 5.57313445e-02] [ 1.15371012e-03 -1.37086224e-05 9.99999334e-01 -6.10402995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:0.06, Z:0.01 [[ 9.99292403e-01 -3.75947156e-02 -1.15351833e-03 1.13071845e+02] [ 3.75947117e-02 9.99293069e-01 -2.51035283e-05 5.64654469e-02] [ 1.15364663e-03 -1.82804239e-05 9.99999334e-01 6.85768387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:0.06, Z:-0.01 [[ 9.99363585e-01 -3.56524123e-02 -1.15317343e-03 1.13106596e+02] [ 3.56523885e-02 9.99364251e-01 -4.11378271e-05 5.73483114e-02] [ 1.15390696e-03 -1.74085601e-09 9.99999334e-01 -6.51019417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:0.06, Z:-0.01 [[ 9.99398165e-01 -3.46695554e-02 -1.15353057e-03 1.13138406e+02] [ 3.46695509e-02 9.99398830e-01 -2.39029501e-05 5.64573921e-02] [ 1.15366580e-03 -1.61038221e-05 9.99999334e-01 -8.46935796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.17, Y:0.06, Z:-0.01 [[ 9.99416137e-01 -3.41475385e-02 -1.15354073e-03 1.13170748e+02] [ 3.41475343e-02 9.99416803e-01 -2.34017752e-05 5.50502639e-02] [ 1.15366710e-03 -1.60024599e-05 9.99999334e-01 -9.19694555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:0.06, Z:-0.01 [[ 9.99514275e-01 -3.11429642e-02 -1.15355072e-03 1.13203134e+02] [ 3.11429585e-02 9.99514940e-01 -2.28986050e-05 5.51285472e-02] [ 1.15370431e-03 -1.30374996e-05 9.99999334e-01 -7.85028256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:0.06, Z:-0.01 [[ 9.99564072e-01 -2.95014588e-02 -1.15356047e-03 1.13236294e+02] [ 2.95014526e-02 9.99564737e-01 -2.23962304e-05 5.62153039e-02] [ 1.15371909e-03 -1.16452423e-05 9.99999334e-01 -6.94380347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:0.06, Z:-0.01 [[ 9.99610945e-01 -2.78680503e-02 -1.15357148e-03 1.13268546e+02] [ 2.78680437e-02 9.99611610e-01 -2.18140992e-05 5.59120416e-02] [ 1.15373136e-03 -1.03421682e-05 9.99999334e-01 -6.14090484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:0.05, Z:-0.01 [[ 9.99633855e-01 -2.70337731e-02 -1.15358079e-03 1.13300914e+02] [ 2.70337665e-02 9.99634521e-01 -2.13101213e-05 5.48323021e-02] [ 1.15373528e-03 -9.88331505e-06 9.99999334e-01 -5.56513300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:0.06, Z:-0.01 [[ 9.99649748e-01 -2.64395690e-02 -1.15358991e-03 1.13333842e+02] [ 2.64395626e-02 9.99650413e-01 -2.08043267e-05 5.58623588e-02] [ 1.15373669e-03 -9.70337277e-06 9.99999334e-01 -5.50433944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:0.06, Z:-0.01 [[ 9.99660007e-01 -2.60487897e-02 -1.15360012e-03 1.13367062e+02] [ 2.60487837e-02 9.99660673e-01 -2.02219247e-05 5.88993264e-02] [ 1.15373543e-03 -9.83483060e-06 9.99999334e-01 -7.17897790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:0.06, Z:-0.01 [[ 9.99695691e-01 -2.46413153e-02 -1.15361002e-03 1.13399814e+02] [ 2.46413090e-02 9.99696357e-01 -1.96404075e-05 6.11466375e-02] [ 1.15374370e-03 -8.79203032e-06 9.99999334e-01 -8.30815412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:0.06, Z:-0.01 [[ 9.99710731e-01 -2.40234015e-02 -1.15361961e-03 1.13431662e+02] [ 2.40233955e-02 9.99711396e-01 -1.90602817e-05 6.22462533e-02] [ 1.15374456e-03 -8.65909200e-06 9.99999334e-01 -7.09548053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:0.06, Z:-0.01 [[ 9.99714317e-01 -2.38737137e-02 -1.15362776e-03 1.13463828e+02] [ 2.38737082e-02 9.99714982e-01 -1.85532574e-05 6.37672252e-02] [ 1.15374189e-03 -8.99341547e-06 9.99999334e-01 -6.26030203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.50, Y:0.07, Z:-0.01 [[ 9.99706822e-01 -2.41855244e-02 -1.15363572e-03 1.13496073e+02] [ 2.41855197e-02 9.99707487e-01 -1.80444029e-05 6.63220032e-02] [ 1.15373468e-03 -9.86216679e-06 9.99999334e-01 -5.94688985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:0.07, Z:-0.01 [[ 9.99701865e-01 -2.43895345e-02 -1.15364351e-03 1.13528447e+02] [ 2.43895305e-02 9.99702531e-01 -1.75318437e-05 6.88387130e-02] [ 1.15372793e-03 -1.06102068e-05 9.99999334e-01 -5.76274782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:0.07, Z:-0.01 [[ 9.99696649e-01 -2.46024015e-02 -1.15364623e-03 1.13561044e+02] [ 2.46023979e-02 9.99697315e-01 -1.73507480e-05 7.29289716e-02] [ 1.15372391e-03 -1.10369790e-05 9.99999334e-01 -8.03907012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.59, Y:0.07, Z:-0.01 [[ 9.99686435e-01 -2.50139970e-02 -1.15365371e-03 1.13593492e+02] [ 2.50139943e-02 9.99687101e-01 -1.68383900e-05 7.47969994e-02] [ 1.15371393e-03 -1.20243773e-05 9.99999334e-01 -7.10844651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:0.08, Z:-0.01 [[ 9.99677835e-01 -2.53553887e-02 -1.15366092e-03 1.13625735e+02] [ 2.53553868e-02 9.99678500e-01 -1.63289072e-05 7.74613927e-02] [ 1.15370405e-03 -1.29278723e-05 9.99999334e-01 -6.80861800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:0.08, Z:-0.01 [[ 9.99688710e-01 -2.49229148e-02 -1.15366787e-03 1.13658238e+02] [ 2.49229131e-02 9.99689376e-01 -1.58224765e-05 7.95914446e-02] [ 1.15370386e-03 -1.29352130e-05 9.99999334e-01 -5.59806885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:0.08, Z:-0.01 [[ 9.99643166e-01 -2.66872573e-02 -1.15367452e-03 1.13691801e+02] [ 2.66872574e-02 9.99643832e-01 -1.53216367e-05 7.99608807e-02] [ 1.15367251e-03 -1.54722395e-05 9.99999334e-01 -6.03913850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:0.08, Z:-0.01 [[ 9.99618150e-01 -2.76083925e-02 -1.15368188e-03 1.13724768e+02] [ 2.76083938e-02 9.99618816e-01 -1.47458796e-05 7.93232334e-02] [ 1.15364922e-03 -1.71110549e-05 9.99999334e-01 -5.60329680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:0.08, Z:-0.01 [[ 9.99517461e-01 -3.10405291e-02 -1.15368893e-03 1.13757510e+02] [ 3.10405335e-02 9.99518126e-01 -1.41717369e-05 7.63250946e-02] [ 1.15357290e-03 -2.16462214e-05 9.99999334e-01 -5.60236283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:0.08, Z:-0.01 [[ 9.99507856e-01 -3.13482711e-02 -1.15369564e-03 1.13789770e+02] [ 3.13482763e-02 9.99508522e-01 -1.36025073e-05 7.62596117e-02] [ 1.15355504e-03 -2.25705570e-05 9.99999334e-01 -6.33042378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.82, Y:0.08, Z:-0.01 [[ 9.99521871e-01 -3.08982047e-02 -1.15370125e-03 1.13822537e+02] [ 3.08982101e-02 9.99522536e-01 -1.31094457e-05 7.68972739e-02] [ 1.15355546e-03 -2.25441259e-05 9.99999334e-01 -6.56728611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:0.08, Z:-0.01 [[ 9.99538956e-01 -3.03404704e-02 -1.15370740e-03 1.13855187e+02] [ 3.03404762e-02 9.99539622e-01 -1.25433648e-05 7.91355334e-02] [ 1.15355683e-03 -2.24664502e-05 9.99999334e-01 -5.23659287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:0.08, Z:-0.00 [[ 9.99562002e-01 -2.95714965e-02 -1.15371328e-03 1.13887370e+02] [ 2.95715024e-02 9.99562667e-01 -1.19772809e-05 8.05541841e-02] [ 1.15356291e-03 -2.21450001e-05 9.99999334e-01 -4.71393260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:0.08, Z:-0.01 [[ 9.99588520e-01 -2.86611304e-02 -1.15371824e-03 1.13919940e+02] [ 2.86611362e-02 9.99589185e-01 -1.14785894e-05 8.12405091e-02] [ 1.15357326e-03 -2.15930095e-05 9.99999334e-01 -5.40876192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:0.08, Z:-0.01 [[ 9.99571319e-01 -2.92548672e-02 -1.15372331e-03 1.13952705e+02] [ 2.92548740e-02 9.99571985e-01 -1.09443342e-05 7.80220006e-02] [ 1.15354967e-03 -2.28123875e-05 9.99999334e-01 -7.58431762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:0.08, Z:-0.01 [[ 9.99567001e-01 -2.94020476e-02 -1.15372841e-03 1.13985654e+02] [ 2.94020552e-02 9.99567666e-01 -1.03768320e-05 7.64607178e-02] [ 1.15353472e-03 -2.35496477e-05 9.99999334e-01 -7.43385671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:0.08, Z:-0.01 [[ 9.99534113e-01 -3.04996043e-02 -1.15373327e-03 1.14018342e+02] [ 3.04996133e-02 9.99534779e-01 -9.80513608e-06 7.54527067e-02] [ 1.15349558e-03 -2.53878506e-05 9.99999334e-01 -5.55578121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:0.08, Z:-0.00 [[ 9.99517626e-01 -3.10351987e-02 -1.15373779e-03 1.14051261e+02] [ 3.10352087e-02 9.99518292e-01 -9.24144026e-06 7.58312943e-02] [ 1.15346883e-03 -2.65695105e-05 9.99999334e-01 -2.55780213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:0.08, Z:-0.00 [[ 9.99489881e-01 -3.19162584e-02 -1.15374206e-03 1.14084267e+02] [ 3.19162696e-02 9.99490546e-01 -8.67292171e-06 7.71249795e-02] [ 1.15343109e-03 -2.81546452e-05 9.99999334e-01 -6.04160710e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:0.08, Z:-0.00 [[ 9.99469731e-01 -3.25411438e-02 -1.15374603e-03 1.14116602e+02] [ 3.25411561e-02 9.99470396e-01 -8.10874096e-06 7.56929974e-02] [ 1.15339886e-03 -2.94397884e-05 9.99999334e-01 -2.23290917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:0.07, Z:0.01 [[ 9.99549117e-01 -3.00038707e-02 -1.15374928e-03 1.14147283e+02] [ 3.00038818e-02 9.99549782e-01 -7.61565886e-06 7.29657763e-02] [ 1.15345834e-03 -2.70047320e-05 9.99999334e-01 5.24680515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:0.07, Z:-0.01 [[ 9.99552655e-01 -2.98857526e-02 -1.15375446e-03 1.14178133e+02] [ 2.98857646e-02 9.99553321e-01 -6.82488346e-06 7.20248097e-02] [ 1.15344307e-03 -2.76590038e-05 9.99999334e-01 -6.93655750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:0.07, Z:-0.01 [[ 9.99613392e-01 -2.77801340e-02 -1.15375037e-03 1.14210690e+02] [ 2.77801439e-02 9.99614057e-01 -7.45689446e-06 7.29871959e-02] [ 1.15351225e-03 -2.45973398e-05 9.99999334e-01 -6.26945074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:0.07, Z:0.01 [[ 9.99702946e-01 -2.43451965e-02 -1.15375335e-03 1.14242006e+02] [ 2.43452047e-02 9.99703612e-01 -6.96284920e-06 7.45915205e-02] [ 1.15358091e-03 -2.11275807e-05 9.99999334e-01 7.58189197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:0.07, Z:0.01 [[ 9.99707825e-01 -2.41439977e-02 -1.15377782e-03 1.14273004e+02] [ 2.41440107e-02 9.99708491e-01 -2.71076790e-06 7.32958543e-02] [ 1.15350693e-03 -2.51468482e-05 9.99999334e-01 1.00406225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:0.07, Z:-0.00 [[ 9.99706243e-01 -2.42094312e-02 -1.15374700e-03 1.14304480e+02] [ 2.42094379e-02 9.99706909e-01 -8.08973263e-06 7.11326467e-02] [ 1.15360470e-03 -1.98442102e-05 9.99999334e-01 -1.32092478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:0.07, Z:-0.00 [[ 9.99718777e-01 -2.36861892e-02 -1.15375679e-03 1.14337157e+02] [ 2.36861977e-02 9.99719443e-01 -6.29598546e-06 6.98819676e-02] [ 1.15358222e-03 -2.10338966e-05 9.99999334e-01 -2.69526571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:0.07, Z:-0.00 [[ 9.99762316e-01 -2.17710812e-02 -1.15375931e-03 1.14369751e+02] [ 2.17710890e-02 9.99762982e-01 -5.79550914e-06 7.33473414e-02] [ 1.15361202e-03 -1.93244649e-05 9.99999334e-01 -3.65794186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.40, Y:0.07, Z:-0.00 [[ 9.99786700e-01 -2.06209528e-02 -1.15376160e-03 1.14402219e+02] [ 2.06209604e-02 9.99787365e-01 -5.29660399e-06 7.48898663e-02] [ 1.15362549e-03 -1.84961979e-05 9.99999334e-01 -4.65371037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:0.07, Z:-0.00 [[ 9.99823851e-01 -1.87332762e-02 -1.15376367e-03 1.14434399e+02] [ 1.87332832e-02 9.99824517e-01 -4.79730769e-06 7.42370473e-02] [ 1.15365107e-03 -1.68173189e-05 9.99999334e-01 -3.73223748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:0.07, Z:-0.00 [[ 9.99848634e-01 -1.73602171e-02 -1.15376553e-03 1.14465957e+02] [ 1.73602237e-02 9.99849300e-01 -4.29996312e-06 7.21452696e-02] [ 1.15366630e-03 -1.57303154e-05 9.99999334e-01 -4.38778150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:0.07, Z:-0.00 [[ 9.99921594e-01 -1.24689352e-02 -1.15376579e-03 1.14497261e+02] [ 1.24689387e-02 9.99922260e-01 -4.22812231e-06 7.18430818e-02] [ 1.15372881e-03 -1.01584440e-05 9.99999334e-01 -1.76858376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:0.07, Z:0.01 [[ 9.99941093e-01 -1.07925769e-02 -1.15376617e-03 1.14526260e+02] [ 1.07925794e-02 9.99941758e-01 -4.11995701e-06 7.49687597e-02] [ 1.15374344e-03 -8.33239868e-06 9.99999334e-01 6.05739047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:0.08, Z:-0.00 [[ 9.99981546e-01 -5.96452790e-03 -1.15374160e-03 1.14557806e+02] [ 5.96451927e-03 9.99982212e-01 -1.09275623e-05 7.88503083e-02] [ 1.15378626e-03 4.04584666e-06 9.99999334e-01 -1.51847916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:0.08, Z:-0.00 [[ 9.99994073e-01 -3.24387819e-03 -1.15376548e-03 1.14588501e+02] [ 3.24387579e-03 9.99994739e-01 -3.94729343e-06 8.10541511e-02] [ 1.15377222e-03 2.04598119e-07 9.99999334e-01 -1.85700463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.62, Y:0.08, Z:-0.00 [[ 9.99999235e-01 -4.44960790e-04 -1.15376548e-03 1.14618215e+02] [ 4.44956532e-04 9.99999901e-01 -3.94729343e-06 8.17426647e-02] [ 1.15376712e-03 3.43391493e-06 9.99999334e-01 -3.39449008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:0.08, Z:0.00 [[ 9.99998924e-01 9.06315619e-04 -1.15376522e-03 1.14647828e+02] [-9.06320863e-04 9.99999589e-01 -4.02191082e-06 8.24334202e-02] [ 1.15376110e-03 5.06758798e-06 9.99999334e-01 4.87294898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:0.08, Z:0.00 [[ 9.99999015e-01 7.99644790e-04 -1.15376603e-03 1.14676980e+02] [-7.99649705e-04 9.99999680e-01 -3.79816124e-06 8.24927730e-02] [ 1.15376262e-03 4.72076616e-06 9.99999334e-01 4.90655326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:0.08, Z:-0.00 [[ 9.99999308e-01 2.31361679e-04 -1.15376557e-03 1.14706773e+02] [-2.31366359e-04 9.99999973e-01 -3.92248199e-06 8.35576693e-02] [ 1.15376463e-03 4.18942181e-06 9.99999334e-01 -2.37840220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:0.08, Z:-0.00 [[ 9.99998592e-01 -1.21845966e-03 -1.15376414e-03 1.14736562e+02] [ 1.21845551e-03 9.99999258e-01 -4.30376738e-06 8.48680038e-02] [ 1.15376853e-03 2.89795104e-06 9.99999334e-01 -1.71323044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:0.09, Z:-0.00 [[ 9.99980548e-01 -6.12963294e-03 -1.15376386e-03 1.14766205e+02] [ 6.12963197e-03 9.99981214e-01 -4.37869779e-06 8.51982682e-02] [ 1.15376903e-03 -2.69353523e-06 9.99999334e-01 -9.89622814e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:0.09, Z:0.00 [[ 9.99970236e-01 -7.62861789e-03 -1.15376357e-03 1.14796648e+02] [ 7.62861783e-03 9.99970902e-01 -4.45361429e-06 8.52126751e-02] [ 1.15376397e-03 -4.34813962e-06 9.99999334e-01 3.21802932e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:0.09, Z:0.00 [[ 9.99949011e-01 -1.00321682e-02 -1.15376357e-03 1.14826877e+02] [ 1.00321697e-02 9.99949677e-01 -4.45361429e-06 8.53614566e-02] [ 1.15375019e-03 -7.12136478e-06 9.99999334e-01 8.31658127e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:0.09, Z:0.01 [[ 9.99935003e-01 -1.13427700e-02 -1.15376357e-03 1.14857599e+02] [ 1.13427724e-02 9.99935669e-01 -4.45361429e-06 8.54829188e-02] [ 1.15373986e-03 -8.63355280e-06 9.99999334e-01 6.55697855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.89, Y:0.08, Z:0.00 [[ 9.99917817e-01 -1.27682256e-02 -1.15376503e-03 1.14888978e+02] [ 1.27682294e-02 9.99918483e-01 -4.08080371e-06 8.45744756e-02] [ 1.15372309e-03 -1.06510682e-05 9.99999334e-01 4.56102819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:0.08, Z:-0.00 [[ 9.99910776e-01 -1.33082228e-02 -1.15376140e-03 1.14920108e+02] [ 1.33082258e-02 9.99911442e-01 -5.04892302e-06 8.16973786e-02] [ 1.15372642e-03 -1.03060447e-05 9.99999334e-01 -4.68428875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:0.08, Z:0.00 [[ 9.99928392e-01 -1.19113157e-02 -1.15376509e-03 1.14950036e+02] [ 1.19113190e-02 9.99929058e-01 -3.97811592e-06 8.16994241e-02] [ 1.15373063e-03 -9.76503301e-06 9.99999334e-01 3.78361984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:0.08, Z:-0.00 [[ 9.99923703e-01 -1.22986954e-02 -1.15377285e-03 1.14980550e+02] [ 1.22987016e-02 9.99924368e-01 -1.74949892e-06 8.25761645e-02] [ 1.15370710e-03 -1.24405425e-05 9.99999334e-01 -1.81607914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:0.08, Z:0.00 [[ 9.99923766e-01 -1.22934978e-02 -1.15376611e-03 1.15010737e+02] [ 1.22935016e-02 9.99924432e-01 -3.79630075e-06 7.99988850e-02] [ 1.15372560e-03 -1.03878142e-05 9.99999334e-01 2.06030107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:0.08, Z:0.00 [[ 9.99903645e-01 -1.38336514e-02 -1.15376623e-03 1.15042435e+02] [ 1.38336563e-02 9.99904310e-01 -3.75974405e-06 7.80013163e-02] [ 1.15370784e-03 -1.22014237e-05 9.99999334e-01 2.23099034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:0.08, Z:0.00 [[ 9.99880282e-01 -1.54301770e-02 -1.15376647e-03 1.15073956e+02] [ 1.54301830e-02 9.99880948e-01 -3.68548483e-06 7.73356495e-02] [ 1.15368598e-03 -1.41177842e-05 9.99999334e-01 1.73017365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:0.08, Z:0.00 [[ 9.99848916e-01 -1.73439982e-02 -1.15376670e-03 1.15105582e+02] [ 1.73440055e-02 9.99849581e-01 -3.61295388e-06 7.73787236e-02] [ 1.15365581e-03 -1.63985280e-05 9.99999334e-01 1.59267861e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:0.08, Z:-0.00 [[ 9.99799094e-01 -2.00110193e-02 -1.15376692e-03 1.15137238e+02] [ 2.00110285e-02 9.99799759e-01 -3.54065009e-06 7.51620954e-02] [ 1.15360674e-03 -1.95481240e-05 9.99999334e-01 -2.23530827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:0.07, Z:-0.00 [[ 9.99783869e-01 -2.07577722e-02 -1.15376714e-03 1.15169465e+02] [ 2.07577820e-02 9.99784534e-01 -3.46867806e-06 7.49128445e-02] [ 1.15359054e-03 -2.04817183e-05 9.99999334e-01 -1.85063087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:0.08, Z:-0.00 [[ 9.99781055e-01 -2.08928346e-02 -1.15376843e-03 1.15201192e+02] [ 2.08928451e-02 9.99781721e-01 -2.96581707e-06 7.61031203e-02] [ 1.15357855e-03 -2.11403373e-05 9.99999334e-01 -3.79866151e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:0.08, Z:0.00 [[ 9.99783260e-01 -2.07870791e-02 -1.15376944e-03 1.15233291e+02] [ 2.07870901e-02 9.99783925e-01 -2.49770893e-06 7.72886128e-02] [ 1.15357206e-03 -2.14863417e-05 9.99999334e-01 1.26701270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:0.07, Z:0.00 [[ 9.99817530e-01 -1.90676611e-02 -1.15377031e-03 1.15265081e+02] [ 1.90676714e-02 9.99818195e-01 -1.99484712e-06 7.43074682e-02] [ 1.15359859e-03 -2.00052301e-05 9.99999334e-01 8.23981303e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:0.07, Z:0.00 [[ 9.99819865e-01 -1.89448209e-02 -1.15377096e-03 1.15296474e+02] [ 1.89448318e-02 9.99820531e-01 -1.49098509e-06 7.13156416e-02] [ 1.15359214e-03 -2.03672803e-05 9.99999334e-01 6.86958754e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.33, Y:0.07, Z:0.01 [[ 9.99829420e-01 -1.84336686e-02 -1.15377105e-03 1.15327669e+02] [ 1.84336793e-02 9.99830085e-01 -1.42003973e-06 6.95493754e-02] [ 1.15360118e-03 -1.98484480e-05 9.99999334e-01 1.01479743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:0.07, Z:0.00 [[ 9.99780561e-01 -2.09164557e-02 -1.15377105e-03 1.15359112e+02] [ 2.09164680e-02 9.99781227e-01 -1.41925404e-06 7.05739227e-02] [ 1.15354832e-03 -2.27138727e-05 9.99999334e-01 4.82387966e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.39, Y:0.07, Z:0.00 [[ 9.99766044e-01 -2.15992232e-02 -1.15377145e-03 1.15391444e+02] [ 2.15992365e-02 9.99766709e-01 -9.17340625e-07 7.06195579e-02] [ 1.15352210e-03 -2.40034565e-05 9.99999334e-01 2.92826938e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.42, Y:0.07, Z:0.00 [[ 9.99742501e-01 -2.26627717e-02 -1.15377163e-03 1.15423872e+02] [ 2.26627863e-02 9.99743166e-01 -4.19799620e-07 6.91709428e-02] [ 1.15348482e-03 -2.57279884e-05 9.99999334e-01 5.56926438e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:0.07, Z:-0.00 [[ 9.99739898e-01 -2.27773139e-02 -1.15377160e-03 1.15456520e+02] [ 2.27773292e-02 9.99740563e-01 7.42534512e-08 6.69990583e-02] [ 1.15347058e-03 -2.63540697e-05 9.99999334e-01 -7.89499912e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:0.07, Z:-0.00 [[ 9.99757259e-01 -2.20020944e-02 -1.15377135e-03 1.15488467e+02] [ 2.20021097e-02 9.99757924e-01 5.73553067e-07 6.50568586e-02] [ 1.15347943e-03 -2.59588177e-05 9.99999334e-01 -8.89271613e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:0.06, Z:0.00 [[ 9.99781345e-01 -2.08789378e-02 -1.15377089e-03 1.15519902e+02] [ 2.08789529e-02 9.99782011e-01 1.06876303e-06 6.27722781e-02] [ 1.15349707e-03 -2.51580575e-05 9.99999334e-01 2.51142352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:0.06, Z:0.01 [[ 9.99831833e-01 -1.83023067e-02 -1.15377082e-03 1.15550950e+02] [ 1.83023202e-02 9.99832499e-01 1.14038128e-06 6.26278566e-02] [ 1.15355669e-03 -2.22568725e-05 9.99999334e-01 1.35267277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.58, Y:0.06, Z:0.01 [[ 9.99801299e-01 -1.99005278e-02 -1.15376508e-03 1.15581566e+02] [ 1.99005479e-02 9.99801964e-01 6.01459114e-06 6.26309435e-02] [ 1.15341690e-03 -2.89739533e-05 9.99999334e-01 6.49698859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.61, Y:0.06, Z:0.01 [[ 9.99807026e-01 -1.96107148e-02 -1.15377078e-03 1.15612539e+02] [ 1.96107295e-02 9.99807691e-01 1.43789514e-06 6.17031016e-02] [ 1.15352070e-03 -2.40639044e-05 9.99999334e-01 5.36672579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:0.06, Z:0.00 [[ 9.99780117e-01 -2.09376677e-02 -1.15377069e-03 1.15643723e+02] [ 2.09376834e-02 9.99780783e-01 1.50923984e-06 5.58952408e-02] [ 1.15348616e-03 -2.56661934e-05 9.99999334e-01 1.16538996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.67, Y:0.05, Z:0.00 [[ 9.99773088e-01 -2.12706881e-02 -1.15377059e-03 1.15674770e+02] [ 2.12707040e-02 9.99773753e-01 1.58068865e-06 5.17546283e-02] [ 1.15347593e-03 -2.61218427e-05 9.99999334e-01 8.37436072e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:0.05, Z:0.01 [[ 9.99821222e-01 -1.88730816e-02 -1.15377049e-03 1.15705914e+02] [ 1.88730961e-02 9.99821887e-01 1.65131453e-06 4.84144118e-02] [ 1.15353382e-03 -2.34262406e-05 9.99999334e-01 1.00079096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:0.05, Z:0.00 [[ 9.99811894e-01 -1.93609171e-02 -1.15376092e-03 1.15736713e+02] [ 1.93609388e-02 9.99812559e-01 7.63501632e-06 4.70426902e-02] [ 1.15339684e-03 -2.99714748e-05 9.99999334e-01 2.65993160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:0.05, Z:0.00 [[ 9.99876196e-01 -1.56927221e-02 -1.15377079e-03 1.15767706e+02] [ 1.56927349e-02 9.99876861e-01 2.03115845e-06 4.79315100e-02] [ 1.15359684e-03 -2.01367261e-05 9.99999334e-01 3.81923130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:0.05, Z:0.01 [[ 9.99915066e-01 -1.29818667e-02 -1.15377066e-03 1.15797353e+02] [ 1.29818778e-02 9.99915732e-01 2.10294692e-06 4.74682988e-02] [ 1.15364613e-03 -1.70808779e-05 9.99999334e-01 1.08963475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:0.05, Z:0.00 [[ 9.99955396e-01 -9.37420915e-03 -1.15377291e-03 1.15828120e+02] [ 9.37421647e-03 9.99956061e-01 9.44532220e-07 4.54455985e-02] [ 1.15371336e-03 -1.17602071e-05 9.99999334e-01 4.74828300e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:0.04, Z:0.00 [[ 9.99981606e-01 -5.95450255e-03 -1.15376939e-03 1.15857422e+02] [ 5.95450945e-03 9.99982272e-01 2.54043402e-06 4.27712697e-02] [ 1.15373381e-03 -9.41051804e-06 9.99999334e-01 1.21778540e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:0.04, Z:0.01 [[ 9.99999334e-01 -3.75801980e-06 -1.15376965e-03 1.15887753e+02] [ 3.76080861e-06 1.00000000e+00 2.41498750e-06 4.02452349e-02] [ 1.15376965e-03 -2.41932500e-06 9.99999334e-01 1.34802973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.92, Y:0.04, Z:0.01 [[ 9.99996400e-01 2.42241564e-03 -1.15377210e-03 1.15918025e+02] [-2.42241600e-03 9.99997066e-01 1.08207884e-06 4.04387866e-02] [ 1.15377133e-03 1.71284104e-06 9.99999334e-01 6.17726899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.95, Y:0.04, Z:0.01 [[ 9.99989056e-01 4.53384417e-03 -1.15377051e-03 1.15947562e+02] [-4.53384488e-03 9.99989722e-01 1.99689138e-06 4.20616740e-02] [ 1.15376771e-03 3.23414700e-06 9.99999334e-01 6.46848168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:0.04, Z:0.00 [[ 9.99972461e-01 7.33115464e-03 -1.15377064e-03 1.15977335e+02] [-7.33115730e-03 9.99973127e-01 1.92107817e-06 4.43056747e-02] [ 1.15375372e-03 6.53744878e-06 9.99999334e-01 4.46716960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:0.05, Z:0.00 [[ 9.99954071e-01 9.51445024e-03 -1.15377076e-03 1.16005777e+02] [-9.51445445e-03 9.99954737e-01 1.84541046e-06 4.77520788e-02] [ 1.15373609e-03 9.13217364e-06 9.99999334e-01 1.23157123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:0.05, Z:-0.00 [[ 9.99944361e-01 1.04853808e-02 -1.15377137e-03 1.16034834e+02] [-1.04853863e-02 9.99945027e-01 1.31357971e-06 4.76795053e-02] [ 1.15372171e-03 1.07842318e-05 9.99999334e-01 -1.22024238e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:0.05, Z:0.00 [[ 9.99930265e-01 1.17530424e-02 -1.15377173e-03 1.16063999e+02] [-1.17530493e-02 9.99930931e-01 7.85066997e-07 4.78228533e-02] [ 1.15370126e-03 1.27753237e-05 9.99999334e-01 4.67857456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:0.05, Z:0.01 [[ 9.99935517e-01 1.12973520e-02 -1.15377184e-03 1.16092917e+02] [-1.12973592e-02 9.99936183e-01 2.63939598e-07 4.88525791e-02] [ 1.15370120e-03 1.27706524e-05 9.99999334e-01 5.89724157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:0.05, Z:0.02 [[ 9.99940655e-01 1.08330609e-02 -1.15377172e-03 1.16122489e+02] [-1.08330684e-02 9.99941321e-01 -2.63255264e-07 5.15919861e-02] [ 1.15370117e-03 1.27621277e-05 9.99999334e-01 1.87707446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:0.05, Z:0.01 [[ 9.99940331e-01 1.08628895e-02 -1.15377200e-03 1.16151910e+02] [-1.08628962e-02 9.99940997e-01 4.32071774e-07 5.46536160e-02] [ 1.15370862e-03 1.21012595e-05 9.99999334e-01 1.48951781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:0.06, Z:0.00 [[ 9.99929585e-01 1.18107186e-02 -1.15377233e-03 1.16181889e+02] [-1.18107252e-02 9.99930251e-01 1.10954477e-06 5.76466179e-02] [ 1.15370496e-03 1.25174213e-05 9.99999334e-01 4.70500666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:0.06, Z:0.00 [[ 9.99929588e-01 1.18105033e-02 -1.15377090e-03 1.16210805e+02] [-1.18105121e-02 9.99930253e-01 -8.46496264e-07 6.15073354e-02] [ 1.15368043e-03 1.44730618e-05 9.99999334e-01 4.34603383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:0.06, Z:0.00 [[ 9.99932563e-01 1.15558653e-02 -1.15377028e-03 1.16239407e+02] [-1.15558746e-02 9.99933229e-01 -1.36933780e-06 6.32468920e-02] [ 1.15367741e-03 1.47020701e-05 9.99999334e-01 3.76546260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:0.07, Z:0.00 [[ 9.99945668e-01 1.03600010e-02 -1.15376941e-03 1.16268185e+02] [-1.03600101e-02 9.99946334e-01 -1.89413079e-06 6.62692375e-02] [ 1.15368787e-03 1.38470906e-05 9.99999334e-01 2.64381716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.30, Y:0.07, Z:0.00 [[ 9.99952477e-01 9.68049389e-03 -1.15376830e-03 1.16296904e+02] [-9.68050313e-03 9.99953143e-01 -2.42264193e-06 6.95723575e-02] [ 1.15369079e-03 1.35915845e-05 9.99999334e-01 2.44594617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.33, Y:0.07, Z:0.00 [[ 9.99956708e-01 9.23314144e-03 -1.15376696e-03 1.16325221e+02] [-9.23315099e-03 9.99957374e-01 -2.95005202e-06 7.24847096e-02] [ 1.15369054e-03 1.36028288e-05 9.99999334e-01 1.97909508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:0.08, Z:0.00 [[ 9.99961345e-01 8.71648980e-03 -1.15376537e-03 1.16353829e+02] [-8.71649962e-03 9.99962011e-01 -3.47679911e-06 7.74929898e-02] [ 1.15369123e-03 1.35334601e-05 9.99999334e-01 4.62953573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:0.08, Z:0.01 [[ 9.99965961e-01 8.16979770e-03 -1.15376355e-03 1.16382821e+02] [-8.16980775e-03 9.99966627e-01 -4.00093374e-06 8.06522437e-02] [ 1.15369236e-03 1.34268240e-05 9.99999334e-01 1.47675153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.41, Y:0.09, Z:0.01 [[ 9.99970407e-01 7.60619691e-03 -1.15376776e-03 1.16411612e+02] [-7.60620524e-03 9.99971072e-01 -2.82847229e-06 8.50868172e-02] [ 1.15371287e-03 1.16041830e-05 9.99999334e-01 7.18358620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:0.09, Z:0.01 [[ 9.99978484e-01 6.45754620e-03 -1.15376106e-03 1.16441232e+02] [-6.45755573e-03 9.99979150e-01 -4.53455096e-06 8.93833006e-02] [ 1.15370772e-03 1.19849297e-05 9.99999334e-01 1.27397117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:0.09, Z:0.00 [[ 9.99987384e-01 4.88876259e-03 -1.15376392e-03 1.16470204e+02] [-4.88877027e-03 9.99988050e-01 -3.83569495e-06 9.35449815e-02] [ 1.15373138e-03 9.47613331e-06 9.99999334e-01 2.43310769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.50, Y:0.09, Z:0.00 [[ 9.99991097e-01 4.05894464e-03 -1.15375796e-03 1.16498736e+02] [-4.05895330e-03 9.99991762e-01 -5.16586915e-06 9.17813083e-02] [ 1.15372749e-03 9.84887285e-06 9.99999334e-01 9.34374023e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:0.09, Z:0.00 [[ 9.99995998e-01 2.58324129e-03 -1.15375535e-03 1.16527325e+02] [-2.58324958e-03 9.99996663e-01 -5.69613814e-06 8.96063436e-02] [ 1.15373678e-03 8.67655336e-06 9.99999334e-01 7.14742203e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.56, Y:0.09, Z:0.00 [[ 9.99999176e-01 -5.62022399e-04 -1.15375457e-03 1.16557307e+02] [ 5.62016025e-04 9.99999842e-01 -5.84892501e-06 9.04589492e-02] [ 1.15375768e-03 5.20049163e-06 9.99999334e-01 3.44668746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.59, Y:0.09, Z:0.00 [[ 9.99996016e-01 -2.57634474e-03 -1.15375418e-03 1.16586532e+02] [ 2.57633961e-03 9.99996681e-01 -5.92478168e-06 9.17311764e-02] [ 1.15376562e-03 2.95229547e-06 9.99999334e-01 4.84900726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:0.09, Z:0.00 [[ 9.99995848e-01 -2.64076010e-03 -1.15375379e-03 1.16616684e+02] [ 2.64075493e-03 9.99996513e-01 -6.00025919e-06 9.18702322e-02] [ 1.15376561e-03 2.95345326e-06 9.99999334e-01 4.88380679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:0.09, Z:0.01 [[ 9.99993689e-01 -3.36014037e-03 -1.15375340e-03 1.16646791e+02] [ 3.36013560e-03 9.99994355e-01 -6.07457888e-06 9.20313096e-02] [ 1.15376730e-03 2.19777268e-06 9.99999334e-01 5.20639437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:0.09, Z:0.00 [[ 9.99989954e-01 -4.33126301e-03 -1.15375300e-03 1.16676913e+02] [ 4.33125879e-03 9.99990620e-01 -6.14889855e-06 9.13903572e-02] [ 1.15376881e-03 1.15163394e-06 9.99999334e-01 4.79269592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.71, Y:0.09, Z:0.01 [[ 9.99986142e-01 -5.13665654e-03 -1.15375260e-03 1.16706792e+02] [ 5.13665278e-03 9.99986807e-01 -6.22394308e-06 9.19265646e-02] [ 1.15376935e-03 2.97430351e-07 9.99999334e-01 1.49231084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:0.09, Z:0.00 [[ 9.99980861e-01 -6.07829231e-03 -1.15375887e-03 1.16736829e+02] [ 6.07829049e-03 9.99981527e-01 -5.08600237e-06 9.19969306e-02] [ 1.15376847e-03 -1.92697653e-06 9.99999334e-01 2.76281226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:0.09, Z:0.00 [[ 9.99978747e-01 -6.41677976e-03 -1.15375241e-03 1.16767217e+02] [ 6.41677679e-03 9.99979412e-01 -6.27442498e-06 9.00591100e-02] [ 1.15376891e-03 -1.12908004e-06 9.99999334e-01 8.67441909e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:0.08, Z:0.00 [[ 9.99971423e-01 -7.47134946e-03 -1.15375241e-03 1.16797294e+02] [ 7.47134720e-03 9.99972089e-01 -6.27442498e-06 8.34818075e-02] [ 1.15376708e-03 -2.34583913e-06 9.99999334e-01 2.49049036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:0.08, Z:0.00 [[ 9.99969314e-01 -7.74855640e-03 -1.15375241e-03 1.16827445e+02] [ 7.74855432e-03 9.99969979e-01 -6.27442498e-06 8.14011356e-02] [ 1.15376639e-03 -2.66568075e-06 9.99999334e-01 3.05667547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:0.08, Z:0.00 [[ 9.99961513e-01 -8.69715911e-03 -1.15375241e-03 1.16857620e+02] [ 8.69715766e-03 9.99962179e-01 -6.27442498e-06 8.03747552e-02] [ 1.15376334e-03 -3.76018307e-06 9.99999334e-01 3.06556806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:0.08, Z:0.00 [[ 9.99950796e-01 -9.85264156e-03 -1.15375241e-03 1.16888433e+02] [ 9.85264088e-03 9.99951462e-01 -6.27442498e-06 7.89008061e-02] [ 1.15375822e-03 -5.09339187e-06 9.99999334e-01 2.70900772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.92, Y:0.07, Z:0.00 [[ 9.99937943e-01 -1.10805290e-02 -1.15375241e-03 1.16918704e+02] [ 1.10805292e-02 9.99938609e-01 -6.27442498e-06 7.20350085e-02] [ 1.15375110e-03 -6.51015159e-06 9.99999334e-01 1.69000599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:0.07, Z:0.00 [[ 9.99925534e-01 -1.21489006e-02 -1.15375241e-03 1.16949502e+02] [ 1.21489015e-02 9.99926199e-01 -6.27442498e-06 6.74929099e-02] [ 1.15374349e-03 -7.74286658e-06 9.99999334e-01 2.25424306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.98, Y:0.06, Z:0.00 [[ 9.99926629e-01 -1.20583949e-02 -1.15375241e-03 1.16980237e+02] [ 1.20583957e-02 9.99927295e-01 -6.27442498e-06 6.45278703e-02] [ 1.15374418e-03 -7.63843838e-06 9.99999334e-01 3.76464053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:0.06, Z:0.01 [[ 9.99920320e-01 -1.25706615e-02 -1.15375241e-03 1.17010513e+02] [ 1.25706626e-02 9.99920986e-01 -6.27442498e-06 5.96181380e-02] [ 1.15374012e-03 -8.22950718e-06 9.99999334e-01 5.56341051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:0.06, Z:0.01 [[ 9.99936235e-01 -1.12336627e-02 -1.15375241e-03 1.17041273e+02] [ 1.12336630e-02 9.99936900e-01 -6.27442498e-06 5.64486769e-02] [ 1.15375009e-03 -6.68684080e-06 9.99999334e-01 5.93817821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:0.05, Z:0.01 [[ 9.99953370e-01 -9.58781926e-03 -1.15375241e-03 1.17071915e+02] [ 9.58781840e-03 9.99954036e-01 -6.27442498e-06 5.25707577e-02] [ 1.15375953e-03 -4.78783615e-06 9.99999334e-01 5.01724918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:0.05, Z:0.00 [[ 9.99969414e-01 -7.73563590e-03 -1.15375241e-03 1.17102614e+02] [ 7.73563381e-03 9.99970080e-01 -6.27442498e-06 4.91632261e-02] [ 1.15376642e-03 -2.65077305e-06 9.99999334e-01 4.38704928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.13, Y:0.05, Z:0.00 [[ 9.99981930e-01 -5.89981598e-03 -1.15375241e-03 1.17133090e+02] [ 5.89981267e-03 9.99982596e-01 -6.27442498e-06 4.63447689e-02] [ 1.15376934e-03 -5.32611462e-07 9.99999334e-01 2.14985236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.16, Y:0.04, Z:0.00 [[ 9.99991609e-01 -3.93074060e-03 -1.15375241e-03 1.17162703e+02] [ 3.93073598e-03 9.99992275e-01 -6.27442498e-06 4.15584358e-02] [ 1.15376816e-03 1.73927624e-06 9.99999334e-01 5.33770666e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:0.04, Z:0.00 [[ 9.99992898e-01 -3.58789008e-03 -1.15375199e-03 1.17192464e+02] [ 3.58788514e-03 9.99993563e-01 -6.34971422e-06 4.00882033e-02] [ 1.15376735e-03 2.21013950e-06 9.99999334e-01 2.61952299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:0.04, Z:0.01 [[ 9.99992650e-01 -3.65631269e-03 -1.15375157e-03 1.17222067e+02] [ 3.65630771e-03 9.99993316e-01 -6.42538067e-06 3.91875358e-02] [ 1.15376735e-03 2.20686269e-06 9.99999334e-01 5.09711581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:0.04, Z:0.01 [[ 9.99988118e-01 -4.73627779e-03 -1.15375114e-03 1.17251747e+02] [ 4.73627344e-03 9.99988784e-01 -6.50119261e-06 3.83866140e-02] [ 1.15376899e-03 1.03663447e-06 9.99999334e-01 6.81984551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.28, Y:0.03, Z:0.00 [[ 9.99987309e-01 -4.90417588e-03 -1.15375071e-03 1.17281118e+02] [ 4.90417155e-03 9.99987974e-01 -6.57662583e-06 3.27628381e-02] [ 1.15376909e-03 9.18350941e-07 9.99999334e-01 4.62875384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:0.03, Z:0.00 [[ 9.99988545e-01 -4.64539347e-03 -1.15375028e-03 1.17311187e+02] [ 4.64538889e-03 9.99989210e-01 -6.65229220e-06 2.94426504e-02] [ 1.15376873e-03 1.29259728e-06 9.99999334e-01 3.52418221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:0.03, Z:0.00 [[ 9.99993728e-01 -3.34869882e-03 -1.15374983e-03 1.17340948e+02] [ 3.34869328e-03 9.99994393e-01 -6.72797271e-06 2.79420309e-02] [ 1.15376590e-03 2.86437619e-06 9.99999334e-01 2.15621152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:0.03, Z:0.00 [[ 9.99996043e-01 -2.56583254e-03 -1.15374939e-03 1.17370495e+02] [ 2.56582640e-03 9.99996708e-01 -6.80363902e-06 2.82865318e-02] [ 1.15376305e-03 3.84329146e-06 9.99999334e-01 3.33137173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:0.03, Z:0.01 [[ 9.99999117e-01 6.59470393e-04 -1.15374917e-03 1.17400320e+02] [-6.59478725e-04 9.99999783e-01 -6.84127215e-06 3.00868812e-02] [ 1.15374440e-03 7.60213914e-06 9.99999334e-01 1.13017304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:0.03, Z:0.01 [[ 9.99995410e-01 2.80161573e-03 -1.15375043e-03 1.17430236e+02] [-2.80162525e-03 9.99996075e-01 -6.63112787e-06 2.99898839e-02] [ 1.15372732e-03 9.86347376e-06 9.99999334e-01 1.18517703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.46, Y:0.03, Z:0.01 [[ 9.99995805e-01 2.65701654e-03 -1.15378570e-03 1.17459195e+02] [-2.65701958e-03 9.99996470e-01 -1.10433836e-06 2.97192502e-02] [ 1.15377869e-03 4.16996492e-06 9.99999334e-01 5.47913699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:0.03, Z:0.01 [[ 9.99993101e-01 3.53084290e-03 -1.15374219e-03 1.17488355e+02] [-3.53085408e-03 9.99993766e-01 -7.65844157e-06 2.97849858e-02] [ 1.15370796e-03 1.17320841e-05 9.99999334e-01 5.36876425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:0.03, Z:0.01 [[ 9.99982701e-01 5.76778383e-03 -1.15374143e-03 1.17518483e+02] [-5.76779664e-03 9.99983366e-01 -7.77169559e-06 2.82260427e-02] [ 1.15367741e-03 1.44261071e-05 9.99999334e-01 1.28599428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:0.03, Z:0.00 [[ 9.99978508e-01 6.45392593e-03 -1.15377458e-03 1.17547813e+02] [-6.45393364e-03 9.99979173e-01 -2.95824831e-06 2.75811876e-02] [ 1.15373146e-03 1.04045693e-05 9.99999334e-01 3.83002717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:0.03, Z:0.01 [[ 9.99965948e-01 8.17133908e-03 -1.15373548e-03 1.17577580e+02] [-8.17135416e-03 9.99966614e-01 -8.35678573e-06 2.89883166e-02] [ 1.15362867e-03 1.77840824e-05 9.99999334e-01 1.10284640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.61, Y:0.04, Z:0.01 [[ 9.99959235e-01 8.95531120e-03 -1.15377480e-03 1.17606446e+02] [-8.95532079e-03 9.99959900e-01 -3.13995387e-06 3.59212014e-02] [ 1.15370041e-03 1.34722493e-05 9.99999334e-01 7.41088878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.64, Y:0.04, Z:0.01 [[ 9.99962447e-01 8.58909617e-03 -1.15372773e-03 1.17635530e+02] [-8.58911239e-03 9.99963113e-01 -9.10483136e-06 3.78375404e-02] [ 1.15360697e-03 1.90139866e-05 9.99999334e-01 6.97066753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:0.04, Z:0.01 [[ 9.99965604e-01 8.21333422e-03 -1.15372332e-03 1.17664688e+02] [-8.21335080e-03 9.99966270e-01 -9.63287482e-06 3.81122211e-02] [ 1.15360528e-03 1.91084778e-05 9.99999334e-01 5.82521412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:0.04, Z:0.01 [[ 9.99964610e-01 8.33358203e-03 -1.15372237e-03 1.17693213e+02] [-8.33359882e-03 9.99965275e-01 -9.74554259e-06 3.78852189e-02] [ 1.15360109e-03 1.93598570e-05 9.99999334e-01 5.15893642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:0.04, Z:0.01 [[ 9.99966371e-01 8.11950841e-03 -1.15371765e-03 1.17721910e+02] [-8.11952566e-03 9.99967036e-01 -1.02749056e-05 4.16647059e-02] [ 1.15359619e-03 1.96422001e-05 9.99999334e-01 5.09280039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:0.05, Z:0.01 [[ 9.99962723e-01 8.55691702e-03 -1.15371270e-03 1.17750965e+02] [-8.55693518e-03 9.99963389e-01 -1.08036097e-05 4.54549805e-02] [ 1.15357802e-03 2.06754518e-05 9.99999334e-01 5.61801606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:0.05, Z:0.01 [[ 9.99963815e-01 8.42835306e-03 -1.15370748e-03 1.17779510e+02] [-8.42837175e-03 9.99964481e-01 -1.13347484e-05 4.91645720e-02] [ 1.15357097e-03 2.10582138e-05 9.99999334e-01 6.65004222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:0.05, Z:0.01 [[ 9.99966508e-01 8.10253049e-03 -1.15370205e-03 1.17808672e+02] [-8.10254956e-03 9.99967174e-01 -1.18625642e-05 5.32145816e-02] [ 1.15356807e-03 2.12100950e-05 9.99999334e-01 6.84229910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:0.05, Z:0.02 [[ 9.99976525e-01 6.75409534e-03 -1.15369634e-03 1.17838880e+02] [-6.75411413e-03 9.99977191e-01 -1.23945816e-05 5.37139935e-02] [ 1.15358631e-03 2.01864874e-05 9.99999334e-01 1.87500876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:0.05, Z:0.02 [[ 9.99977411e-01 6.62168948e-03 -1.15371810e-03 1.17870014e+02] [-6.62170591e-03 9.99978076e-01 -1.04199856e-05 5.37847664e-02] [ 1.15362381e-03 1.80593322e-05 9.99999334e-01 1.70098033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:0.05, Z:0.01 [[ 9.99986718e-01 5.02315366e-03 -1.15375299e-03 1.17898734e+02] [-5.02316538e-03 9.99987384e-01 -7.25914781e-06 5.34196258e-02] [ 1.15370197e-03 1.30545435e-05 9.99999334e-01 5.20851496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:0.05, Z:0.01 [[ 9.99991852e-01 3.86844624e-03 -1.15368584e-03 1.17927942e+02] [-3.86846399e-03 9.99992517e-01 -1.31500010e-05 5.40565570e-02] [ 1.15362634e-03 1.76128860e-05 9.99999334e-01 6.22344794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:0.06, Z:0.01 [[ 9.99993706e-01 3.35517654e-03 -1.15368454e-03 1.17957445e+02] [-3.35519408e-03 9.99994371e-01 -1.32634243e-05 5.66765876e-02] [ 1.15363354e-03 1.71341764e-05 9.99999334e-01 6.14221911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:0.06, Z:0.01 [[ 9.99991104e-01 4.05727848e-03 -1.15368366e-03 1.17987538e+02] [-4.05729657e-03 9.99991769e-01 -1.33392906e-05 6.06959308e-02] [ 1.15362004e-03 1.80200087e-05 9.99999334e-01 5.06374915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:0.06, Z:0.01 [[ 9.99988568e-01 4.64034284e-03 -1.15368278e-03 1.18017329e+02] [-4.64036141e-03 9.99989233e-01 -1.34148358e-05 6.47329463e-02] [ 1.15360811e-03 1.87681875e-05 9.99999334e-01 5.43174349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:0.07, Z:0.01 [[ 9.99977035e-01 6.67821855e-03 -1.15368190e-03 1.18045980e+02] [-6.67823855e-03 9.99977700e-01 -1.34901205e-05 6.93532783e-02] [ 1.15356608e-03 2.11943736e-05 9.99999334e-01 7.65835033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:0.07, Z:0.01 [[ 9.99974498e-01 7.04781673e-03 -1.15367547e-03 1.18074462e+02] [-7.04783760e-03 9.99975164e-01 -1.40194642e-05 6.90592144e-02] [ 1.15354801e-03 2.21500240e-05 9.99999334e-01 7.66452942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:0.07, Z:0.01 [[ 9.99982701e-01 5.76764977e-03 -1.15366876e-03 1.18102972e+02] [-5.76767039e-03 9.99983367e-01 -1.45514689e-05 6.83528832e-02] [ 1.15356564e-03 2.12051983e-05 9.99999334e-01 6.98335457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:0.07, Z:0.00 [[ 9.99994824e-01 3.00362446e-03 -1.15366185e-03 1.18131800e+02] [-3.00364386e-03 9.99995489e-01 -1.50801497e-05 6.79266292e-02] [ 1.15361135e-03 1.85452610e-05 9.99999334e-01 4.63213169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:0.07, Z:0.01 [[ 9.99999123e-01 6.50851076e-04 -1.15365985e-03 1.18160635e+02] [-6.50869081e-04 9.99999788e-01 -1.52313657e-05 6.89258251e-02] [ 1.15364969e-03 1.59822338e-05 9.99999334e-01 1.38851172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:0.07, Z:0.01 [[ 9.99999079e-01 -7.15293123e-04 -1.15365995e-03 1.18190847e+02] [ 7.15276036e-04 9.99999744e-01 -1.52242014e-05 7.03801741e-02] [ 1.15367054e-03 1.43990020e-05 9.99999334e-01 6.74903907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:0.07, Z:0.01 [[ 9.99993094e-01 -3.53277297e-03 -1.15365728e-03 1.18220574e+02] [ 3.53275752e-03 9.99993760e-01 -1.54239422e-05 7.23324675e-02] [ 1.15370457e-03 1.13482443e-05 9.99999334e-01 8.18980380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:0.07, Z:0.01 [[ 9.99987284e-01 -4.90923844e-03 -1.15365626e-03 1.18249829e+02] [ 4.90922383e-03 9.99987950e-01 -1.54992252e-05 7.30040358e-02] [ 1.15371845e-03 9.83547129e-06 9.99999334e-01 8.25207996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:0.07, Z:0.01 [[ 9.99973258e-01 -7.22169451e-03 -1.15365525e-03 1.18280119e+02] [ 7.22168135e-03 9.99973923e-01 -1.55745801e-05 7.22283634e-02] [ 1.15373764e-03 7.24283304e-06 9.99999334e-01 5.98017341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:0.07, Z:0.00 [[ 9.99958812e-01 -9.00240131e-03 -1.15365525e-03 1.18311034e+02] [ 9.00238934e-03 9.99959478e-01 -1.55745801e-05 7.10452427e-02] [ 1.15374871e-03 5.18828494e-06 9.99999334e-01 4.85753658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:0.07, Z:0.00 [[ 9.99933338e-01 -1.14886291e-02 -1.15365525e-03 1.18341715e+02] [ 1.14886187e-02 9.99934004e-01 -1.55745801e-05 6.75336144e-02] [ 1.15375804e-03 2.31963659e-06 9.99999334e-01 3.70824919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:0.07, Z:0.00 [[ 9.99918309e-01 -1.27296974e-02 -1.15365525e-03 1.18372034e+02] [ 1.27296879e-02 9.99918974e-01 -1.55745801e-05 6.66383287e-02] [ 1.15376003e-03 8.87636610e-07 9.99999334e-01 4.62353846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:0.07, Z:0.01 [[ 9.99905231e-01 -1.37184961e-02 -1.15365525e-03 1.18402906e+02] [ 1.37184873e-02 9.99905897e-01 -1.55745801e-05 6.64010537e-02] [ 1.15376034e-03 -2.53300724e-07 9.99999334e-01 6.53259760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:0.07, Z:0.01 [[ 9.99888916e-01 -1.48602016e-02 -1.15365525e-03 1.18433345e+02] [ 1.48601935e-02 9.99889581e-01 -1.55745801e-05 6.81233798e-02] [ 1.15375930e-03 -1.57069021e-06 9.99999334e-01 9.06902136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:0.07, Z:0.01 [[ 9.99863942e-01 -1.64549576e-02 -1.15365525e-03 1.18464932e+02] [ 1.64549505e-02 9.99864608e-01 -1.55745801e-05 6.87349072e-02] [ 1.15375533e-03 -3.41087896e-06 9.99999334e-01 1.04510222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:0.07, Z:0.01 [[ 9.99852631e-01 -1.71284852e-02 -1.15365624e-03 1.18496464e+02] [ 1.71284787e-02 9.99853297e-01 -1.55006913e-05 6.77337772e-02] [ 1.15375250e-03 -4.26196937e-06 9.99999334e-01 1.01302681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:0.07, Z:0.01 [[ 9.99853735e-01 -1.70639126e-02 -1.15365722e-03 1.18528298e+02] [ 1.70639062e-02 9.99854401e-01 -1.54271070e-05 6.81768719e-02] [ 1.15375250e-03 -4.26104805e-06 9.99999334e-01 1.01669933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:0.07, Z:0.01 [[ 9.99831268e-01 -1.83331385e-02 -1.15365822e-03 1.18559941e+02] [ 1.83331330e-02 9.99831934e-01 -1.53526014e-05 6.51774562e-02] [ 1.15374579e-03 -5.80015858e-06 9.99999334e-01 7.24846006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:0.06, Z:0.00 [[ 9.99800841e-01 -1.99235524e-02 -1.15365920e-03 1.18591763e+02] [ 1.99235480e-02 9.99801506e-01 -1.52781661e-05 5.58561345e-02] [ 1.15373460e-03 -7.70986118e-06 9.99999334e-01 2.93857809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:0.05, Z:0.01 [[ 9.99790436e-01 -2.04390207e-02 -1.15366017e-03 1.18622481e+02] [ 2.04390168e-02 9.99791101e-01 -1.52049252e-05 5.23214674e-02] [ 1.15372994e-03 -8.37794070e-06 9.99999334e-01 1.20615421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:0.05, Z:0.00 [[ 9.99765206e-01 -2.16379860e-02 -1.15370761e-03 1.18653743e+02] [ 2.16379870e-02 9.99765871e-01 -1.15921401e-05 5.08277968e-02] [ 1.15368832e-03 -1.33744918e-05 9.99999334e-01 4.79108875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:0.05, Z:0.01 [[ 9.99737983e-01 -2.28611845e-02 -1.15366752e-03 1.18685171e+02] [ 2.28611827e-02 9.99738649e-01 -1.47311954e-05 4.97460654e-02] [ 1.15370278e-03 -1.16468685e-05 9.99999334e-01 6.53506757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:0.04, Z:0.01 [[ 9.99747162e-01 -2.24561905e-02 -1.15366846e-03 1.18716334e+02] [ 2.24561885e-02 9.99747828e-01 -1.46577207e-05 4.20840114e-02] [ 1.15370669e-03 -1.12529816e-05 9.99999334e-01 7.31315331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:0.04, Z:0.01 [[ 9.99774831e-01 -2.11885918e-02 -1.15366938e-03 1.18747815e+02] [ 2.11885891e-02 9.99775497e-01 -1.45844244e-05 3.75356699e-02] [ 1.15371940e-03 -9.86348608e-06 9.99999334e-01 7.06013984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:0.03, Z:0.01 [[ 9.99822187e-01 -1.88219031e-02 -1.15367031e-03 1.18778197e+02] [ 1.88218989e-02 9.99822852e-01 -1.45105213e-05 3.48445365e-02] [ 1.15373906e-03 -7.20632489e-06 9.99999334e-01 7.80207684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:0.04, Z:0.01 [[ 9.99924445e-01 -1.22381971e-02 -1.15367031e-03 1.18808453e+02] [ 1.22381885e-02 9.99925110e-01 -1.45105213e-05 3.61911430e-02] [ 1.15376150e-03 3.90590158e-07 9.99999334e-01 1.04510247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:0.04, Z:0.01 [[ 9.99960952e-01 -8.76147828e-03 -1.15367078e-03 1.18838505e+02] [ 8.76146741e-03 9.99961618e-01 -1.44730321e-05 3.66578917e-02] [ 1.15375331e-03 4.36461796e-06 9.99999334e-01 9.24137735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:0.03, Z:0.01 [[ 9.99982208e-01 -5.85259287e-03 -1.15367078e-03 1.18869447e+02] [ 5.85258007e-03 9.99982873e-01 -1.44730321e-05 3.45799519e-02] [ 1.15373573e-03 7.72082394e-06 9.99999334e-01 6.34504409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:0.03, Z:0.01 [[ 9.99990326e-01 -4.24468608e-03 -1.15367078e-03 1.18898356e+02] [ 4.24467221e-03 9.99990991e-01 -1.44730321e-05 3.03315512e-02] [ 1.15372182e-03 9.57593775e-06 9.99999334e-01 1.24661688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:0.02, Z:0.00 [[ 9.99998937e-01 -8.91984759e-04 -1.15358302e-03 1.18928864e+02] [ 8.91960565e-04 9.99999602e-01 -2.14872064e-05 2.38039176e-02] [ 1.15360173e-03 2.04582330e-05 9.99999334e-01 4.21790636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:0.02, Z:0.01 [[ 9.99997934e-01 -1.67374537e-03 -1.15367210e-03 1.18958507e+02] [ 1.67372999e-03 9.99998599e-01 -1.43013500e-05 2.30864847e-02] [ 1.15369442e-03 1.23703849e-05 9.99999334e-01 5.89831940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:0.02, Z:0.02 [[ 9.99992726e-01 -3.63552599e-03 -1.15367115e-03 1.18988100e+02] [ 3.63551182e-03 9.99993391e-01 -1.43772155e-05 2.33377646e-02] [ 1.15371580e-03 1.01829258e-05 9.99999334e-01 1.64206445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:0.02, Z:0.01 [[ 9.99995810e-01 -2.65495395e-03 -1.15359852e-03 1.19018916e+02] [ 2.65493225e-03 9.99996475e-01 -2.03424179e-05 2.34509252e-02] [ 1.15364846e-03 1.72796068e-05 9.99999334e-01 1.04232363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:0.03, Z:0.01 [[ 9.99994290e-01 -3.17634733e-03 -1.15367679e-03 1.19048337e+02] [ 3.17633353e-03 9.99994955e-01 -1.37988850e-05 2.55422624e-02] [ 1.15371480e-03 1.01343440e-05 9.99999334e-01 1.21391825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:0.03, Z:0.02 [[ 9.99995495e-01 -2.77093711e-03 -1.15367586e-03 1.19077882e+02] [ 2.77092295e-03 9.99996161e-01 -1.38757158e-05 2.66561653e-02] [ 1.15370988e-03 1.06789063e-05 9.99999334e-01 2.02272068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:0.03, Z:0.01 [[ 9.99999186e-01 5.44572454e-04 -1.15361974e-03 1.19108935e+02] [-5.44594242e-04 9.99999852e-01 -1.85723946e-05 2.58510628e-02] [ 1.15360946e-03 1.92006341e-05 9.99999334e-01 9.08997493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:0.02, Z:0.01 [[ 9.99993576e-01 3.39353359e-03 -1.15367674e-03 1.19138383e+02] [-3.39355179e-03 9.99994242e-01 -1.38113501e-05 2.01911788e-02] [ 1.15362323e-03 1.77263232e-05 9.99999334e-01 7.90189073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:0.02, Z:0.01 [[ 9.99989204e-01 4.50131258e-03 -1.15367582e-03 1.19168090e+02] [-4.50133160e-03 9.99989869e-01 -1.38877775e-05 1.99771583e-02] [ 1.15360162e-03 1.90807050e-05 9.99999334e-01 8.91635048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:0.02, Z:0.01 [[ 9.99988540e-01 4.64648064e-03 -1.15367490e-03 1.19197475e+02] [-4.64649984e-03 9.99989205e-01 -1.39635844e-05 2.27448663e-02] [ 1.15359757e-03 1.93239747e-05 9.99999334e-01 9.96616109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:0.02, Z:0.01 [[ 9.99991876e-01 3.86232507e-03 -1.15367397e-03 1.19227286e+02] [-3.86234384e-03 9.99992541e-01 -1.40404754e-05 2.44563385e-02] [ 1.15361113e-03 1.84962469e-05 9.99999334e-01 1.04322741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:0.02, Z:0.01 [[ 9.99989177e-01 4.50714804e-03 -1.15367304e-03 1.19257321e+02] [-4.50716732e-03 9.99989843e-01 -1.41166504e-05 2.25132314e-02] [ 1.15359769e-03 1.93162950e-05 9.99999334e-01 1.05027137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:0.02, Z:0.02 [[ 9.99992966e-01 3.56890328e-03 -1.15367209e-03 1.19285502e+02] [-3.56892203e-03 9.99993631e-01 -1.41930775e-05 2.11214264e-02] [ 1.15361409e-03 1.83103434e-05 9.99999334e-01 2.19127382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.32, Y:0.02, Z:0.01 [[ 9.99980476e-01 6.14140099e-03 -1.15365630e-03 1.19315174e+02] [-6.14142288e-03 9.99981141e-01 -1.54389736e-05 2.14913328e-02] [ 1.15353973e-03 2.25237633e-05 9.99999334e-01 1.19035477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:0.02, Z:0.01 [[ 9.99961895e-01 8.65316812e-03 -1.15366506e-03 1.19344255e+02] [-8.65319089e-03 9.99962560e-01 -1.47541459e-05 2.45562375e-02] [ 1.15349419e-03 2.47364676e-05 9.99999334e-01 1.15312188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:0.03, Z:0.01 [[ 9.99958964e-01 8.98549113e-03 -1.15366358e-03 1.19373453e+02] [-8.98551426e-03 9.99959629e-01 -1.48685145e-05 2.58394102e-02] [ 1.15348341e-03 2.52341649e-05 9.99999334e-01 1.16936613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:0.03, Z:0.01 [[ 9.99951764e-01 9.75393643e-03 -1.15366260e-03 1.19403104e+02] [-9.75396016e-03 9.99952429e-01 -1.49446296e-05 2.62704570e-02] [ 1.15346195e-03 2.61966877e-05 9.99999334e-01 1.08448904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:0.03, Z:0.01 [[ 9.99950074e-01 9.92566076e-03 -1.15366160e-03 1.19432005e+02] [-9.92568469e-03 9.99950739e-01 -1.50211900e-05 2.78209816e-02] [ 1.15345568e-03 2.64713213e-05 9.99999334e-01 1.02693027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:0.03, Z:0.01 [[ 9.99921228e-01 1.24982387e-02 -1.15365438e-03 1.19460813e+02] [-1.24982649e-02 9.99921894e-01 -1.55563376e-05 3.46210406e-02] [ 1.15336985e-03 2.99737904e-05 9.99999334e-01 9.32270658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:0.04, Z:0.01 [[ 9.99911450e-01 1.32575289e-02 -1.15364691e-03 1.19489290e+02] [-1.32575563e-02 9.99912115e-01 -1.60923790e-05 3.80127066e-02] [ 1.15333217e-03 3.13854928e-05 9.99999334e-01 9.40674866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:0.04, Z:0.02 [[ 9.99934640e-01 1.13747696e-02 -1.15363932e-03 1.19517923e+02] [-1.13747964e-02 9.99935305e-01 -1.66190686e-05 4.16055762e-02] [ 1.15337565e-03 2.97403947e-05 9.99999334e-01 1.52715199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:0.04, Z:0.01 [[ 9.99930625e-01 1.17224326e-02 -1.15357421e-03 1.19548103e+02] [-1.17224647e-02 9.99931289e-01 -2.10174086e-05 4.33995936e-02] [ 1.15324857e-03 3.45386834e-05 9.99999334e-01 1.22101738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.58, Y:0.05, Z:0.01 [[ 9.99943528e-01 1.05645895e-02 -1.15363249e-03 1.19577337e+02] [-1.05646162e-02 9.99944193e-01 -1.70814642e-05 4.60895284e-02] [ 1.15338765e-03 2.92681841e-05 9.99999334e-01 1.28689586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:0.05, Z:0.01 [[ 9.99958299e-01 9.05921361e-03 -1.15362437e-03 1.19605950e+02] [-9.05923995e-03 9.99958964e-01 -1.76134485e-05 4.97447851e-02] [ 1.15341746e-03 2.80636739e-05 9.99999334e-01 1.36047108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:0.05, Z:0.02 [[ 9.99974224e-01 7.08670784e-03 -1.15361595e-03 1.19636020e+02] [-7.08673349e-03 9.99974889e-01 -1.81485782e-05 5.38679398e-02] [ 1.15345836e-03 2.63234792e-05 9.99999334e-01 1.90712803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.172320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:119.67, Y:0.06, Z:0.01 [[ 9.99998273e-01 1.45733469e-03 -1.15367801e-03 1.19665150e+02] [-1.45735208e-03 9.99998938e-01 -1.42263164e-05 5.84374826e-02] [ 1.15365605e-03 1.59076068e-05 9.99999334e-01 1.39529592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:0.06, Z:0.01 [[ 9.99999326e-01 -1.32051575e-04 -1.15361120e-03 1.19694925e+02] [ 1.32030423e-04 9.99999991e-01 -1.84120438e-05 5.89875162e-02] [ 1.15361362e-03 1.82597196e-05 9.99999334e-01 1.25034843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.232320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:119.72, Y:0.06, Z:0.01 [[ 9.99995065e-01 -2.92226821e-03 -1.15360998e-03 1.19724254e+02] [ 2.92224883e-03 9.99995730e-01 -1.84882883e-05 5.83521134e-02] [ 1.15365908e-03 1.51170616e-05 9.99999334e-01 1.14074113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:0.06, Z:0.01 [[ 9.99966236e-01 -8.13607561e-03 -1.15360874e-03 1.19754074e+02] [ 8.13605960e-03 9.99966902e-01 -1.85652958e-05 5.52996544e-02] [ 1.15372161e-03 9.17883950e-06 9.99999334e-01 1.03888702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:0.06, Z:0.01 [[ 9.99944396e-01 -1.04820911e-02 -1.15360751e-03 1.19784310e+02] [ 1.04820765e-02 9.99945061e-01 -1.86413481e-05 5.50848419e-02] [ 1.15373954e-03 6.54810936e-06 9.99999334e-01 1.07103271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:0.06, Z:0.02 [[ 9.99921782e-01 -1.24538405e-02 -1.15360751e-03 1.19814217e+02] [ 1.24538273e-02 9.99922448e-01 -1.86413481e-05 5.56327584e-02] [ 1.15375021e-03 4.27306132e-06 9.99999334e-01 1.93130230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.352320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:119.84, Y:0.06, Z:0.01 [[ 9.99937096e-01 -1.11567769e-02 -1.15355274e-03 1.19844765e+02] [ 1.11567590e-02 9.99937761e-01 -2.20250709e-05 5.53661413e-02] [ 1.15372667e-03 9.15377553e-06 9.99999334e-01 1.18430684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.382320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:119.88, Y:0.06, Z:0.01 [[ 9.99945821e-01 -1.03452975e-02 -1.15360814e-03 1.19875637e+02] [ 1.03452830e-02 9.99946486e-01 -1.85866094e-05 5.57384483e-02] [ 1.15373869e-03 6.65119973e-06 9.99999334e-01 1.26897005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:0.06, Z:0.01 [[ 9.99957813e-01 -9.11268329e-03 -1.15360814e-03 1.19906110e+02] [ 9.11266791e-03 9.99958479e-01 -1.85866094e-05 5.70553213e-02] [ 1.15372961e-03 8.07337739e-06 9.99999334e-01 1.22147647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.94, Y:0.06, Z:0.02 [[ 9.99971088e-01 -7.51615589e-03 -1.15360814e-03 1.19936993e+02] [ 7.51613945e-03 9.99971753e-01 -1.85866094e-05 5.84285019e-02] [ 1.15371525e-03 9.91539235e-06 9.99999334e-01 1.86479928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.97, Y:0.06, Z:0.01 [[ 9.99973659e-01 -7.16590783e-03 -1.15366339e-03 1.19966520e+02] [ 7.16589510e-03 9.99974325e-01 -1.51691812e-05 5.89381073e-02] [ 1.15374247e-03 6.90175081e-06 9.99999334e-01 1.23357274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.00, Y:0.05, Z:0.01 [[ 9.99970049e-01 -7.65306580e-03 -1.15360518e-03 1.19996002e+02] [ 7.65304926e-03 9.99970715e-01 -1.87503080e-05 5.36157152e-02] [ 1.15371490e-03 9.92114914e-06 9.99999334e-01 8.89118417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:0.05, Z:0.01 [[ 9.99965744e-01 -8.19630298e-03 -1.15360394e-03 1.20026053e+02] [ 8.19628671e-03 9.99966410e-01 -1.88264192e-05 5.08269345e-02] [ 1.15371950e-03 9.37050567e-06 9.99999334e-01 8.40212925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:0.05, Z:0.01 [[ 9.99974835e-01 -6.99988555e-03 -1.15360268e-03 1.20056780e+02] [ 6.99986841e-03 9.99975500e-01 -1.89030356e-05 5.14652034e-02] [ 1.15370674e-03 1.08274930e-05 9.99999334e-01 1.03808240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59232058799999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:120.09, Y:0.06, Z:0.02 [[ 9.99996039e-01 -2.56738526e-03 -1.15360268e-03 1.20086339e+02] [ 2.56736516e-03 9.99996704e-01 -1.89030356e-05 5.88931649e-02] [ 1.15364741e-03 1.59412414e-05 9.99999334e-01 1.50653780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.12, Y:0.06, Z:0.01 [[ 9.99999334e-01 -3.09380781e-05 -1.15360144e-03 1.20116410e+02] [ 3.09162049e-05 9.99999999e-01 -1.89786339e-05 6.27018855e-02] [ 1.15360203e-03 1.89429562e-05 9.99999334e-01 1.45716878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.652320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:120.15, Y:0.06, Z:0.02 [[ 9.99998431e-01 1.34395648e-03 -1.15360082e-03 1.20145921e+02] [-1.34397932e-03 9.99999097e-01 -1.90164214e-05 6.43406112e-02] [ 1.15357422e-03 2.05668072e-05 9.99999334e-01 1.50385394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:0.06, Z:0.01 [[ 9.99995228e-01 2.86585956e-03 -1.15359956e-03 1.20175901e+02] [-2.86588350e-03 9.99995893e-01 -1.90922822e-05 6.41506033e-02] [ 1.15354011e-03 2.23982730e-05 9.99999334e-01 1.26463133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:0.06, Z:0.01 [[ 9.99986486e-01 5.06914397e-03 -1.15359831e-03 1.20205439e+02] [-5.06916945e-03 9.99987151e-01 -1.91677636e-05 6.33196102e-02] [ 1.15348632e-03 2.50152899e-05 9.99999334e-01 1.22082335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:0.07, Z:0.01 [[ 9.99988554e-01 4.64337955e-03 -1.15359704e-03 1.20235447e+02] [-4.64340484e-03 9.99989219e-01 -1.92436830e-05 6.59397571e-02] [ 1.15349525e-03 2.46000808e-05 9.99999334e-01 1.29603556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:0.07, Z:0.01 [[ 9.99988284e-01 4.70116829e-03 -1.15359577e-03 1.20264542e+02] [-4.70119370e-03 9.99988949e-01 -1.93199122e-05 7.04251330e-02] [ 1.15349219e-03 2.47429630e-05 9.99999334e-01 1.32488033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:0.07, Z:0.01 [[ 9.99991652e-01 3.91984329e-03 -1.15359449e-03 1.20294531e+02] [-3.91986827e-03 9.99992317e-01 -1.93959493e-05 7.48265432e-02] [ 1.15350959e-03 2.39177258e-05 9.99999334e-01 1.28381833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:0.08, Z:0.01 [[ 9.99992288e-01 3.75408021e-03 -1.15359321e-03 1.20323779e+02] [-3.75410517e-03 9.99992953e-01 -1.94715611e-05 8.16323602e-02] [ 1.15351198e-03 2.38021211e-05 9.99999334e-01 1.19632533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.35, Y:0.08, Z:0.01 [[ 9.99993646e-01 3.37294633e-03 -1.15359191e-03 1.20353372e+02] [-3.37297112e-03 9.99994311e-01 -1.95481313e-05 8.46924364e-02] [ 1.15351942e-03 2.34390393e-05 9.99999334e-01 1.15110756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:0.09, Z:0.01 [[ 9.99997771e-01 1.76854053e-03 -1.15359063e-03 1.20383280e+02] [-1.76856435e-03 9.99998436e-01 -1.96233522e-05 8.83066769e-02] [ 1.15355412e-03 2.16635078e-05 9.99999334e-01 1.16338037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:0.09, Z:0.01 [[ 9.99998871e-01 -9.63370521e-04 -1.15358934e-03 1.20412718e+02] [ 9.63348437e-04 9.99999536e-01 -1.96988913e-05 8.92725506e-02] [ 1.15360779e-03 1.85875606e-05 9.99999334e-01 1.23292606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:0.09, Z:0.01 [[ 9.99998805e-01 -1.02906730e-03 -1.15358805e-03 1.20442866e+02] [ 1.02904517e-03 9.99999470e-01 -1.97746198e-05 8.97744501e-02] [ 1.15360778e-03 1.85875019e-05 9.99999334e-01 1.23640569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:0.09, Z:0.01 [[ 9.99994264e-01 -3.18451922e-03 -1.15358674e-03 1.20472436e+02] [ 3.18449843e-03 9.99994929e-01 -1.98504068e-05 9.08024600e-02] [ 1.15364411e-03 1.61766977e-05 9.99999334e-01 1.16757824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:0.09, Z:0.01 [[ 9.99977196e-01 -6.65406429e-03 -1.15358543e-03 1.20502279e+02] [ 6.65404573e-03 9.99977861e-01 -1.99262078e-05 9.21305729e-02] [ 1.15369248e-03 1.22497432e-05 9.99999334e-01 1.09996398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:0.10, Z:0.01 [[ 9.99942613e-01 -1.06508403e-02 -1.15358412e-03 1.20532246e+02] [ 1.06508243e-02 9.99943278e-01 -2.00016742e-05 9.64241915e-02] [ 1.15373172e-03 7.71390455e-06 9.99999334e-01 1.05663144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.56, Y:0.10, Z:0.01 [[ 9.99924550e-01 -1.22295978e-02 -1.15358412e-03 1.20563184e+02] [ 1.22295828e-02 9.99925216e-01 -2.00016742e-05 9.88766354e-02] [ 1.15374247e-03 5.89231249e-06 9.99999334e-01 1.15515350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:0.10, Z:0.01 [[ 9.99923951e-01 -1.22784761e-02 -1.15358412e-03 1.20594127e+02] [ 1.22784611e-02 9.99924617e-01 -2.00016742e-05 1.01473103e-01] [ 1.15374275e-03 5.83591527e-06 9.99999334e-01 1.29803441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:0.10, Z:0.01 [[ 9.99933361e-01 -1.14866148e-02 -1.15358412e-03 1.20624906e+02] [ 1.14865994e-02 9.99934027e-01 -2.00016742e-05 1.03938603e-01] [ 1.15373777e-03 6.74958265e-06 9.99999334e-01 1.31689172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:0.11, Z:0.01 [[ 9.99933095e-01 -1.15097768e-02 -1.15358412e-03 1.20655524e+02] [ 1.15097613e-02 9.99933760e-01 -2.00016742e-05 1.06798409e-01] [ 1.15373793e-03 6.72285804e-06 9.99999334e-01 1.06370786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:0.11, Z:0.01 [[ 9.99918142e-01 -1.27428222e-02 -1.15358412e-03 1.20685546e+02] [ 1.27428076e-02 9.99918807e-01 -2.00016742e-05 1.07648233e-01] [ 1.15374534e-03 5.30013633e-06 9.99999334e-01 9.93578156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:0.11, Z:0.01 [[ 9.99905962e-01 -1.36651498e-02 -1.15358412e-03 1.20716089e+02] [ 1.36651358e-02 9.99906627e-01 -2.00016742e-05 1.08271000e-01] [ 1.15374974e-03 4.23590959e-06 9.99999334e-01 9.93929558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:0.11, Z:0.01 [[ 9.99875931e-01 -1.57096234e-02 -1.15358412e-03 1.20747107e+02] [ 1.57096108e-02 9.99876596e-01 -2.00016742e-05 1.09979732e-01] [ 1.15375599e-03 1.87683500e-06 9.99999334e-01 1.21842080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:0.11, Z:0.01 [[ 9.99867885e-01 -1.62136259e-02 -1.15358542e-03 1.20778830e+02] [ 1.62136137e-02 9.99868551e-01 -1.99267466e-05 1.11751633e-01] [ 1.15375686e-03 1.22032567e-06 9.99999334e-01 1.31535240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:0.11, Z:0.01 [[ 9.99840660e-01 -1.78135787e-02 -1.15358669e-03 1.20810083e+02] [ 1.78135676e-02 9.99841326e-01 -1.98527370e-05 1.13329882e-01] [ 1.15375730e-03 -6.99920869e-07 9.99999334e-01 1.32880877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:0.12, Z:0.01 [[ 9.99808596e-01 -1.95305023e-02 -1.15358798e-03 1.20841369e+02] [ 1.95304924e-02 9.99809262e-01 -1.97778092e-05 1.15108803e-01] [ 1.15375421e-03 -2.75611758e-06 9.99999334e-01 1.11145187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:0.12, Z:0.01 [[ 9.99792050e-01 -2.03599086e-02 -1.15358926e-03 1.20873086e+02] [ 2.03598994e-02 9.99792716e-01 -1.97024357e-05 1.15423570e-01] [ 1.15375128e-03 -3.78862276e-06 9.99999334e-01 1.02154261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:0.12, Z:0.02 [[ 9.99793066e-01 -2.03099692e-02 -1.15359053e-03 1.20904477e+02] [ 2.03099601e-02 9.99793731e-01 -1.96281878e-05 1.16040595e-01] [ 1.15375123e-03 -3.80525149e-06 9.99999334e-01 1.93433511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:0.12, Z:0.01 [[ 9.99791111e-01 -2.04059766e-02 -1.15355475e-03 1.20935999e+02] [ 2.04059651e-02 9.99791776e-01 -2.17707928e-05 1.16416780e-01] [ 1.15375881e-03 -1.77315291e-06 9.99999334e-01 1.06226594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:0.12, Z:0.02 [[ 9.99805956e-01 -1.96651762e-02 -1.15360000e-03 1.20967147e+02] [ 1.96651673e-02 9.99806622e-01 -1.90273385e-05 1.16557338e-01] [ 1.15375110e-03 -3.66209068e-06 9.99999334e-01 1.98114635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:0.12, Z:0.01 [[ 9.99796525e-01 -2.01389572e-02 -1.15361704e-03 1.20998275e+02] [ 2.01389499e-02 9.99797191e-01 -1.79753901e-05 1.17112593e-01] [ 1.15374508e-03 -5.26090315e-06 9.99999334e-01 1.16884577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:0.12, Z:0.02 [[ 9.99783971e-01 -2.07528565e-02 -1.15360823e-03 1.21028064e+02] [ 2.07528489e-02 9.99784636e-01 -1.85238241e-05 1.19538532e-01] [ 1.15374421e-03 -5.42083498e-06 9.99999334e-01 1.93315843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:0.12, Z:0.01 [[ 9.99836172e-01 -1.80637195e-02 -1.15346991e-03 1.21060354e+02] [ 1.80636999e-02 9.99836838e-01 -2.74098031e-05 1.23492812e-01] [ 1.15377683e-03 6.56937842e-06 9.99999334e-01 1.23318523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:0.13, Z:0.02 [[ 9.99809189e-01 -1.95001448e-02 -1.15361991e-03 1.21089128e+02] [ 1.95001376e-02 9.99809854e-01 -1.75484378e-05 1.26348966e-01] [ 1.15374275e-03 -4.95065765e-06 9.99999334e-01 2.12838789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:0.12, Z:0.01 [[ 9.99835903e-01 -1.80786390e-02 -1.15347258e-03 1.21120817e+02] [ 1.80786197e-02 9.99836568e-01 -2.71285335e-05 1.23257425e-01] [ 1.15377452e-03 6.27088953e-06 9.99999334e-01 1.19903850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:0.12, Z:0.01 [[ 9.99809601e-01 -1.94789702e-02 -1.15361964e-03 1.21152265e+02] [ 1.94789631e-02 9.99810267e-01 -1.73513233e-05 1.19269053e-01] [ 1.15373875e-03 -5.12329485e-06 9.99999334e-01 1.14258310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:0.12, Z:0.01 [[ 9.99761157e-01 -2.18242502e-02 -1.15362075e-03 1.21183894e+02] [ 2.18242447e-02 9.99761823e-01 -1.72771995e-05 1.17617145e-01] [ 1.15372305e-03 -7.90382868e-06 9.99999334e-01 1.24298581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:0.12, Z:0.02 [[ 9.99655144e-01 -2.62347485e-02 -1.15362185e-03 1.21216107e+02] [ 2.62347461e-02 9.99655810e-01 -1.72034377e-05 1.20713728e-01] [ 1.15367611e-03 -1.30674714e-05 9.99999334e-01 1.96207830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:0.12, Z:0.01 [[ 9.99591671e-01 -2.85510169e-02 -1.15365761e-03 1.21248488e+02] [ 2.85510189e-02 9.99592336e-01 -1.47657476e-05 1.20401390e-01] [ 1.15360888e-03 -1.81783820e-05 9.99999334e-01 1.32586477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:0.12, Z:0.01 [[ 9.99547312e-01 -3.00639337e-02 -1.15363160e-03 1.21280523e+02] [ 3.00639346e-02 9.99547978e-01 -1.65760303e-05 1.17210572e-01] [ 1.15360847e-03 -1.81141785e-05 9.99999334e-01 1.07901023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:0.11, Z:0.01 [[ 9.99503215e-01 -3.14959123e-02 -1.15363871e-03 1.21313139e+02] [ 3.14959147e-02 9.99503880e-01 -1.60653266e-05 1.12474416e-01] [ 1.15357236e-03 -2.02775610e-05 9.99999334e-01 1.01393475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:0.11, Z:0.01 [[ 9.99558591e-01 -2.96865698e-02 -1.15364550e-03 1.21345868e+02] [ 2.96865716e-02 9.99559256e-01 -1.55619167e-05 1.06755233e-01] [ 1.15359902e-03 -1.86927323e-05 9.99999334e-01 1.03424335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:0.11, Z:0.01 [[ 9.99612857e-01 -2.77993903e-02 -1.15365205e-03 1.21378458e+02] [ 2.77993914e-02 9.99613522e-01 -1.50604965e-05 1.06675622e-01] [ 1.15362486e-03 -1.70161589e-05 9.99999334e-01 1.23494121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:0.11, Z:0.01 [[ 9.99655980e-01 -2.62028845e-02 -1.15365843e-03 1.21410949e+02] [ 2.62028852e-02 9.99656645e-01 -1.45546719e-05 1.06471643e-01] [ 1.15364369e-03 -1.56795145e-05 9.99999334e-01 1.34919228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:0.11, Z:0.01 [[ 9.99688309e-01 -2.49389997e-02 -1.15366467e-03 1.21443462e+02] [ 2.49390001e-02 9.99688975e-01 -1.40416833e-05 1.05656734e-01] [ 1.15365604e-03 -1.47339368e-05 9.99999334e-01 1.44961194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:0.10, Z:0.02 [[ 9.99704395e-01 -2.42856377e-02 -1.15367068e-03 1.21475234e+02] [ 2.42856382e-02 9.99705060e-01 -1.35297286e-05 1.04453153e-01] [ 1.15365899e-03 -1.44918995e-05 9.99999334e-01 1.57838845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:0.10, Z:0.02 [[ 9.99767372e-01 -2.15376777e-02 -1.15367153e-03 1.21506018e+02] [ 2.15376765e-02 9.99768037e-01 -1.34570291e-05 1.00624509e-01] [ 1.15369375e-03 -1.13935055e-05 9.99999334e-01 2.35025971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:0.10, Z:0.02 [[ 9.99771249e-01 -2.13569167e-02 -1.15362605e-03 1.21537312e+02] [ 2.13569108e-02 9.99771915e-01 -1.74080324e-05 9.89672292e-02] [ 1.15373470e-03 -7.23383826e-06 9.99999334e-01 1.98681031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:0.10, Z:0.01 [[ 9.99818377e-01 -1.90232081e-02 -1.15361251e-03 1.21569462e+02] [ 1.90231992e-02 9.99819042e-01 -1.86202442e-05 9.75412669e-02] [ 1.15375797e-03 -3.32853829e-06 9.99999334e-01 1.07200553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:0.09, Z:0.01 [[ 9.99817540e-01 -1.90671424e-02 -1.15367856e-03 1.21600639e+02] [ 1.90671406e-02 9.99818205e-01 -1.25467105e-05 9.44795593e-02] [ 1.15370806e-03 -9.45293019e-06 9.99999334e-01 1.07440087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.63, Y:0.09, Z:0.01 [[ 9.99810908e-01 -1.94117994e-02 -1.15367937e-03 1.21631889e+02] [ 1.94117979e-02 9.99811573e-01 -1.24724568e-05 9.31273391e-02] [ 1.15370409e-03 -9.92489230e-06 9.99999334e-01 1.22608416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:0.09, Z:0.01 [[ 9.99843443e-01 -1.76566770e-02 -1.15368016e-03 1.21663066e+02] [ 1.76566745e-02 9.99844109e-01 -1.23981332e-05 9.17389829e-02] [ 1.15371923e-03 -7.97396297e-06 9.99999334e-01 1.35877414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.69, Y:0.09, Z:0.03 [[ 9.99864708e-01 -1.64083717e-02 -1.15368096e-03 1.21693025e+02] [ 1.64083684e-02 9.99865374e-01 -1.23232567e-05 9.08696353e-02] [ 1.15372785e-03 -6.60843286e-06 9.99999334e-01 2.70439946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:0.09, Z:0.02 [[ 9.99929314e-01 -1.18336682e-02 -1.15367491e-03 1.21724127e+02] [ 1.18336612e-02 9.99929980e-01 -1.28935706e-05 9.21794939e-02] [ 1.15374671e-03 -7.59538804e-07 9.99999334e-01 1.60066248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:0.09, Z:0.01 [[ 9.99962597e-01 -8.57166647e-03 -1.15368162e-03 1.21754271e+02] [ 8.57165803e-03 9.99963263e-01 -1.22626430e-05 9.44714046e-02] [ 1.15374434e-03 2.37322003e-06 9.99999334e-01 1.36858374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:0.10, Z:0.01 [[ 9.99989942e-01 -4.33407516e-03 -1.15368162e-03 1.21785146e+02] [ 4.33406390e-03 9.99990608e-01 -1.22626430e-05 9.66554858e-02] [ 1.15372393e-03 7.26238979e-06 9.99999334e-01 1.21119850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:0.10, Z:0.01 [[ 9.99998840e-01 -9.94695655e-04 -1.15368162e-03 1.21815179e+02] [ 9.94682169e-04 9.99999505e-01 -1.22626430e-05 9.91433663e-02] [ 1.15369324e-03 1.11150822e-05 9.99999334e-01 1.15461049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:0.10, Z:0.01 [[ 9.99985137e-01 5.32858922e-03 -1.15368081e-03 1.21844940e+02] [-5.32860700e-03 9.99985803e-01 -1.23379996e-05 1.04360657e-01] [ 1.15359869e-03 1.84853278e-05 9.99999334e-01 1.27930921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:0.11, Z:0.02 [[ 9.99978587e-01 6.44162098e-03 -1.15368040e-03 1.21874480e+02] [-6.44163954e-03 9.99979252e-01 -1.23757536e-05 1.07572331e-01] [ 1.15357675e-03 1.98070819e-05 9.99999334e-01 2.34706844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:0.11, Z:0.02 [[ 9.99971201e-01 7.50112904e-03 -1.15370734e-03 1.21903263e+02] [-7.50114551e-03 9.99971866e-01 -9.94959324e-06 1.10552356e-01] [ 1.15360024e-03 1.86034333e-05 9.99999334e-01 1.57849383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.93, Y:0.12, Z:0.02 [[ 9.99986927e-01 4.98146816e-03 -1.15367199e-03 1.21931655e+02] [-4.98148655e-03 9.99987592e-01 -1.30694804e-05 1.15031176e-01] [ 1.15359257e-03 1.88163110e-05 9.99999334e-01 1.66991260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:0.12, Z:0.03 [[ 9.99998100e-01 1.57123954e-03 -1.15366576e-03 1.21960179e+02] [-1.57125628e-03 9.99998765e-01 -1.35979445e-05 1.17247335e-01] [ 1.15364297e-03 1.54106233e-05 9.99999334e-01 2.63768751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:0.12, Z:0.02 [[ 9.99994702e-01 -3.04390320e-03 -1.15365685e-03 1.21989450e+02] [ 3.04388867e-03 9.99995367e-01 -1.43505601e-05 1.18758394e-01] [ 1.15369519e-03 1.08388811e-05 9.99999334e-01 2.19497439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:0.12, Z:0.02 [[ 9.99988706e-01 -4.61049705e-03 -1.15356219e-03 1.22019441e+02] [ 4.61047420e-03 9.99989371e-01 -2.24672860e-05 1.20838798e-01] [ 1.15365351e-03 1.71485636e-05 9.99999334e-01 2.34809165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:0.13, Z:0.02 [[ 9.99945846e-01 -1.03428742e-02 -1.15363490e-03 1.22049608e+02] [ 1.03428624e-02 9.99946511e-01 -1.61196544e-05 1.26194705e-01] [ 1.15373992e-03 4.18689434e-06 9.99999334e-01 1.51670945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:0.13, Z:0.02 [[ 9.99917950e-01 -1.27577963e-02 -1.15366905e-03 1.22080086e+02] [ 1.27577896e-02 9.99918616e-01 -1.31166473e-05 1.30584695e-01] [ 1.15374250e-03 -1.60269596e-06 9.99999334e-01 1.57871196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:0.13, Z:0.02 [[ 9.99874356e-01 -1.58095234e-02 -1.15366905e-03 1.22111627e+02] [ 1.58095188e-02 9.99875022e-01 -1.31166473e-05 1.33633232e-01] [ 1.15373223e-03 -5.12395322e-06 9.99999334e-01 1.56539844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:0.13, Z:0.01 [[ 9.99779178e-01 -2.09824677e-02 -1.15366989e-03 1.22143027e+02] [ 2.09824666e-02 9.99779844e-01 -1.30419566e-05 1.31061294e-01] [ 1.15368956e-03 -1.11677632e-05 9.99999334e-01 1.42401615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:0.13, Z:0.01 [[ 9.99723410e-01 -2.34898268e-02 -1.15367073e-03 1.22174546e+02] [ 2.34898275e-02 9.99724076e-01 -1.29673935e-05 1.26615555e-01] [ 1.15365701e-03 -1.41357196e-05 9.99999334e-01 1.26804041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:0.12, Z:0.01 [[ 9.99657005e-01 -2.61637269e-02 -1.15367155e-03 1.22206808e+02] [ 2.61637295e-02 9.99657671e-01 -1.28943835e-05 1.22765536e-01] [ 1.15361398e-03 -1.72943894e-05 9.99999334e-01 1.28674444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:0.12, Z:0.02 [[ 9.99478457e-01 -3.22720224e-02 -1.15367699e-03 1.22239243e+02] [ 3.22720296e-02 9.99479122e-01 -1.23875389e-05 1.24249284e-01] [ 1.15347583e-03 -2.48504196e-05 9.99999334e-01 1.61864987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:0.13, Z:0.02 [[ 9.99363566e-01 -3.56529515e-02 -1.15368215e-03 1.22272666e+02] [ 3.56529615e-02 9.99364231e-01 -1.18863025e-05 1.26621341e-01] [ 1.15337246e-03 -2.92534477e-05 9.99999334e-01 1.74713486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:0.13, Z:0.02 [[ 9.99240389e-01 -3.89527253e-02 -1.15368773e-03 1.22305920e+02] [ 3.89527382e-02 9.99241054e-01 -1.13173525e-05 1.26755200e-01] [ 1.15325299e-03 -3.36305405e-05 9.99999334e-01 1.75709869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:0.12, Z:0.02 [[ 9.99129253e-01 -4.17061704e-02 -1.15369298e-03 1.22339281e+02] [ 4.17061858e-02 9.99129918e-01 -1.07541586e-05 1.23844954e-01] [ 1.15313769e-03 -3.73713394e-05 9.99999334e-01 1.72864801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:0.11, Z:0.01 [[ 9.98840228e-01 -4.81338631e-02 -1.15369793e-03 1.22372366e+02] [ 4.81338834e-02 9.98840893e-01 -1.01943999e-05 1.11376029e-01] [ 1.15285137e-03 -4.53493849e-05 9.99999334e-01 1.46560774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:0.11, Z:0.01 [[ 9.98863261e-01 -4.76534816e-02 -1.15370262e-03 1.22405922e+02] [ 4.76535022e-02 9.98863926e-01 -9.63310092e-06 1.11949525e-01] [ 1.15285098e-03 -4.53558196e-05 9.99999334e-01 1.46947455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:0.11, Z:0.01 [[ 9.98726025e-01 -5.04479603e-02 -1.15370698e-03 1.22439394e+02] [ 5.04479834e-02 9.98726690e-01 -9.07824462e-06 1.06701618e-01] [ 1.15269593e-03 -4.91355115e-05 9.99999334e-01 1.32882075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:0.10, Z:0.01 [[ 9.98635877e-01 -5.22020500e-02 -1.15371107e-03 1.22472743e+02] [ 5.22020749e-02 9.98636542e-01 -8.52512069e-06 1.02868880e-01] [ 1.15258306e-03 -5.17126203e-05 9.99999334e-01 1.33172834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:0.10, Z:0.01 [[ 9.98549306e-01 -5.38326367e-02 -1.15371484e-03 1.22505579e+02] [ 5.38326633e-02 9.98549971e-01 -7.98004548e-06 9.92045321e-02] [ 1.15247151e-03 -5.41390736e-05 9.99999334e-01 1.44814924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:0.09, Z:0.02 [[ 9.98458150e-01 -5.54976652e-02 -1.15371833e-03 1.22538843e+02] [ 5.54976935e-02 9.98458815e-01 -7.43863271e-06 9.16576823e-02] [ 1.15235306e-03 -5.66015429e-05 9.99999334e-01 1.57775119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:0.09, Z:0.02 [[ 9.98504963e-01 -5.46489537e-02 -1.15372159e-03 1.22571448e+02] [ 5.46489822e-02 9.98505628e-01 -6.89355431e-06 8.91673232e-02] [ 1.15237422e-03 -5.61664623e-05 9.99999334e-01 1.72327868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:0.09, Z:0.02 [[ 9.98561904e-01 -5.35984408e-02 -1.15372458e-03 1.22604000e+02] [ 5.35984692e-02 9.98562569e-01 -6.35059461e-06 8.65877562e-02] [ 1.15240656e-03 -5.54964092e-05 9.99999334e-01 1.73093668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:0.08, Z:0.02 [[ 9.98669279e-01 -5.15590976e-02 -1.15372702e-03 1.22636296e+02] [ 5.15591252e-02 9.98669944e-01 -5.87021693e-06 8.32616895e-02] [ 1.15249516e-03 -5.36227505e-05 9.99999334e-01 1.69898303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:0.07, Z:0.02 [[ 9.98920372e-01 -4.64409126e-02 -1.15372923e-03 1.22668285e+02] [ 4.64409373e-02 9.98921038e-01 -5.39683319e-06 7.47278722e-02] [ 1.15273504e-03 -4.81892604e-05 9.99999334e-01 1.56769746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:0.07, Z:0.01 [[ 9.98997784e-01 -4.47447907e-02 -1.15373128e-03 1.22699401e+02] [ 4.47448148e-02 9.98998449e-01 -4.91754277e-06 6.96101233e-02] [ 1.15279579e-03 -4.67108780e-05 9.99999334e-01 1.43064195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:0.06, Z:0.01 [[ 9.99068833e-01 -4.31292989e-02 -1.15373157e-03 1.22730521e+02] [ 4.31293220e-02 9.99069498e-01 -4.84885850e-06 6.48090213e-02] [ 1.15286714e-03 -4.49153168e-05 9.99999334e-01 1.38342935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:0.06, Z:0.02 [[ 9.99219270e-01 -3.94907582e-02 -1.15373185e-03 1.22762291e+02] [ 3.94907790e-02 9.99219935e-01 -4.77964171e-06 6.08698014e-02] [ 1.15302062e-03 -4.07858595e-05 9.99999334e-01 1.60928329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:0.06, Z:0.02 [[ 9.99295375e-01 -3.75156263e-02 -1.15373214e-03 1.22793571e+02] [ 3.75156459e-02 9.99296040e-01 -4.70968467e-06 6.14018256e-02] [ 1.15309664e-03 -3.85766402e-05 9.99999334e-01 1.88817281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:0.06, Z:0.02 [[ 9.99356770e-01 -3.58429305e-02 -1.15373242e-03 1.22824500e+02] [ 3.58429490e-02 9.99357435e-01 -4.63935157e-06 6.08822786e-02] [ 1.15315736e-03 -3.67168049e-05 9.99999334e-01 1.89481668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:0.06, Z:0.02 [[ 9.99410971e-01 -3.42983893e-02 -1.15373270e-03 1.22855129e+02] [ 3.42984068e-02 9.99411637e-01 -4.56895563e-06 5.78597149e-02] [ 1.15321059e-03 -3.50049291e-05 9.99999334e-01 1.88357559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:0.05, Z:0.02 [[ 9.99528016e-01 -3.06987576e-02 -1.15373270e-03 1.22885436e+02] [ 3.06987728e-02 9.99528682e-01 -4.56895563e-06 4.76522862e-02] [ 1.15332919e-03 -3.08513788e-05 9.99999334e-01 1.50196720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:0.04, Z:0.01 [[ 9.99600669e-01 -2.82342348e-02 -1.15373270e-03 1.22916243e+02] [ 2.82342483e-02 9.99601334e-01 -4.56895563e-06 4.45353730e-02] [ 1.15340175e-03 -2.80076445e-05 9.99999334e-01 1.41252949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:0.04, Z:0.01 [[ 9.99674706e-01 -2.54784277e-02 -1.15373270e-03 1.22946358e+02] [ 2.54784394e-02 9.99675372e-01 -4.56895563e-06 4.30181046e-02] [ 1.15347458e-03 -2.48278393e-05 9.99999334e-01 1.40337930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:0.04, Z:0.03 [[ 9.99747266e-01 -2.24515691e-02 -1.15373270e-03 1.22976680e+02] [ 2.24515787e-02 9.99747932e-01 -4.56895563e-06 4.14288331e-02] [ 1.15354446e-03 -2.13353196e-05 9.99999334e-01 2.75254759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:0.04, Z:0.02 [[ 9.99792565e-01 -2.03345829e-02 -1.15374642e-03 1.23007116e+02] [ 2.03345951e-02 9.99793231e-01 -1.11540186e-06 4.03450233e-02] [ 1.15353054e-03 -2.23457958e-05 9.99999334e-01 1.84933719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:0.04, Z:0.02 [[ 9.99807189e-01 -1.96024029e-02 -1.15373238e-03 1.23036583e+02] [ 1.96024107e-02 9.99807854e-01 -4.62054068e-06 3.88893882e-02] [ 1.15360127e-03 -1.79962861e-05 9.99999334e-01 1.84422008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:0.03, Z:0.02 [[ 9.99830665e-01 -1.83659903e-02 -1.15373208e-03 1.23066614e+02] [ 1.83659971e-02 9.99831331e-01 -4.69449504e-06 3.49730679e-02] [ 1.15362370e-03 -1.64957399e-05 9.99999334e-01 1.88470154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:0.03, Z:0.03 [[ 9.99894704e-01 -1.44654505e-02 -1.15373177e-03 1.23098760e+02] [ 1.44654546e-02 9.99895370e-01 -4.76861738e-06 2.98217233e-02] [ 1.15368004e-03 -1.19211393e-05 9.99999334e-01 2.78618641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:0.02, Z:0.02 [[ 9.99857348e-01 -1.68508987e-02 -1.15378377e-03 1.23127266e+02] [ 1.68509198e-02 9.99858013e-01 8.54024969e-06 2.44805719e-02] [ 1.15347604e-03 -2.79813492e-05 9.99999334e-01 1.87070859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:0.02, Z:0.02 [[ 9.99885792e-01 -1.50688983e-02 -1.15373097e-03 1.23157259e+02] [ 1.50689030e-02 9.99886458e-01 -4.62678405e-06 2.12728511e-02] [ 1.15366969e-03 -1.27592044e-05 9.99999334e-01 1.86950849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:0.02, Z:0.02 [[ 9.99895652e-01 -1.43997774e-02 -1.15373066e-03 1.23186408e+02] [ 1.43997815e-02 9.99896318e-01 -4.70184104e-06 2.28670153e-02] [ 1.15367874e-03 -1.19121190e-05 9.99999334e-01 1.76351488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:0.02, Z:0.02 [[ 9.99906461e-01 -1.36285508e-02 -1.15373031e-03 1.23216171e+02] [ 1.36285544e-02 9.99907127e-01 -4.78604181e-06 2.34393663e-02] [ 1.15368839e-03 -1.09380822e-05 9.99999334e-01 1.63864215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:0.02, Z:0.02 [[ 9.99942142e-01 -1.06948851e-02 -1.15372999e-03 1.23245449e+02] [ 1.06948866e-02 9.99942808e-01 -4.86183820e-06 1.76433184e-02] [ 1.15371600e-03 -7.47745455e-06 9.99999334e-01 1.55693186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:0.01, Z:0.03 [[ 9.99973522e-01 -7.18496963e-03 -1.15372967e-03 1.23275802e+02] [ 7.18496871e-03 9.99974188e-01 -4.93783949e-06 1.34290835e-02] [ 1.15373536e-03 -3.35180280e-06 9.99999334e-01 2.75418497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:0.01, Z:0.02 [[ 9.99962320e-01 -8.60388698e-03 -1.15377678e-03 1.23305032e+02] [ 8.60389966e-03 9.99962986e-01 6.02398519e-06 1.10033488e-02] [ 1.15368224e-03 -1.59507379e-05 9.99999334e-01 1.95029403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:0.01, Z:0.02 [[ 9.99954463e-01 -9.47318428e-03 -1.15372605e-03 1.23335045e+02] [ 9.47318458e-03 9.99955128e-01 -5.21029112e-06 1.00813347e-02] [ 1.15372363e-03 -5.71940593e-06 9.99999334e-01 1.77962040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.36, Y:0.01, Z:0.02 [[ 9.99944974e-01 -1.04267897e-02 -1.15372569e-03 1.23364745e+02] [ 1.04267905e-02 9.99945640e-01 -5.28718555e-06 8.90280486e-03] [ 1.15371810e-03 -6.74276148e-06 9.99999334e-01 1.62379728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:0.01, Z:0.03 [[ 9.99960135e-01 -8.85424458e-03 -1.15372534e-03 1.23395551e+02] [ 8.85424429e-03 9.99960800e-01 -5.36400500e-06 6.86072719e-03] [ 1.15372760e-03 -4.85157480e-06 9.99999334e-01 2.59023658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.42, Y:0.00, Z:0.02 [[ 9.99916033e-01 -1.29072345e-02 -1.15378158e-03 1.23424809e+02] [ 1.29072503e-02 9.99916698e-01 6.24618149e-06 4.55283247e-03] [ 1.15360484e-03 -2.11378046e-05 9.99999334e-01 1.68772284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:0.00, Z:0.02 [[ 9.99906086e-01 -1.36560685e-02 -1.15372174e-03 1.23454006e+02] [ 1.36560710e-02 9.99906751e-01 -5.75344110e-06 3.75705310e-03] [ 1.15369272e-03 -1.00024051e-05 9.99999334e-01 1.88688254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:0.00, Z:0.02 [[ 9.99911905e-01 -1.32231288e-02 -1.15372135e-03 1.23484096e+02] [ 1.32231309e-02 9.99912571e-01 -5.82942761e-06 2.20074469e-03] [ 1.15369757e-03 -9.42689437e-06 9.99999334e-01 2.23772698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:0.00, Z:0.03 [[ 9.99952165e-01 -9.71266639e-03 -1.15372096e-03 1.23516200e+02] [ 9.71266604e-03 9.99952831e-01 -5.90626138e-06 4.81774189e-04] [ 1.15372390e-03 -5.29972752e-06 9.99999334e-01 3.32969911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:-0.00, Z:0.02 [[ 9.99913954e-01 -1.30672725e-02 -1.15380255e-03 1.23545629e+02] [ 1.30672927e-02 9.99914619e-01 9.92070269e-06 -1.37836187e-03] [ 1.15357440e-03 -2.49969247e-05 9.99999334e-01 2.05300487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:-0.00, Z:0.03 [[ 9.99938676e-01 -1.10142689e-02 -1.15371668e-03 1.23577282e+02] [ 1.10142691e-02 9.99939341e-01 -6.16048081e-06 -1.88735179e-03] [ 1.15371455e-03 -6.54724303e-06 9.99999334e-01 2.55369578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:-0.00, Z:0.02 [[ 9.99895991e-01 -1.43762105e-02 -1.15377926e-03 1.23606921e+02] [ 1.43762267e-02 9.99896657e-01 5.76213218e-06 -1.70645309e-03] [ 1.15357719e-03 -2.23485251e-05 9.99999334e-01 1.70778711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:-0.01, Z:0.02 [[ 9.99838335e-01 -1.79436119e-02 -1.15371486e-03 1.23636177e+02] [ 1.79436167e-02 9.99839000e-01 -6.20737079e-06 -5.29172721e-03] [ 1.15364050e-03 -1.44954500e-05 9.99999334e-01 1.81454561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:-0.01, Z:0.03 [[ 9.99863339e-01 -1.64915619e-02 -1.15371445e-03 1.23668235e+02] [ 1.64915656e-02 9.99864005e-01 -6.28310753e-06 -9.37038560e-03] [ 1.15366117e-03 -1.27443086e-05 9.99999334e-01 3.11725876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:-0.01, Z:0.02 [[ 9.99789589e-01 -2.04804153e-02 -1.15378813e-03 1.23696733e+02] [ 2.04804370e-02 9.99790254e-01 7.01007664e-06 -1.31611172e-02] [ 1.15340255e-03 -3.06386867e-05 9.99999334e-01 2.30936293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:-0.01, Z:0.02 [[ 9.99793225e-01 -2.03021230e-02 -1.15370562e-03 1.23725842e+02] [ 2.03021286e-02 9.99793891e-01 -6.86167774e-06 -1.49987476e-02] [ 1.15360714e-03 -1.65624210e-05 9.99999334e-01 2.41797259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:-0.01, Z:0.02 [[ 9.99829627e-01 -1.84224107e-02 -1.15370471e-03 1.23754921e+02] [ 1.84224148e-02 9.99830293e-01 -7.01177230e-06 -1.37832898e-02] [ 1.15363809e-03 -1.42434491e-05 9.99999334e-01 2.26120686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:-0.01, Z:0.02 [[ 9.99859749e-01 -1.67077917e-02 -1.15370378e-03 1.23784204e+02] [ 1.67077945e-02 9.99860415e-01 -7.16198184e-06 -1.45959280e-02] [ 1.15366240e-03 -1.21148683e-05 9.99999334e-01 2.16836377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:-0.02, Z:0.02 [[ 9.99888069e-01 -1.49170695e-02 -1.15370282e-03 1.23813418e+02] [ 1.49170710e-02 9.99888734e-01 -7.31259375e-06 -1.76044013e-02] [ 1.15368354e-03 -9.89809167e-06 9.99999334e-01 2.02488174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:-0.03, Z:0.02 [[ 9.99937663e-01 -1.11058118e-02 -1.15370184e-03 1.23842385e+02] [ 1.11058106e-02 9.99938329e-01 -7.46431218e-06 -2.57929559e-02] [ 1.15371359e-03 -5.34894730e-06 9.99999334e-01 2.20260990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.87, Y:-0.03, Z:0.02 [[ 9.99956290e-01 -9.27826124e-03 -1.15370083e-03 1.23870784e+02] [ 9.27825863e-03 9.99956956e-01 -7.61718240e-06 -2.74426362e-02] [ 1.15372185e-03 -3.08748526e-06 9.99999334e-01 2.24481282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:-0.03, Z:0.02 [[ 9.99963741e-01 -8.43712285e-03 -1.15369979e-03 1.23899445e+02] [ 8.43711950e-03 9.99964407e-01 -7.77191891e-06 -2.82430744e-02] [ 1.15372430e-03 -1.96226590e-06 9.99999334e-01 2.24680823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:-0.03, Z:0.02 [[ 9.99970028e-01 -7.65580942e-03 -1.15369871e-03 1.23928596e+02] [ 7.65580537e-03 9.99970694e-01 -7.92863271e-06 -2.97924205e-02] [ 1.15372560e-03 -9.04097736e-07 9.99999334e-01 2.37306937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:-0.03, Z:0.03 [[ 9.99994105e-01 -3.23416177e-03 -1.15369762e-03 1.23957964e+02] [ 3.23415460e-03 9.99994770e-01 -8.08441337e-06 -3.14489737e-02] [ 1.15371774e-03 4.35312924e-06 9.99999334e-01 2.55236931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:-0.03, Z:0.03 [[ 9.99999069e-01 7.28889708e-04 -1.15369385e-03 1.23987200e+02] [-7.28900105e-04 9.99999734e-01 -8.59153411e-06 -2.82642048e-02] [ 1.15368728e-03 9.43245367e-06 9.99999334e-01 2.50799905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:-0.02, Z:0.02 [[ 9.99991582e-01 3.93764006e-03 -1.15369327e-03 1.24016453e+02] [-3.93765268e-03 9.99992247e-01 -8.66875895e-06 -2.41337408e-02] [ 1.15365019e-03 1.32115294e-05 9.99999334e-01 2.32370594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:-0.02, Z:0.02 [[ 9.99974253e-01 7.08258355e-03 -1.15369269e-03 1.24046274e+02] [-7.08259835e-03 9.99974918e-01 -8.74500890e-06 -2.18633280e-02] [ 1.15360181e-03 1.69159257e-05 9.99999334e-01 2.10380485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:-0.03, Z:0.03 [[ 9.99951720e-01 9.75845727e-03 -1.15369211e-03 1.24076522e+02] [-9.75847394e-03 9.99952385e-01 -8.82100772e-06 -2.60149004e-02] [ 1.15355109e-03 2.00788562e-05 9.99999334e-01 2.90791451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:-0.03, Z:0.02 [[ 9.99952797e-01 9.64740156e-03 -1.15373458e-03 1.24106680e+02] [-9.64741194e-03 9.99953463e-01 -3.42898559e-06 -2.80171500e-02] [ 1.15364781e-03 1.45593765e-05 9.99999334e-01 2.34585298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:-0.03, Z:0.02 [[ 9.99950348e-01 9.89801517e-03 -1.15368620e-03 1.24137576e+02] [-9.89803258e-03 9.99951013e-01 -9.37959887e-06 -2.60810655e-02] [ 1.15353685e-03 2.07983568e-05 9.99999334e-01 2.48006887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:-0.02, Z:0.03 [[ 9.99946238e-01 1.03048926e-02 -1.15368620e-03 1.24167647e+02] [-1.03049103e-02 9.99946903e-01 -9.37959887e-06 -2.12998662e-02] [ 1.15352829e-03 2.12677274e-05 9.99999334e-01 2.50134524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:-0.02, Z:0.02 [[ 9.99949516e-01 9.98166210e-03 -1.15368620e-03 1.24197479e+02] [-9.98167956e-03 9.99950182e-01 -9.37959887e-06 -1.60371654e-02] [ 1.15353511e-03 2.08948514e-05 9.99999334e-01 2.31920487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:-0.02, Z:0.02 [[ 9.99974371e-01 7.06592533e-03 -1.15368559e-03 1.24226746e+02] [-7.06594093e-03 9.99975036e-01 -9.45469658e-06 -1.61002496e-02] [ 1.15358998e-03 1.76063285e-05 9.99999334e-01 1.91449877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:-0.02, Z:0.02 [[ 9.99980367e-01 6.15902907e-03 -1.15368497e-03 1.24256117e+02] [-6.15904416e-03 9.99981033e-01 -9.52955073e-06 -1.95018306e-02] [ 1.15360440e-03 1.66349603e-05 9.99999334e-01 1.89833279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:-0.02, Z:0.02 [[ 9.99983458e-01 5.63487694e-03 -1.15368434e-03 1.24285700e+02] [-5.63489177e-03 9.99984124e-01 -9.60528550e-06 -2.14510813e-02] [ 1.15361190e-03 1.61060130e-05 9.99999334e-01 2.01663458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:-0.02, Z:0.02 [[ 9.99983829e-01 5.56879837e-03 -1.15368371e-03 1.24315864e+02] [-5.56881324e-03 9.99984494e-01 -9.68088911e-06 -2.12132291e-02] [ 1.15361191e-03 1.61053816e-05 9.99999334e-01 2.02011440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:-0.02, Z:0.02 [[ 9.99979593e-01 6.28354939e-03 -1.15368306e-03 1.24345301e+02] [-6.28356482e-03 9.99980258e-01 -9.75712403e-06 -1.70516386e-02] [ 1.15359898e-03 1.70061672e-05 9.99999334e-01 2.25855253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.38, Y:-0.01, Z:0.02 [[ 9.99976401e-01 6.77240889e-03 -1.15368241e-03 1.24375355e+02] [-6.77242474e-03 9.99977067e-01 -9.83335891e-06 -1.45138963e-02] [ 1.15358936e-03 1.76463542e-05 9.99999334e-01 2.37144993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:-0.01, Z:0.02 [[ 9.99973517e-01 7.18569354e-03 -1.15368175e-03 1.24405213e+02] [-7.18570976e-03 9.99974182e-01 -9.90998057e-06 -1.36198982e-02] [ 1.15358076e-03 1.81997404e-05 9.99999334e-01 2.38462461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:-0.01, Z:0.02 [[ 9.99969304e-01 7.74987072e-03 -1.15368110e-03 1.24434597e+02] [-7.74988739e-03 9.99969969e-01 -9.98545333e-06 -1.31404588e-02] [ 1.15356907e-03 1.89260454e-05 9.99999334e-01 2.36398432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:-0.01, Z:0.02 [[ 9.99957633e-01 9.13247118e-03 -1.15368044e-03 1.24464339e+02] [-9.13248886e-03 9.99958298e-01 -1.00608099e-05 -1.20162358e-02] [ 1.15354045e-03 2.05963574e-05 9.99999334e-01 2.21203131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:-0.01, Z:0.02 [[ 9.99935079e-01 1.13360676e-02 -1.15367978e-03 1.24494436e+02] [-1.13360868e-02 9.99935744e-01 -1.01360944e-05 -1.12614396e-02] [ 1.15349075e-03 2.32136505e-05 9.99999334e-01 1.89919334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:-0.01, Z:0.02 [[ 9.99919761e-01 1.26150956e-02 -1.15367912e-03 1.24523914e+02] [-1.26151157e-02 9.99920426e-01 -1.02104658e-05 -1.12011981e-02] [ 1.15345851e-03 2.47634422e-05 9.99999334e-01 1.80225320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.55, Y:-0.01, Z:0.02 [[ 9.99891209e-01 1.47050513e-02 -1.15367846e-03 1.24554631e+02] [-1.47050730e-02 9.99891875e-01 -1.02850776e-05 -1.05526012e-02] [ 1.15340247e-03 2.72488846e-05 9.99999334e-01 1.93993400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:-0.01, Z:0.02 [[ 9.99862696e-01 1.65304930e-02 -1.15367846e-03 1.24584994e+02] [-1.65305159e-02 9.99863362e-01 -1.02850776e-05 -8.19125012e-03] [ 1.15335080e-03 2.93545654e-05 9.99999334e-01 2.07088520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:-0.00, Z:0.02 [[ 9.99832040e-01 1.82909983e-02 -1.15367846e-03 1.24615420e+02] [-1.82910224e-02 9.99832705e-01 -1.02850776e-05 -2.05828115e-03] [ 1.15329733e-03 3.13853086e-05 9.99999334e-01 2.36724221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:0.00, Z:0.02 [[ 9.99804084e-01 1.97601083e-02 -1.15367846e-03 1.24645918e+02] [-1.97601333e-02 9.99804749e-01 -1.02850776e-05 8.55465461e-04] [ 1.15324997e-03 3.30799027e-05 9.99999334e-01 2.35331345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:0.00, Z:0.02 [[ 9.99772265e-01 2.13093296e-02 -1.15367846e-03 1.24676679e+02] [-2.13093556e-02 9.99772930e-01 -1.02850776e-05 3.62050123e-03] [ 1.15319732e-03 3.48668798e-05 9.99999334e-01 2.17650510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:0.01, Z:0.02 [[ 9.99734042e-01 2.30328998e-02 -1.15367846e-03 1.24707537e+02] [-2.30329270e-02 9.99734707e-01 -1.02850776e-05 5.80590087e-03] [ 1.15313550e-03 3.68549338e-05 9.99999334e-01 2.05155195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:0.01, Z:0.02 [[ 9.99701269e-01 2.44139714e-02 -1.15367846e-03 1.24737897e+02] [-2.44139995e-02 9.99701934e-01 -1.02850776e-05 1.04185813e-02] [ 1.15308349e-03 3.84479105e-05 9.99999334e-01 1.86450237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:0.01, Z:0.02 [[ 9.99713292e-01 2.39165601e-02 -1.15367846e-03 1.24768327e+02] [-2.39165879e-02 9.99713957e-01 -1.02850776e-05 1.41599101e-02] [ 1.15310247e-03 3.78741810e-05 9.99999334e-01 1.93122212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:0.02, Z:0.02 [[ 9.99725976e-01 2.33803680e-02 -1.15367846e-03 1.24798412e+02] [-2.33803954e-02 9.99726641e-01 -1.02850776e-05 1.86428220e-02] [ 1.15312262e-03 3.72557178e-05 9.99999334e-01 2.06678692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:0.02, Z:0.02 [[ 9.99761467e-01 2.18100681e-02 -1.15367780e-03 1.24828402e+02] [-2.18100945e-02 9.99762132e-01 -1.03579447e-05 2.30756669e-02] [ 1.15317747e-03 3.55172959e-05 9.99999334e-01 2.23244521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:0.03, Z:0.02 [[ 9.99840203e-01 1.78391993e-02 -1.15367714e-03 1.24857786e+02] [-1.78392232e-02 9.99840868e-01 -1.04310424e-05 2.59256600e-02] [ 1.15330747e-03 3.10100796e-05 9.99999334e-01 2.29947428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:0.02, Z:0.02 [[ 9.99888550e-01 1.48847784e-02 -1.15367681e-03 1.24887188e+02] [-1.48848004e-02 9.99889215e-01 -1.04681819e-05 2.46717613e-02] [ 1.15339318e-03 2.76392642e-05 9.99999334e-01 2.10564103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.92, Y:0.02, Z:0.02 [[ 9.99919873e-01 1.26062384e-02 -1.15367611e-03 1.24916441e+02] [-1.26062589e-02 9.99920538e-01 -1.05438575e-05 2.36221446e-02] [ 1.15345152e-03 2.50865525e-05 9.99999334e-01 1.99496732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:0.03, Z:0.02 [[ 9.99953224e-01 9.60303416e-03 -1.15367543e-03 1.24945666e+02] [-9.60305280e-03 9.99953890e-01 -1.06182287e-05 2.51663540e-02] [ 1.15352027e-03 2.16965381e-05 9.99999334e-01 2.03644554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:0.03, Z:0.02 [[ 9.99971637e-01 7.44272097e-03 -1.15367473e-03 1.24975537e+02] [-7.44273825e-03 9.99972302e-01 -1.06931394e-05 2.86502468e-02] [ 1.15356319e-03 1.92793352e-05 9.99999334e-01 2.12331864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:0.03, Z:0.02 [[ 9.99981290e-01 6.00734225e-03 -1.15367403e-03 1.25005354e+02] [-6.00735867e-03 9.99981956e-01 -1.07684956e-05 3.23461573e-02] [ 1.15358852e-03 1.76988278e-05 9.99999334e-01 2.11238160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:0.03, Z:0.02 [[ 9.99993250e-01 3.48832400e-03 -1.15367332e-03 1.25035078e+02] [-3.48833883e-03 9.99993916e-01 -1.08440402e-05 3.39475951e-02] [ 1.15362847e-03 1.48683704e-05 9.99999334e-01 2.23469311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:0.03, Z:0.02 [[ 9.99996062e-01 2.55819915e-03 -1.15367260e-03 1.25064964e+02] [-2.55821345e-03 9.99996728e-01 -1.09206758e-05 3.39752295e-02] [ 1.15364088e-03 1.38719735e-05 9.99999334e-01 2.23563515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:0.03, Z:0.02 [[ 9.99998502e-01 1.29046609e-03 -1.15367185e-03 1.25094512e+02] [-1.29047964e-03 9.99999167e-01 -1.09984961e-05 3.37389954e-02] [ 1.15365670e-03 1.24872697e-05 9.99999334e-01 2.27733982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:0.03, Z:0.02 [[ 9.99999029e-01 7.81194119e-04 -1.15367111e-03 1.25124446e+02] [-7.81207416e-04 9.99999695e-01 -1.10757805e-05 3.38282976e-02] [ 1.15366211e-03 1.19770261e-05 9.99999334e-01 2.25192385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:0.04, Z:0.02 [[ 9.99997335e-01 -1.99963462e-03 -1.15367036e-03 1.25153769e+02] [ 1.99962309e-03 9.99998001e-01 -1.11531869e-05 3.54263080e-02] [ 1.15369036e-03 8.84625129e-06 9.99999334e-01 2.27384773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:0.04, Z:0.02 [[ 9.99992326e-01 -3.74397688e-03 -1.15366922e-03 1.25183605e+02] [ 3.74396637e-03 9.99992991e-01 -1.12699905e-05 3.69118451e-02] [ 1.15370333e-03 6.95060527e-06 9.99999334e-01 2.27200143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:0.04, Z:0.02 [[ 9.99979385e-01 -6.31648867e-03 -1.15366846e-03 1.25213025e+02] [ 6.31647978e-03 9.99980051e-01 -1.13475491e-05 3.71265472e-02] [ 1.15371712e-03 4.06019171e-06 9.99999334e-01 2.20542476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:0.03, Z:0.02 [[ 9.99947828e-01 -1.01493520e-02 -1.15366769e-03 1.25242987e+02] [ 1.01493455e-02 9.99948494e-01 -1.14252925e-05 3.35091822e-02] [ 1.15372423e-03 -2.84275604e-07 9.99999334e-01 2.27630938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:0.03, Z:0.02 [[ 9.99939537e-01 -1.09357677e-02 -1.15366692e-03 1.25272358e+02] [ 1.09357617e-02 9.99940203e-01 -1.15024547e-05 3.22753732e-02] [ 1.15372372e-03 -1.11446732e-06 9.99999334e-01 2.44518228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:0.03, Z:0.04 [[ 9.99949468e-01 -9.98652849e-03 -1.15366615e-03 1.25302413e+02] [ 9.98652178e-03 9.99950133e-01 -1.15792245e-05 3.27242255e-02] [ 1.15372426e-03 5.75272568e-08 9.99999334e-01 3.52528932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:0.03, Z:0.03 [[ 9.99937374e-01 -1.11317717e-02 -1.15371394e-03 1.25331760e+02] [ 1.11317713e-02 9.99938040e-01 -6.75189023e-06 3.35607908e-02] [ 1.15371761e-03 -6.09141232e-06 9.99999334e-01 2.62408370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:0.03, Z:0.03 [[ 9.99947796e-01 -1.01525383e-02 -1.15366726e-03 1.25361354e+02] [ 1.01525319e-02 9.99948462e-01 -1.14535016e-05 3.42492928e-02] [ 1.15372408e-03 -2.59739908e-07 9.99999334e-01 3.41353072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:0.03, Z:0.03 [[ 9.99964315e-01 -8.36881897e-03 -1.15364927e-03 1.25391333e+02] [ 8.36880920e-03 9.99964981e-01 -1.32902033e-05 2.93239421e-02] [ 1.15372009e-03 3.63505841e-06 9.99999334e-01 2.55445131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:0.03, Z:0.02 [[ 9.99969172e-01 -7.76689408e-03 -1.15367012e-03 1.25420784e+02] [ 7.76688641e-03 9.99969837e-01 -1.11282456e-05 2.66302294e-02] [ 1.15372176e-03 2.16747775e-06 9.99999334e-01 2.49579712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:0.03, Z:0.03 [[ 9.99975587e-01 -6.89164508e-03 -1.15366936e-03 1.25449880e+02] [ 6.89163674e-03 9.99976252e-01 -1.12061277e-05 2.54671078e-02] [ 1.15371920e-03 3.25518396e-06 9.99999334e-01 3.18606386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:0.03, Z:0.03 [[ 9.99984132e-01 -5.51413302e-03 -1.15367517e-03 1.25480040e+02] [ 5.51412444e-03 9.99984797e-01 -1.06148626e-05 2.62521909e-02] [ 1.15371616e-03 4.25318565e-06 9.99999334e-01 2.53207059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:0.03, Z:0.03 [[ 9.99984243e-01 -5.49391577e-03 -1.15366822e-03 1.25509642e+02] [ 5.49390636e-03 9.99984908e-01 -1.13229015e-05 2.63048818e-02] [ 1.15371302e-03 4.98457785e-06 9.99999334e-01 2.82654948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:0.02, Z:0.03 [[ 9.99975016e-01 -6.97396148e-03 -1.15366745e-03 1.25539582e+02] [ 6.97395297e-03 9.99975682e-01 -1.14005215e-05 2.39195957e-02] [ 1.15371891e-03 3.35461411e-06 9.99999334e-01 2.84364147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:0.02, Z:0.03 [[ 9.99964196e-01 -8.38304676e-03 -1.15366668e-03 1.25569411e+02] [ 8.38303910e-03 9.99964862e-01 -1.14786671e-05 2.02447968e-02] [ 1.15372237e-03 1.80702327e-06 9.99999334e-01 2.85637468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:0.02, Z:0.03 [[ 9.99959933e-01 -8.87706026e-03 -1.15366590e-03 1.25599091e+02] [ 8.87705284e-03 9.99960598e-01 -1.15562107e-05 1.62552468e-02] [ 1.15372303e-03 1.31459454e-06 9.99999334e-01 2.86906697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:0.01, Z:0.03 [[ 9.99961127e-01 -8.74145184e-03 -1.15366512e-03 1.25627825e+02] [ 8.74144424e-03 9.99961793e-01 -1.16338157e-05 1.21103713e-02] [ 1.15372274e-03 1.54866418e-06 9.99999334e-01 2.90573408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.66, Y:0.01, Z:0.03 [[ 9.99964945e-01 -8.29319790e-03 -1.15366394e-03 1.25657875e+02] [ 8.29318986e-03 9.99965611e-01 -1.17490416e-05 1.23145919e-02] [ 1.15372171e-03 2.18107566e-06 9.99999334e-01 2.91380379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:0.01, Z:0.03 [[ 9.99965032e-01 -8.28271650e-03 -1.15366315e-03 1.25687252e+02] [ 8.28270837e-03 9.99965698e-01 -1.18269853e-05 1.16316030e-02] [ 1.15372153e-03 2.27111638e-06 9.99999334e-01 2.91988837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:0.01, Z:0.03 [[ 9.99969442e-01 -7.73197012e-03 -1.15366234e-03 1.25716527e+02] [ 7.73196153e-03 9.99970108e-01 -1.19045435e-05 9.19463639e-03] [ 1.15371991e-03 2.98410688e-06 9.99999334e-01 2.90979922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:0.00, Z:0.04 [[ 9.99976438e-01 -6.76708532e-03 -1.15366154e-03 1.25745818e+02] [ 6.76707600e-03 9.99977103e-01 -1.19819030e-05 3.62823350e-03] [ 1.15371621e-03 4.17470536e-06 9.99999334e-01 3.95368592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:0.00, Z:0.03 [[ 9.99986001e-01 -5.16407461e-03 -1.15365290e-03 1.25775346e+02] [ 5.16406326e-03 9.99986666e-01 -1.28123028e-05 3.08824251e-03] [ 1.15370369e-03 6.85458685e-06 9.99999334e-01 3.14150057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:0.00, Z:0.03 [[ 9.99991625e-01 -3.92659137e-03 -1.15366116e-03 1.25804556e+02] [ 3.92658011e-03 9.99992291e-01 -1.20201525e-05 3.60325633e-03] [ 1.15369946e-03 7.49010890e-06 9.99999334e-01 3.12308725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:0.00, Z:0.03 [[ 9.99996709e-01 -2.29137889e-03 -1.15366034e-03 1.25834169e+02] [ 2.29136646e-03 9.99997375e-01 -1.20984378e-05 3.81909267e-03] [ 1.15368503e-03 9.45493938e-06 9.99999334e-01 3.04573430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:0.00, Z:0.03 [[ 9.99998876e-01 -9.57450491e-04 -1.15365952e-03 1.25863483e+02] [ 9.57437081e-04 9.99999542e-01 -1.21759958e-05 2.46904099e-03] [ 1.15367065e-03 1.10714257e-05 9.99999334e-01 3.04949194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:0.00, Z:0.03 [[ 9.99999322e-01 -1.56939098e-04 -1.15365870e-03 1.25892904e+02] [ 1.56925067e-04 9.99999988e-01 -1.22527651e-05 1.59036097e-03] [ 1.15366061e-03 1.20717189e-05 9.99999334e-01 3.11296596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.92, Y:0.00, Z:0.03 [[ 9.99998912e-01 9.18819883e-04 -1.15365789e-03 1.25922489e+02] [-9.18834718e-04 9.99999578e-01 -1.23291317e-05 5.18527281e-05] [ 1.15364607e-03 1.33891393e-05 9.99999334e-01 3.25756348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:-0.00, Z:0.03 [[ 9.99996883e-01 2.21424602e-03 -1.15365707e-03 1.25952584e+02] [-2.21426180e-03 9.99997548e-01 -1.24055723e-05 -1.46813237e-03] [ 1.15362677e-03 1.49600324e-05 9.99999334e-01 3.27169797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:-0.00, Z:0.03 [[ 9.99993814e-01 3.32282739e-03 -1.15365623e-03 1.25982374e+02] [-3.32284400e-03 9.99994479e-01 -1.24823872e-05 -2.65308081e-03] [ 1.15360839e-03 1.63157297e-05 9.99999334e-01 3.26080512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:-0.00, Z:0.03 [[ 9.99990544e-01 4.19302044e-03 -1.15365540e-03 1.26012070e+02] [-4.19303772e-03 9.99991209e-01 -1.25588874e-05 -2.10542841e-03] [ 1.15359260e-03 1.73960893e-05 9.99999334e-01 3.15572242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:-0.00, Z:0.03 [[ 9.99992776e-01 3.62186557e-03 -1.15365458e-03 1.26042078e+02] [-3.62188256e-03 9.99993441e-01 -1.26341264e-05 -1.37772727e-03] [ 1.15360125e-03 1.68124365e-05 9.99999334e-01 3.07351728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:-0.00, Z:0.03 [[ 9.99995804e-01 2.65737331e-03 -1.15365374e-03 1.26071491e+02] [-2.65738974e-03 9.99996469e-01 -1.27098592e-05 -1.62630953e-03] [ 1.15361589e-03 1.57755135e-05 9.99999334e-01 3.03219112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:-0.00, Z:0.03 [[ 9.99998168e-01 1.52742136e-03 -1.15365291e-03 1.26101185e+02] [-1.52743713e-03 9.99998833e-01 -1.27852139e-05 -2.44924047e-03] [ 1.15363203e-03 1.45473228e-05 9.99999334e-01 3.00892554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:-0.00, Z:0.03 [[ 9.99999132e-01 -6.36527035e-04 -1.15365207e-03 1.26131050e+02] [ 6.36512622e-04 9.99999797e-01 -1.28601232e-05 -4.47745188e-03] [ 1.15366002e-03 1.21257979e-05 9.99999334e-01 2.97591096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.16, Y:-0.00, Z:0.03 [[ 9.99998956e-01 -8.69893556e-04 -1.15365122e-03 1.26160304e+02] [ 8.69879212e-04 9.99999622e-01 -1.29359286e-05 -4.83660589e-03] [ 1.15366204e-03 1.19323779e-05 9.99999334e-01 3.03938620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:-0.00, Z:0.03 [[ 9.99998896e-01 -9.36088715e-04 -1.15365036e-03 1.26190467e+02] [ 9.36074326e-04 9.99999562e-01 -1.30122352e-05 -4.51215888e-03] [ 1.15366204e-03 1.19323183e-05 9.99999334e-01 3.04286597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:-0.00, Z:0.03 [[ 9.99998089e-01 -1.57810693e-03 -1.15364950e-03 1.26219677e+02] [ 1.57809288e-03 9.99998755e-01 -1.30886012e-05 -4.40367311e-03] [ 1.15366871e-03 1.12680101e-05 9.99999334e-01 2.96122339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:-0.00, Z:0.03 [[ 9.99998042e-01 -1.60810992e-03 -1.15364667e-03 1.26249786e+02] [ 1.60809561e-03 9.99998707e-01 -1.33329822e-05 -3.44358995e-03] [ 1.15366662e-03 1.14777819e-05 9.99999334e-01 2.90697415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:-0.00, Z:0.03 [[ 9.99999333e-01 -4.87669931e-05 -1.15364577e-03 1.26279124e+02] [ 4.87515545e-05 9.99999999e-01 -1.34105244e-05 -4.04052208e-03] [ 1.15364642e-03 1.33542735e-05 9.99999334e-01 2.87601742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:-0.01, Z:0.03 [[ 9.99999314e-01 -2.01667159e-04 -1.15364488e-03 1.26308934e+02] [ 2.01651735e-04 9.99999980e-01 -1.34863882e-05 -5.63066482e-03] [ 1.15364758e-03 1.32537444e-05 9.99999334e-01 2.83389929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:-0.01, Z:0.03 [[ 9.99999242e-01 4.31301177e-04 -1.15364399e-03 1.26338175e+02] [-4.31317110e-04 9.99999907e-01 -1.35620617e-05 -6.34736521e-03] [ 1.15363804e-03 1.40596378e-05 9.99999334e-01 2.74434942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:-0.00, Z:0.03 [[ 9.99999283e-01 -3.22636258e-04 -1.15364310e-03 1.26367526e+02] [ 3.22620740e-04 9.99999948e-01 -1.36376627e-05 -4.28156371e-03] [ 1.15364744e-03 1.32654637e-05 9.99999334e-01 2.56746736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:-0.00, Z:0.03 [[ 9.99999023e-01 -7.89783958e-04 -1.15364220e-03 1.26396823e+02] [ 7.89768663e-04 9.99999688e-01 -1.37135262e-05 -3.15681529e-03] [ 1.15365267e-03 1.28024024e-05 9.99999334e-01 2.57244681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:-0.00, Z:0.03 [[ 9.99999112e-01 -6.66451045e-04 -1.15364128e-03 1.26426551e+02] [ 6.66435579e-04 9.99999778e-01 -1.37902198e-05 -2.54028813e-03] [ 1.15365022e-03 1.30213799e-05 9.99999334e-01 2.71540789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:-0.00, Z:0.03 [[ 9.99999331e-01 8.50706666e-05 -1.15364036e-03 1.26455761e+02] [-8.50867208e-05 9.99999996e-01 -1.38670482e-05 -2.57144511e-03] [ 1.15363917e-03 1.39651984e-05 9.99999334e-01 2.74882600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:-0.00, Z:0.03 [[ 9.99999147e-01 6.11767942e-04 -1.15363943e-03 1.26485080e+02] [-6.11784435e-04 9.99999813e-01 -1.39438619e-05 -2.97383865e-03] [ 1.15363068e-03 1.46496287e-05 9.99999334e-01 2.89071655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:-0.00, Z:0.03 [[ 9.99998535e-01 1.26425216e-03 -1.15363850e-03 1.26514403e+02] [-1.26426918e-03 9.99999201e-01 -1.40199163e-05 -3.49680131e-03] [ 1.15361986e-03 1.54784053e-05 9.99999334e-01 2.84763028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:-0.00, Z:0.03 [[ 9.99997633e-01 1.84495150e-03 -1.15363758e-03 1.26543773e+02] [-1.84496899e-03 9.99998298e-01 -1.40959706e-05 -3.16047485e-03] [ 1.15360961e-03 1.62243627e-05 9.99999334e-01 2.65007011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.57, Y:-0.00, Z:0.03 [[ 9.99995711e-01 2.69196681e-03 -1.15363664e-03 1.26573565e+02] [-2.69198495e-03 9.99996377e-01 -1.41720839e-05 -2.50753118e-03] [ 1.15359431e-03 1.72775956e-05 9.99999334e-01 2.66806959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:-0.00, Z:0.03 [[ 9.99985640e-01 5.23337466e-03 -1.15363570e-03 1.26603175e+02] [-5.23339458e-03 9.99986306e-01 -1.42485231e-05 -8.79875838e-04] [ 1.15354533e-03 2.02857493e-05 9.99999334e-01 2.74500488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:0.00, Z:0.03 [[ 9.99945426e-01 1.03833282e-02 -1.15363476e-03 1.26633126e+02] [-1.03833517e-02 9.99946091e-01 -1.43239347e-05 4.96675048e-03] [ 1.15342384e-03 2.63017484e-05 9.99999334e-01 3.07807156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:0.01, Z:0.03 [[ 9.99923768e-01 1.22934186e-02 -1.15363383e-03 1.26663008e+02] [-1.22934434e-02 9.99924433e-01 -1.43988428e-05 8.28493856e-03] [ 1.15336964e-03 2.85798772e-05 9.99999334e-01 3.22645416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:0.01, Z:0.03 [[ 9.99912542e-01 1.31749056e-02 -1.15363290e-03 1.26693943e+02] [-1.31749311e-02 9.99913207e-01 -1.44729027e-05 1.09727598e-02] [ 1.15334209e-03 2.96706709e-05 9.99999334e-01 3.31131735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:0.02, Z:0.03 [[ 9.99901941e-01 1.39562744e-02 -1.15363290e-03 1.26724019e+02] [-1.39563003e-02 9.99902606e-01 -1.44729027e-05 1.50270919e-02] [ 1.15331855e-03 3.05719307e-05 9.99999334e-01 3.16773154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:0.02, Z:0.03 [[ 9.99902093e-01 1.39453565e-02 -1.15363290e-03 1.26754360e+02] [-1.39453824e-02 9.99902758e-01 -1.44729027e-05 1.70011874e-02] [ 1.15331889e-03 3.05593377e-05 9.99999334e-01 2.94070228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.78, Y:0.02, Z:0.03 [[ 9.99917244e-01 1.28130126e-02 -1.15363290e-03 1.26784701e+02] [-1.28130378e-02 9.99917910e-01 -1.44729027e-05 1.83816873e-02] [ 1.15335275e-03 2.92532469e-05 9.99999334e-01 2.93755801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:0.02, Z:0.03 [[ 9.99932183e-01 1.15887569e-02 -1.15363290e-03 1.26814242e+02] [-1.15887813e-02 9.99932848e-01 -1.44729027e-05 1.91961883e-02] [ 1.15338770e-03 2.78411206e-05 9.99999334e-01 3.06963193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.84, Y:0.02, Z:0.03 [[ 9.99974292e-01 7.07710217e-03 -1.15363243e-03 1.26843925e+02] [-7.07712361e-03 9.99974957e-01 -1.45099429e-05 2.18305991e-02] [ 1.15350085e-03 2.26739691e-05 9.99999334e-01 3.38447281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:0.03, Z:0.04 [[ 9.99992042e-01 3.81900637e-03 -1.15363147e-03 1.26873077e+02] [-3.81902574e-03 9.99992707e-01 -1.45855571e-05 2.50061081e-02] [ 1.15356736e-03 1.89911894e-05 9.99999334e-01 3.58543660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:0.03, Z:0.04 [[ 9.99997836e-01 1.73140364e-03 -1.15363053e-03 1.26902605e+02] [-1.73142170e-03 9.99998501e-01 -1.46600952e-05 2.87039064e-02] [ 1.15360342e-03 1.66574844e-05 9.99999334e-01 3.62674288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:0.03, Z:0.04 [[ 9.99999320e-01 1.68451802e-04 -1.15362957e-03 1.26932591e+02] [-1.68468913e-04 9.99999986e-01 -1.47351893e-05 3.17792171e-02] [ 1.15362707e-03 1.49295300e-05 9.99999334e-01 3.73031597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:0.03, Z:0.04 [[ 9.99994941e-01 -2.96442917e-03 -1.15362908e-03 1.26962086e+02] [ 2.96441410e-03 9.99995606e-01 -1.47729663e-05 3.33811238e-02] [ 1.15366781e-03 1.13530572e-05 9.99999334e-01 3.53108360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:0.03, Z:0.03 [[ 9.99988849e-01 -4.57933789e-03 -1.15362810e-03 1.26991619e+02] [ 4.57932381e-03 9.99989515e-01 -1.48494050e-05 3.29340969e-02] [ 1.15368400e-03 9.56640277e-06 9.99999334e-01 3.49350781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:0.03, Z:0.03 [[ 9.99978233e-01 -6.49632554e-03 -1.15362711e-03 1.27021436e+02] [ 6.49631264e-03 9.99978899e-01 -1.49256506e-05 3.18868940e-02] [ 1.15369973e-03 7.43100330e-06 9.99999334e-01 3.46832274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:0.03, Z:0.03 [[ 9.99965305e-01 -8.24969544e-03 -1.15362611e-03 1.27051491e+02] [ 8.24968362e-03 9.99965971e-01 -1.50027346e-05 3.06333228e-02] [ 1.15371062e-03 5.48516369e-06 9.99999334e-01 3.41037022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:0.03, Z:0.03 [[ 9.99937432e-01 -1.11265925e-02 -1.15362510e-03 1.27080867e+02] [ 1.11265825e-02 9.99938098e-01 -1.50799549e-05 2.62532163e-02] [ 1.15372148e-03 2.24310654e-06 9.99999334e-01 3.40566545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:0.03, Z:0.04 [[ 9.99931798e-01 -1.16219086e-02 -1.15362357e-03 1.27110044e+02] [ 1.16218988e-02 9.99932463e-01 -1.51960628e-05 2.53474690e-02] [ 1.15372227e-03 1.78773004e-06 9.99999334e-01 3.57226573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:0.03, Z:0.04 [[ 9.99932688e-01 -1.15450758e-02 -1.15362203e-03 1.27139943e+02] [ 1.15450658e-02 9.99933353e-01 -1.53120946e-05 2.56123754e-02] [ 1.15372193e-03 1.99242160e-06 9.99999334e-01 3.67063507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:0.03, Z:0.04 [[ 9.99936132e-01 -1.12428658e-02 -1.15362099e-03 1.27169686e+02] [ 1.12428556e-02 9.99936797e-01 -1.53898966e-05 2.58988626e-02] [ 1.15372111e-03 2.41891940e-06 9.99999334e-01 3.68527595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:0.03, Z:0.05 [[ 9.99958034e-01 -9.08838883e-03 -1.15361995e-03 1.27201147e+02] [ 9.08837703e-03 9.99958700e-01 -1.54674519e-05 2.51478554e-02] [ 1.15371288e-03 4.98226970e-06 9.99999334e-01 4.64345496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:0.02, Z:0.03 [[ 9.99947540e-01 -1.01777497e-02 -1.15376407e-03 1.27230238e+02] [ 1.01777509e-02 9.99948205e-01 -4.79735989e-06 1.97382249e-02] [ 1.15375314e-03 -6.94561509e-06 9.99999334e-01 3.34915681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:0.02, Z:0.03 [[ 9.99957855e-01 -9.10806260e-03 -1.15361141e-03 1.27260184e+02] [ 9.10805033e-03 9.99958521e-01 -1.58842265e-05 1.75152190e-02] [ 1.15370824e-03 5.37640620e-06 9.99999334e-01 3.27308419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:0.02, Z:0.03 [[ 9.99958571e-01 -9.02910156e-03 -1.15361034e-03 1.27289936e+02] [ 9.02908915e-03 9.99959237e-01 -1.59615678e-05 1.60530161e-02] [ 1.15370744e-03 5.54485585e-06 9.99999334e-01 3.29567657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:0.01, Z:0.03 [[ 9.99976857e-01 -6.70484117e-03 -1.15360927e-03 1.27319588e+02] [ 6.70482713e-03 9.99977522e-01 -1.60389237e-05 1.48675833e-02] [ 1.15369088e-03 8.30380182e-06 9.99999334e-01 3.32707134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:0.02, Z:0.03 [[ 9.99989336e-01 -4.47180226e-03 -1.15360819e-03 1.27349411e+02] [ 4.47178664e-03 9.99990001e-01 -1.61160673e-05 1.55628212e-02] [ 1.15366872e-03 1.09572058e-05 9.99999334e-01 3.30788368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:0.02, Z:0.03 [[ 9.99996824e-01 -2.24073029e-03 -1.15360711e-03 1.27378666e+02] [ 2.24071310e-03 9.99997489e-01 -1.61927586e-05 1.72574677e-02] [ 1.15364050e-03 1.36078046e-05 9.99999334e-01 3.29795720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:0.02, Z:0.03 [[ 9.99998421e-01 1.35144755e-03 -1.15360605e-03 1.27408571e+02] [-1.35146721e-03 9.99999087e-01 -1.62683712e-05 2.02766813e-02] [ 1.15358301e-03 1.78274063e-05 9.99999334e-01 3.17379270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:0.02, Z:0.03 [[ 9.99978832e-01 6.40347736e-03 -1.15360498e-03 1.27438062e+02] [-6.40350047e-03 9.99979497e-01 -1.63434200e-05 2.35048683e-02] [ 1.15347668e-03 2.37301841e-05 9.99999334e-01 3.10548015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:0.02, Z:0.03 [[ 9.99961139e-01 8.74009109e-03 -1.15360391e-03 1.27467912e+02] [-8.74011585e-03 9.99961804e-01 -1.64186996e-05 2.25873371e-02] [ 1.15341635e-03 2.65006934e-05 9.99999334e-01 3.13539406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:0.02, Z:0.03 [[ 9.99951217e-01 9.80981150e-03 -1.15360285e-03 1.27497142e+02] [-9.80983705e-03 9.99951882e-01 -1.64928698e-05 2.02945431e-02] [ 1.15338555e-03 2.78087212e-05 9.99999334e-01 3.08030600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:0.02, Z:0.03 [[ 9.99938742e-01 1.10082792e-02 -1.15360178e-03 1.27526796e+02] [-1.10083056e-02 9.99939407e-01 -1.65674766e-05 1.86707610e-02] [ 1.15334950e-03 2.92656627e-05 9.99999334e-01 3.08391057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:0.02, Z:0.03 [[ 9.99918851e-01 1.26870103e-02 -1.15360072e-03 1.27556605e+02] [-1.26870379e-02 9.99919516e-01 -1.66409384e-05 2.38468126e-02] [ 1.15329675e-03 3.12753641e-05 9.99999334e-01 3.07140369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:0.03, Z:0.03 [[ 9.99903966e-01 1.38104535e-02 -1.15359966e-03 1.27585845e+02] [-1.38104819e-02 9.99904631e-01 -1.67140445e-05 2.87548547e-02] [ 1.15325882e-03 3.26442067e-05 9.99999334e-01 3.08865021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:0.03, Z:0.03 [[ 9.99881346e-01 1.53611208e-02 -1.15359860e-03 1.27615735e+02] [-1.53611504e-02 9.99882010e-01 -1.67867442e-05 3.25597565e-02] [ 1.15320463e-03 3.45053540e-05 9.99999334e-01 3.05305633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:0.03, Z:0.03 [[ 9.99829675e-01 1.84198471e-02 -1.15359754e-03 1.27645888e+02] [-1.84198788e-02 9.99830339e-01 -1.68594308e-05 3.43538529e-02] [ 1.15309127e-03 3.81056861e-05 9.99999334e-01 3.10884924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:0.04, Z:0.03 [[ 9.99783432e-01 2.07787786e-02 -1.15359754e-03 1.27676097e+02] [-2.07788119e-02 9.99784097e-01 -1.68594308e-05 3.60275871e-02] [ 1.15299816e-03 4.08261659e-05 9.99999334e-01 3.17375914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:0.04, Z:0.03 [[ 9.99755973e-01 2.20604441e-02 -1.15359754e-03 1.27706835e+02] [-2.20604783e-02 9.99756638e-01 -1.68594308e-05 3.87827842e-02] [ 1.15294487e-03 4.23042302e-05 9.99999334e-01 3.20938947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:0.05, Z:0.03 [[ 9.99679516e-01 2.52890115e-02 -1.15359754e-03 1.27736763e+02] [-2.52890478e-02 9.99680181e-01 -1.68594308e-05 4.65188316e-02] [ 1.15280224e-03 4.60274110e-05 9.99999334e-01 3.30840081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:0.05, Z:0.03 [[ 9.99626010e-01 2.73223150e-02 -1.15359754e-03 1.27767061e+02] [-2.73223526e-02 9.99626675e-01 -1.68594308e-05 5.14512431e-02] [ 1.15270624e-03 4.83721244e-05 9.99999334e-01 3.35544800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:0.06, Z:0.03 [[ 9.99575316e-01 2.91179969e-02 -1.15359754e-03 1.27796427e+02] [-2.91180357e-02 9.99575980e-01 -1.68594308e-05 5.80248512e-02] [ 1.15261748e-03 5.04427653e-05 9.99999334e-01 3.39928847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:0.07, Z:0.03 [[ 9.99557880e-01 2.97105061e-02 -1.15359651e-03 1.27826239e+02] [-2.97105454e-02 9.99558544e-01 -1.69298613e-05 6.61294629e-02] [ 1.15258425e-03 5.11963577e-05 9.99999334e-01 3.39280842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:0.08, Z:0.03 [[ 9.99562128e-01 2.95672392e-02 -1.15359547e-03 1.27855739e+02] [-2.95672785e-02 9.99562792e-01 -1.70006730e-05 7.87503042e-02] [ 1.15258844e-03 5.11019072e-05 9.99999334e-01 3.39763415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:0.08, Z:0.04 [[ 9.99596564e-01 2.83791734e-02 -1.15359442e-03 1.27885454e+02] [-2.83792119e-02 9.99597229e-01 -1.70712048e-05 8.11665202e-02] [ 1.15264532e-03 4.98024183e-05 9.99999334e-01 3.53677029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:0.08, Z:0.04 [[ 9.99684453e-01 2.50930823e-02 -1.15359337e-03 1.27915334e+02] [-2.50931187e-02 9.99685118e-01 -1.71421828e-05 8.21294958e-02] [ 1.15279997e-03 4.60840290e-05 9.99999334e-01 3.55623030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:0.08, Z:0.04 [[ 9.99764975e-01 2.16486574e-02 -1.15359229e-03 1.27944469e+02] [-2.16486917e-02 9.99765639e-01 -1.72141888e-05 8.40125663e-02] [ 1.15294927e-03 4.21839069e-05 9.99999334e-01 3.63794494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:0.09, Z:0.04 [[ 9.99881333e-01 1.53619251e-02 -1.15359065e-03 1.27973416e+02] [-1.53619553e-02 9.99881998e-01 -1.73232346e-05 9.25343165e-02] [ 1.15318841e-03 3.50425869e-05 9.99999334e-01 3.63186393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:0.10, Z:0.04 [[ 9.99907897e-01 1.35228584e-02 -1.15358328e-03 1.28002708e+02] [-1.35228879e-02 9.99908561e-01 -1.78012431e-05 9.73131360e-02] [ 1.15323707e-03 3.33993810e-05 9.99999334e-01 3.61189426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:0.10, Z:0.04 [[ 9.99930552e-01 1.17286152e-02 -1.15358212e-03 1.28032681e+02] [-1.17286436e-02 9.99931217e-01 -1.78757351e-05 1.01355144e-01] [ 1.15329312e-03 3.14044473e-05 9.99999334e-01 3.78575667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.06, Y:0.10, Z:0.04 [[ 9.99950596e-01 9.87294494e-03 -1.15358097e-03 1.28062502e+02] [-9.87297222e-03 9.99951261e-01 -1.79497917e-05 1.04537653e-01] [ 1.15334753e-03 2.93381778e-05 9.99999334e-01 3.86810128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:0.10, Z:0.04 [[ 9.99951236e-01 9.80785435e-03 -1.15357980e-03 1.28092657e+02] [-9.80788167e-03 9.99951901e-01 -1.80245818e-05 1.04994852e-01] [ 1.15334754e-03 2.93378771e-05 9.99999334e-01 3.87158093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:0.11, Z:0.04 [[ 9.99989572e-01 4.41872574e-03 -1.15357862e-03 1.28122274e+02] [-4.41874956e-03 9.99990237e-01 -1.80996726e-05 1.08025186e-01] [ 1.15348739e-03 2.31968589e-05 9.99999334e-01 3.92913517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:0.11, Z:0.04 [[ 9.99997390e-01 1.97206302e-03 -1.15357743e-03 1.28151785e+02] [-1.97208530e-03 9.99998055e-01 -1.81752833e-05 1.07376593e-01] [ 1.15353935e-03 2.04501890e-05 9.99999334e-01 3.72417784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.18, Y:0.11, Z:0.04 [[ 9.99998418e-01 -1.35384187e-03 -1.15357622e-03 1.28181819e+02] [ 1.35382172e-03 9.99999083e-01 -1.82517186e-05 1.05433459e-01] [ 1.15359988e-03 1.66899531e-05 9.99999334e-01 3.51365282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:0.10, Z:0.04 [[ 9.99990748e-01 -4.14411111e-03 -1.15357499e-03 1.28211035e+02] [ 4.14409273e-03 9.99991413e-01 -1.83291334e-05 1.04809117e-01] [ 1.15364105e-03 1.35484421e-05 9.99999334e-01 3.63558939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:0.11, Z:0.04 [[ 9.99973928e-01 -7.12829042e-03 -1.15357377e-03 1.28240210e+02] [ 7.12827393e-03 9.99974593e-01 -1.84060782e-05 1.07007631e-01] [ 1.15367566e-03 1.01826085e-05 9.99999334e-01 3.77811262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:0.11, Z:0.05 [[ 9.99939933e-01 -1.08995474e-02 -1.15357253e-03 1.28269865e+02] [ 1.08995334e-02 9.99940598e-01 -1.84830980e-05 1.11830918e-01] [ 1.15370547e-03 5.90858543e-06 9.99999334e-01 4.81350978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:0.11, Z:0.04 [[ 9.99949728e-01 -9.96043516e-03 -1.15350666e-03 1.28300154e+02] [ 9.96041568e-03 9.99950394e-01 -2.26294703e-05 1.10662222e-01] [ 1.15367484e-03 1.11389269e-05 9.99999334e-01 3.89299389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:0.11, Z:0.04 [[ 9.99953717e-01 -9.55158067e-03 -1.15357462e-03 1.28329850e+02] [ 9.55156585e-03 9.99954383e-01 -1.83588857e-05 1.08025973e-01] [ 1.15369736e-03 7.33959200e-06 9.99999334e-01 3.91295649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:0.11, Z:0.04 [[ 9.99967059e-01 -8.03426290e-03 -1.15357340e-03 1.28359935e+02] [ 8.03424698e-03 9.99967725e-01 -1.84355147e-05 1.07218674e-01] [ 1.15368428e-03 9.16681382e-06 9.99999334e-01 3.85909457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.39, Y:0.11, Z:0.04 [[ 9.99989013e-01 -4.54345526e-03 -1.15357217e-03 1.28389642e+02] [ 4.54343693e-03 9.99989678e-01 -1.85123385e-05 1.11914080e-01] [ 1.15364437e-03 1.32709528e-05 9.99999334e-01 3.71046485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:0.11, Z:0.04 [[ 9.99993566e-01 -3.39672923e-03 -1.15357092e-03 1.28419647e+02] [ 3.39671005e-03 9.99994231e-01 -1.85897531e-05 1.14173058e-01] [ 1.15362741e-03 1.46712876e-05 9.99999334e-01 4.40558889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:0.11, Z:0.04 [[ 9.99991167e-01 -4.04169387e-03 -1.15364315e-03 1.28449077e+02] [ 4.04168034e-03 9.99991832e-01 -1.40551370e-05 1.13855666e-01] [ 1.15369053e-03 9.39235602e-06 9.99999334e-01 3.50391442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:0.11, Z:0.04 [[ 9.99989584e-01 -4.41610008e-03 -1.15357295e-03 1.28478408e+02] [ 4.41608174e-03 9.99990249e-01 -1.84455706e-05 1.14477645e-01] [ 1.15364316e-03 1.33511060e-05 9.99999334e-01 3.73915356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:0.12, Z:0.04 [[ 9.99989601e-01 -4.41223028e-03 -1.15357171e-03 1.28507849e+02] [ 4.41221185e-03 9.99990266e-01 -1.85223798e-05 1.17770466e-01] [ 1.15364221e-03 1.34323844e-05 9.99999334e-01 3.75984772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:0.12, Z:0.04 [[ 9.99985942e-01 -5.17549340e-03 -1.15357048e-03 1.28537827e+02] [ 5.17547539e-03 9.99986607e-01 -1.85991288e-05 1.19509986e-01] [ 1.15365129e-03 1.26285917e-05 9.99999334e-01 3.88736251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:0.11, Z:0.03 [[ 9.99980155e-01 -6.19339980e-03 -1.15356924e-03 1.28567430e+02] [ 6.19338238e-03 9.99980821e-01 -1.86755635e-05 1.12257016e-01] [ 1.15366278e-03 1.15306975e-05 9.99999334e-01 3.49866142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:0.11, Z:0.04 [[ 9.99980716e-01 -6.10214947e-03 -1.15356799e-03 1.28597588e+02] [ 6.10213190e-03 9.99981382e-01 -1.87523725e-05 1.07830643e-01] [ 1.15366094e-03 1.17127869e-05 9.99999334e-01 3.55378508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.63, Y:0.11, Z:0.04 [[ 9.99983066e-01 -5.70409357e-03 -1.15356673e-03 1.28627577e+02] [ 5.70407564e-03 9.99983731e-01 -1.88295280e-05 1.06372610e-01] [ 1.15365537e-03 1.22491772e-05 9.99999334e-01 3.73404132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.66, Y:0.11, Z:0.05 [[ 9.99985399e-01 -5.27929581e-03 -1.15356548e-03 1.28657594e+02] [ 5.27927752e-03 9.99986064e-01 -1.89060965e-05 1.08673755e-01] [ 1.15364921e-03 1.28158282e-05 9.99999334e-01 4.62197013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.69, Y:0.11, Z:0.04 [[ 9.99989794e-01 -4.36827619e-03 -1.15360556e-03 1.28687789e+02] [ 4.36826011e-03 9.99990459e-01 -1.64542850e-05 1.12396894e-01] [ 1.15366643e-03 1.14148679e-05 9.99999334e-01 3.71493774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.72, Y:0.12, Z:0.04 [[ 9.99998000e-01 -1.63377420e-03 -1.15356911e-03 1.28717233e+02] [ 1.63375371e-03 9.99998665e-01 -1.87027980e-05 1.15367651e-01] [ 1.15359812e-03 1.68181128e-05 9.99999334e-01 3.82467891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:0.11, Z:0.04 [[ 9.99999333e-01 -6.17949617e-05 -1.15356785e-03 1.28747015e+02] [ 6.17733389e-05 9.99999998e-01 -1.87798781e-05 1.14494542e-01] [ 1.15356901e-03 1.87086059e-05 9.99999334e-01 3.94562741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:0.11, Z:0.04 [[ 9.99993422e-01 3.43870899e-03 -1.15356659e-03 1.28776558e+02] [-3.43873303e-03 9.99994087e-01 -1.88570945e-05 1.14085576e-01] [ 1.15349492e-03 2.28237780e-05 9.99999334e-01 3.99424630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:0.12, Z:0.04 [[ 9.99988666e-01 4.61918548e-03 -1.15356533e-03 1.28805886e+02] [-4.61921040e-03 9.99989331e-01 -1.89336485e-05 1.16999213e-01] [ 1.15346557e-03 2.42619949e-05 9.99999334e-01 3.87500524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:0.12, Z:0.04 [[ 9.99982444e-01 5.81218619e-03 -1.15356407e-03 1.28835267e+02] [-5.81221198e-03 9.99983109e-01 -1.90100089e-05 1.21306767e-01] [ 1.15343410e-03 2.57144341e-05 9.99999334e-01 3.72863142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:0.13, Z:0.04 [[ 9.99980043e-01 6.21154126e-03 -1.15356281e-03 1.28865129e+02] [-6.21156741e-03 9.99980708e-01 -1.90863692e-05 1.25712190e-01] [ 1.15342200e-03 2.62514215e-05 9.99999334e-01 3.69805483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:0.13, Z:0.04 [[ 9.99972389e-01 7.34101318e-03 -1.15356156e-03 1.28894558e+02] [-7.34104017e-03 9.99973054e-01 -1.91618483e-05 1.28692061e-01] [ 1.15338981e-03 2.76296609e-05 9.99999334e-01 3.86974449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:0.13, Z:0.04 [[ 9.99969550e-01 7.71803661e-03 -1.15356030e-03 1.28924244e+02] [-7.71806393e-03 9.99970215e-01 -1.92373855e-05 1.29055496e-01] [ 1.15337746e-03 2.81400518e-05 9.99999334e-01 3.89493310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.96, Y:0.13, Z:0.05 [[ 9.99962823e-01 8.54533510e-03 -1.15355903e-03 1.28955750e+02] [-8.54536306e-03 9.99963488e-01 -1.93129950e-05 1.29348049e-01] [ 1.15335188e-03 2.91698577e-05 9.99999334e-01 4.88936473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:0.13, Z:0.04 [[ 9.99977472e-01 6.61244509e-03 -1.15375581e-03 1.28984621e+02] [-6.61245844e-03 9.99978137e-01 -7.76331970e-06 1.30283612e-01] [ 1.15367925e-03 1.53923071e-05 9.99999334e-01 3.85417407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:0.13, Z:0.04 [[ 9.99986820e-01 5.00288992e-03 -1.15353868e-03 1.29014318e+02] [-5.00291652e-03 9.99987485e-01 -2.01768414e-05 1.33195246e-01] [ 1.15342330e-03 2.59476332e-05 9.99999334e-01 3.70845058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:0.14, Z:0.04 [[ 9.99987704e-01 4.82299976e-03 -1.15353734e-03 1.29044155e+02] [-4.82302633e-03 9.99988369e-01 -2.02528891e-05 1.36017236e-01] [ 1.15342625e-03 2.58161810e-05 9.99999334e-01 3.76676506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:0.14, Z:0.04 [[ 9.99985575e-01 5.24584067e-03 -1.15353601e-03 1.29073426e+02] [-5.24586761e-03 9.99986240e-01 -2.03286869e-05 1.39610532e-01] [ 1.15341349e-03 2.63796908e-05 9.99999334e-01 3.85647381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:0.14, Z:0.04 [[ 9.99981848e-01 5.91382288e-03 -1.15352703e-03 1.29102643e+02] [-5.91385084e-03 9.99982513e-01 -2.08260508e-05 1.43510885e-01] [ 1.15338370e-03 2.76474595e-05 9.99999334e-01 3.99383174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.13, Y:0.15, Z:0.04 [[ 9.99990561e-01 4.18894642e-03 -1.15352565e-03 1.29132411e+02] [-4.18897332e-03 9.99991226e-01 -2.09020977e-05 1.46066519e-01] [ 1.15342797e-03 2.57339885e-05 9.99999334e-01 3.88599514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:0.15, Z:0.04 [[ 9.99997163e-01 2.08394200e-03 -1.15352427e-03 1.29161781e+02] [-2.08396758e-03 9.99997828e-01 -2.09780712e-05 1.45328533e-01] [ 1.15347805e-03 2.33819189e-05 9.99999334e-01 3.71083510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.19, Y:0.15, Z:0.04 [[ 9.99999321e-01 1.63562994e-04 -1.15352288e-03 1.29192554e+02] [-1.63587390e-04 9.99999986e-01 -2.10544432e-05 1.45742850e-01] [ 1.15351942e-03 2.12431307e-05 9.99999334e-01 4.21927887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.22, Y:0.15, Z:0.05 [[ 9.99976615e-01 -6.74083980e-03 -1.15363353e-03 1.29222367e+02] [ 6.74082697e-03 9.99977280e-01 -1.50131419e-05 1.47839498e-01] [ 1.15370852e-03 7.23634682e-06 9.99999334e-01 4.84846513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.25, Y:0.15, Z:0.04 [[ 9.99934768e-01 -1.13634954e-02 -1.15364296e-03 1.29252222e+02] [ 1.13634862e-02 9.99935433e-01 -1.45045493e-05 1.48639078e-01] [ 1.15373329e-03 1.39419730e-06 9.99999334e-01 3.98985870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.28, Y:0.15, Z:0.05 [[ 9.99919794e-01 -1.26124963e-02 -1.15350980e-03 1.29282959e+02] [ 1.26124797e-02 9.99920459e-01 -2.16119207e-05 1.50064342e-01] [ 1.15369062e-03 7.06156839e-06 9.99999334e-01 5.12363222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.31, Y:0.15, Z:0.04 [[ 9.99894332e-01 -1.44911497e-02 -1.15361325e-03 1.29313611e+02] [ 1.44911408e-02 9.99894998e-01 -1.60633529e-05 1.52311196e-01] [ 1.15372489e-03 -6.55516410e-07 9.99999334e-01 4.01613761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.34, Y:0.15, Z:0.04 [[ 9.99890017e-01 -1.47859315e-02 -1.15351456e-03 1.29343799e+02] [ 1.47859167e-02 9.99890682e-01 -2.13861645e-05 1.54149551e-01] [ 1.15370468e-03 4.32804215e-06 9.99999334e-01 3.81965251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:0.15, Z:0.04 [[ 9.99906314e-01 -1.36393908e-02 -1.15351456e-03 1.29374352e+02] [ 1.36393752e-02 9.99906979e-01 -2.13861645e-05 1.52548520e-01] [ 1.15369896e-03 5.65094301e-06 9.99999334e-01 3.72214922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:0.15, Z:0.04 [[ 9.99915295e-01 -1.29642861e-02 -1.15351456e-03 1.29404588e+02] [ 1.29642700e-02 9.99915960e-01 -2.13861645e-05 1.51475483e-01] [ 1.15369488e-03 6.42987869e-06 9.99999334e-01 3.76852030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:0.15, Z:0.04 [[ 9.99920898e-01 -1.25246416e-02 -1.15351456e-03 1.29434960e+02] [ 1.25246253e-02 9.99921564e-01 -2.13861645e-05 1.51721322e-01] [ 1.15369194e-03 6.93713516e-06 9.99999334e-01 3.85207595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.47, Y:0.15, Z:0.04 [[ 9.99912552e-01 -1.31741166e-02 -1.15351456e-03 1.29465636e+02] [ 1.31741007e-02 9.99913218e-01 -2.13861645e-05 1.52621745e-01] [ 1.15369620e-03 6.18777735e-06 9.99999334e-01 3.87222813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.50, Y:0.15, Z:0.04 [[ 9.99879925e-01 -1.54532942e-02 -1.15351456e-03 1.29496248e+02] [ 1.54532798e-02 9.99880591e-01 -2.13861645e-05 1.52861272e-01] [ 1.15370731e-03 3.55801322e-06 9.99999334e-01 3.79377348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:0.15, Z:0.04 [[ 9.99857005e-01 -1.68712171e-02 -1.15351456e-03 1.29526344e+02] [ 1.68712037e-02 9.99857671e-01 -2.13861645e-05 1.51398893e-01] [ 1.15371119e-03 1.92192723e-06 9.99999334e-01 3.73729939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:0.15, Z:0.04 [[ 9.99845546e-01 -1.75372079e-02 -1.15351456e-03 1.29557225e+02] [ 1.75371949e-02 9.99846211e-01 -2.13861645e-05 1.49651508e-01] [ 1.15371222e-03 1.15345160e-06 9.99999334e-01 3.60691446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:0.15, Z:0.04 [[ 9.99846551e-01 -1.74798167e-02 -1.15351456e-03 1.29587860e+02] [ 1.74798037e-02 9.99847216e-01 -2.13861645e-05 1.48635552e-01] [ 1.15371215e-03 1.21967470e-06 9.99999334e-01 3.54978352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:0.15, Z:0.04 [[ 9.99868725e-01 -1.61617631e-02 -1.15351456e-03 1.29618709e+02] [ 1.61617492e-02 9.99869390e-01 -2.13861645e-05 1.50977014e-01] [ 1.15370954e-03 2.74054394e-06 9.99999334e-01 3.88034665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:0.15, Z:0.04 [[ 9.99877308e-01 -1.56217390e-02 -1.15351456e-03 1.29649616e+02] [ 1.56217247e-02 9.99877973e-01 -2.13861645e-05 1.53608360e-01] [ 1.15370789e-03 3.36365365e-06 9.99999334e-01 3.88264220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:0.15, Z:0.04 [[ 9.99897180e-01 -1.42933082e-02 -1.15351456e-03 1.29680296e+02] [ 1.42932930e-02 9.99897845e-01 -2.13861645e-05 1.54475710e-01] [ 1.15370240e-03 4.89644393e-06 9.99999334e-01 3.72621854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:0.15, Z:0.05 [[ 9.99909062e-01 -1.34364173e-02 -1.15351456e-03 1.29710256e+02] [ 1.34364016e-02 9.99909727e-01 -2.13861645e-05 1.52996673e-01] [ 1.15369778e-03 5.88513478e-06 9.99999334e-01 4.55463890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:0.15, Z:0.03 [[ 9.99886410e-01 -1.50278506e-02 -1.15356655e-03 1.29741018e+02] [ 1.50278392e-02 9.99887075e-01 -1.85715331e-05 1.53512768e-01] [ 1.15371538e-03 1.23381083e-06 9.99999334e-01 3.46502902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.77, Y:0.15, Z:0.04 [[ 9.99857265e-01 -1.68558200e-02 -1.15352120e-03 1.29771735e+02] [ 1.68558069e-02 9.99857931e-01 -2.10563945e-05 1.53831656e-01] [ 1.15371224e-03 1.60985849e-06 9.99999334e-01 3.50144548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:129.80, Y:0.15, Z:0.04 [[ 9.99822556e-01 -1.88022638e-02 -1.15352120e-03 1.29802036e+02] [ 1.88022520e-02 9.99823222e-01 -2.10563945e-05 1.54018211e-01] [ 1.15371319e-03 -6.36138005e-07 9.99999334e-01 3.60703411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:0.15, Z:0.04 [[ 9.99699643e-01 -2.44804504e-02 -1.15352120e-03 1.29832312e+02] [ 2.44804424e-02 9.99700309e-01 -2.10563945e-05 1.53727500e-01] [ 1.15369097e-03 -7.18863915e-06 9.99999334e-01 3.65227241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:129.86, Y:0.15, Z:0.04 [[ 9.99660195e-01 -2.60415677e-02 -1.15352120e-03 1.29862411e+02] [ 2.60415607e-02 9.99660861e-01 -2.10563945e-05 1.54687591e-01] [ 1.15367833e-03 -8.99025281e-06 9.99999334e-01 3.64926650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:0.16, Z:0.04 [[ 9.99659609e-01 -2.60640824e-02 -1.15352120e-03 1.29892582e+02] [ 2.60640755e-02 9.99660274e-01 -2.10563945e-05 1.56151185e-01] [ 1.15367813e-03 -9.01623644e-06 9.99999334e-01 3.64447599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:0.16, Z:0.04 [[ 9.99648995e-01 -2.64680094e-02 -1.15352120e-03 1.29922818e+02] [ 2.64680027e-02 9.99649661e-01 -2.10563945e-05 1.56267052e-01] [ 1.15367439e-03 -9.48239850e-06 9.99999334e-01 3.70561611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:0.15, Z:0.04 [[ 9.99597106e-01 -2.83600883e-02 -1.15352120e-03 1.29952896e+02] [ 2.83600829e-02 9.99597772e-01 -2.10563945e-05 1.54019971e-01] [ 1.15365438e-03 -1.16660457e-05 9.99999334e-01 3.62182841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:0.16, Z:0.04 [[ 9.99562648e-01 -2.95496394e-02 -1.15352120e-03 1.29984344e+02] [ 2.95496348e-02 9.99563314e-01 -2.10563945e-05 1.55151156e-01] [ 1.15363968e-03 -1.30389446e-05 9.99999334e-01 3.59154103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:0.16, Z:0.04 [[ 9.99564531e-01 -2.94858837e-02 -1.15352253e-03 1.30016170e+02] [ 2.94858791e-02 9.99565197e-01 -2.09828607e-05 1.55746686e-01] [ 1.15363968e-03 -1.30389027e-05 9.99999334e-01 3.59521310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:0.16, Z:0.04 [[ 9.99544141e-01 -3.01691672e-02 -1.15352387e-03 1.30047082e+02] [ 3.01691632e-02 9.99544807e-01 -2.09092849e-05 1.58150465e-01] [ 1.15362961e-03 -1.39010965e-05 9.99999334e-01 3.60725356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:0.16, Z:0.04 [[ 9.99520682e-01 -3.09366298e-02 -1.15352520e-03 1.30078399e+02] [ 3.09366264e-02 9.99521348e-01 -2.08356956e-05 1.60093641e-01] [ 1.15361765e-03 -1.48604693e-05 9.99999334e-01 3.56077987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:0.16, Z:0.04 [[ 9.99486745e-01 -3.20143201e-02 -1.15352651e-03 1.30109273e+02] [ 3.20143174e-02 9.99487410e-01 -2.07624632e-05 1.60138354e-01] [ 1.15359992e-03 -1.61775573e-05 9.99999334e-01 3.59521458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:0.16, Z:0.04 [[ 9.99448448e-01 -3.31883895e-02 -1.15352784e-03 1.30140336e+02] [ 3.31883877e-02 9.99449114e-01 -2.06886383e-05 1.60447435e-01] [ 1.15357900e-03 -1.76065017e-05 9.99999334e-01 3.65805794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:0.16, Z:0.04 [[ 9.99372426e-01 -3.54037242e-02 -1.15352915e-03 1.30171225e+02] [ 3.54037240e-02 9.99373091e-01 -2.06152960e-05 1.61532519e-01] [ 1.15353585e-03 -2.02368692e-05 9.99999334e-01 3.71927439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:0.16, Z:0.05 [[ 9.99373430e-01 -3.53753557e-02 -1.15353044e-03 1.30202387e+02] [ 3.53753556e-02 9.99374096e-01 -2.05427669e-05 1.62108672e-01] [ 1.15353515e-03 -2.02766541e-05 9.99999334e-01 5.13071056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:0.16, Z:0.04 [[ 9.99226054e-01 -3.93187349e-02 -1.15353718e-03 1.30233613e+02] [ 3.93187378e-02 9.99226719e-01 -2.01635731e-05 1.59214530e-01] [ 1.15343798e-03 -2.52076582e-05 9.99999334e-01 3.66502905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:0.16, Z:0.04 [[ 9.99198076e-01 -4.00234309e-02 -1.15353363e-03 1.30264840e+02] [ 4.00234341e-02 9.99198741e-01 -2.03643854e-05 1.58467201e-01] [ 1.15342441e-03 -2.58203226e-05 9.99999334e-01 3.61306931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:130.30, Y:0.16, Z:0.03 [[ 9.99160322e-01 -4.09550981e-02 -1.15353490e-03 1.30296187e+02] [ 4.09551019e-02 9.99160988e-01 -2.02920833e-05 1.60601141e-01] [ 1.15339814e-03 -2.69680951e-05 9.99999334e-01 3.42765119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.33, Y:0.16, Z:0.03 [[ 9.99137661e-01 -4.15042496e-02 -1.15353617e-03 1.30327051e+02] [ 4.15042539e-02 9.99138327e-01 -2.02199005e-05 1.64209460e-01] [ 1.15338141e-03 -2.76741939e-05 9.99999334e-01 3.46027291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.36, Y:0.16, Z:0.04 [[ 9.99166376e-01 -4.08071285e-02 -1.15353742e-03 1.30358447e+02] [ 4.08071325e-02 9.99167042e-01 -2.01482842e-05 1.62211221e-01] [ 1.15339877e-03 -2.69410662e-05 9.99999334e-01 3.65191745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:0.16, Z:0.04 [[ 9.99168579e-01 -4.07531708e-02 -1.15353868e-03 1.30390285e+02] [ 4.07531748e-02 9.99169244e-01 -2.00759818e-05 1.57251828e-01] [ 1.15339853e-03 -2.69510732e-05 9.99999334e-01 3.80348749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:0.15, Z:0.04 [[ 9.99160149e-01 -4.09593279e-02 -1.15353993e-03 1.30421318e+02] [ 4.09593321e-02 9.99160814e-01 -2.00036794e-05 1.53459122e-01] [ 1.15339124e-03 -2.72613459e-05 9.99999334e-01 4.02244892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:0.15, Z:0.04 [[ 9.99149628e-01 -4.12151675e-02 -1.15354117e-03 1.30452543e+02] [ 4.12151719e-02 9.99150294e-01 -1.99321926e-05 1.52970659e-01] [ 1.15338251e-03 -2.76281547e-05 9.99999334e-01 4.06497267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:0.15, Z:0.04 [[ 9.99030929e-01 -4.39985570e-02 -1.15354241e-03 1.30484350e+02] [ 4.39985634e-02 9.99031594e-01 -1.98601944e-05 1.51079444e-01] [ 1.15329913e-03 -3.09132602e-05 9.99999334e-01 3.51937417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:0.15, Z:0.03 [[ 9.99016866e-01 -4.43167211e-02 -1.15354364e-03 1.30516075e+02] [ 4.43167278e-02 9.99017531e-01 -1.97883675e-05 1.47095527e-01] [ 1.15328727e-03 -3.13523666e-05 9.99999334e-01 3.26561090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:0.14, Z:0.03 [[ 9.99063481e-01 -4.32531059e-02 -1.15354487e-03 1.30547602e+02] [ 4.32531119e-02 9.99064146e-01 -1.97164221e-05 1.43920853e-01] [ 1.15331812e-03 -3.01964481e-05 9.99999334e-01 3.43559781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:130.58, Y:0.15, Z:0.05 [[ 9.99360770e-01 -3.57312354e-02 -1.15354609e-03 1.30577977e+02] [ 3.57312365e-02 9.99361435e-01 -1.96445949e-05 1.47788781e-01] [ 1.15351140e-03 -2.15855908e-05 9.99999334e-01 5.33101763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:0.15, Z:0.05 [[ 9.99511640e-01 -3.12274083e-02 -1.15350932e-03 1.30608728e+02] [ 3.12274039e-02 9.99512305e-01 -2.18366191e-05 1.52495503e-01] [ 1.15362866e-03 -1.41951463e-05 9.99999334e-01 5.33987131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:0.15, Z:0.04 [[ 9.99580115e-01 -2.89527766e-02 -1.15359170e-03 1.30639161e+02] [ 2.89527764e-02 9.99580780e-01 -1.68628292e-05 1.54496529e-01] [ 1.15359632e-03 -1.65439338e-05 9.99999334e-01 4.07471912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:0.15, Z:0.05 [[ 9.99700311e-01 -2.44531576e-02 -1.15355863e-03 1.30669297e+02] [ 2.44531521e-02 9.99700977e-01 -1.88828943e-05 1.52333494e-01] [ 1.15367544e-03 -9.33090939e-06 9.99999334e-01 5.38156014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:0.15, Z:0.04 [[ 9.99762301e-01 -2.17717967e-02 -1.15363333e-03 1.30700247e+02] [ 2.17717947e-02 9.99762966e-01 -1.42734890e-05 1.48026067e-01] [ 1.15367064e-03 -1.08465718e-05 9.99999334e-01 3.80432353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:0.15, Z:0.04 [[ 9.99777216e-01 -2.10757793e-02 -1.15356236e-03 1.30731089e+02] [ 2.10757718e-02 9.99777881e-01 -1.86609066e-05 1.49089268e-01] [ 1.15369942e-03 -5.65546775e-06 9.99999334e-01 3.94206088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:0.15, Z:0.05 [[ 9.99823909e-01 -1.87301846e-02 -1.15356236e-03 1.30761010e+02] [ 1.87301755e-02 9.99824575e-01 -1.86609066e-05 1.53103154e-01] [ 1.15370951e-03 -2.94880479e-06 9.99999334e-01 5.18062235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:0.16, Z:0.05 [[ 9.99870622e-01 -1.60439497e-02 -1.15359420e-03 1.30791704e+02] [ 1.60439411e-02 9.99871288e-01 -1.66789651e-05 1.62135180e-01] [ 1.15371331e-03 -1.83139020e-06 9.99999334e-01 4.97175629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:0.17, Z:0.05 [[ 9.99901997e-01 -1.39522629e-02 -1.15356382e-03 1.30821770e+02] [ 1.39522507e-02 9.99902662e-01 -1.85910940e-05 1.65303593e-01] [ 1.15371092e-03 2.49446042e-06 9.99999334e-01 4.87429286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:0.17, Z:0.05 [[ 9.99934744e-01 -1.13655982e-02 -1.15354271e-03 1.30851905e+02] [ 1.13655828e-02 9.99935409e-01 -1.99327564e-05 1.66564316e-01] [ 1.15369475e-03 6.82077059e-06 9.99999334e-01 4.81606286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.88, Y:0.17, Z:0.04 [[ 9.99948538e-01 -1.00792462e-02 -1.15360306e-03 1.30881737e+02] [ 1.00792343e-02 9.99949203e-01 -1.61086508e-05 1.66552989e-01] [ 1.15370682e-03 4.48038634e-06 9.99999334e-01 3.86943566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:0.17, Z:0.04 [[ 9.99969216e-01 -7.76119009e-03 -1.15357229e-03 1.30911510e+02] [ 7.76117441e-03 9.99969881e-01 -1.80722655e-05 1.68158439e-01] [ 1.15367781e-03 9.11863343e-06 9.99999334e-01 3.99870778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:0.17, Z:0.05 [[ 9.99966465e-01 -8.10792816e-03 -1.15357110e-03 1.30940969e+02] [ 8.10791262e-03 9.99967130e-01 -1.81483746e-05 1.69644020e-01] [ 1.15368033e-03 8.79471232e-06 9.99999334e-01 4.92869850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:0.17, Z:0.04 [[ 9.99968356e-01 -7.87125676e-03 -1.15352091e-03 1.30971176e+02] [ 7.87123741e-03 9.99969021e-01 -2.13148340e-05 1.71008340e-01] [ 1.15365295e-03 1.22345225e-05 9.99999334e-01 3.90855633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.00, Y:0.17, Z:0.04 [[ 9.99958037e-01 -9.08807311e-03 -1.15356966e-03 1.31001115e+02] [ 9.08805812e-03 9.99958703e-01 -1.82305369e-05 1.71488397e-01] [ 1.15368770e-03 7.74606383e-06 9.99999334e-01 3.99930699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:0.17, Z:0.05 [[ 9.99927304e-01 -1.20023204e-02 -1.15356845e-03 1.31030724e+02] [ 1.20023072e-02 9.99927970e-01 -1.83068381e-05 1.73159404e-01] [ 1.15370508e-03 4.46002437e-06 9.99999334e-01 4.94562265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:0.17, Z:0.04 [[ 9.99949789e-01 -9.95433745e-03 -1.15343560e-03 1.31062212e+02] [ 9.95431321e-03 9.99950454e-01 -2.67526730e-05 1.74841152e-01] [ 1.15364476e-03 1.52696705e-05 9.99999334e-01 3.97216693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:0.18, Z:0.04 [[ 9.99961781e-01 -8.66631966e-03 -1.15357460e-03 1.31091805e+02] [ 8.66630502e-03 9.99962447e-01 -1.76864770e-05 1.75553630e-01] [ 1.15368456e-03 7.68857170e-06 9.99999334e-01 3.98378577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:0.18, Z:0.05 [[ 9.99969107e-01 -7.77523483e-03 -1.15357343e-03 1.31122124e+02] [ 7.77521951e-03 9.99969772e-01 -1.77628976e-05 1.75102803e-01] [ 1.15367667e-03 8.79306226e-06 9.99999334e-01 4.75669340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:0.17, Z:0.04 [[ 9.99985560e-01 -5.24866001e-03 -1.15355287e-03 1.31152470e+02] [ 5.24864146e-03 9.99986226e-01 -1.91088648e-05 1.73106894e-01] [ 1.15363727e-03 1.30540035e-05 9.99999334e-01 4.01464096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:0.17, Z:0.04 [[ 9.99985689e-01 -5.22407577e-03 -1.15357842e-03 1.31182213e+02] [ 5.22405916e-03 9.99986354e-01 -1.74166138e-05 1.74535609e-01] [ 1.15365366e-03 1.13900027e-05 9.99999334e-01 4.02898795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:0.18, Z:0.04 [[ 9.99987693e-01 -4.82534853e-03 -1.15357726e-03 1.31212126e+02] [ 4.82533156e-03 9.99988358e-01 -1.74927233e-05 1.77058548e-01] [ 1.15364824e-03 1.19261152e-05 9.99999334e-01 4.04637533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:0.18, Z:0.04 [[ 9.99994670e-01 -3.05432791e-03 -1.15357610e-03 1.31241937e+02] [ 3.05430967e-03 9.99995335e-01 -1.75691585e-05 1.76880103e-01] [ 1.15362438e-03 1.40456862e-05 9.99999334e-01 4.04738023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:0.18, Z:0.05 [[ 9.99997075e-01 -2.12592041e-03 -1.15357494e-03 1.31271115e+02] [ 2.12590147e-03 9.99997740e-01 -1.76451354e-05 1.76974856e-01] [ 1.15360984e-03 1.51926971e-05 9.99999334e-01 4.91494514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:0.18, Z:0.04 [[ 9.99999255e-01 3.99536700e-04 -1.15356023e-03 1.31301016e+02] [-3.99558430e-04 9.99999920e-01 -1.86069924e-05 1.78021177e-01] [ 1.15355271e-03 1.90678933e-05 9.99999334e-01 4.04026836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:0.18, Z:0.04 [[ 9.99997313e-01 2.01100177e-03 -1.15357310e-03 1.31330374e+02] [-2.01102361e-03 9.99997978e-01 -1.77716631e-05 1.81475434e-01] [ 1.15353503e-03 2.00914780e-05 9.99999334e-01 4.10733610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:0.19, Z:0.04 [[ 9.99977669e-01 6.58257816e-03 -1.15357193e-03 1.31360261e+02] [-6.58260313e-03 9.99978334e-01 -1.78477130e-05 1.86902963e-01] [ 1.15342945e-03 2.54408206e-05 9.99999334e-01 4.15570975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:0.19, Z:0.04 [[ 9.99964070e-01 8.39814940e-03 -1.15357074e-03 1.31389842e+02] [-8.39817566e-03 9.99964735e-01 -1.79238220e-05 1.87541619e-01] [ 1.15337954e-03 2.76110678e-05 9.99999334e-01 4.05013041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:0.19, Z:0.04 [[ 9.99963193e-01 8.50182846e-03 -1.15356956e-03 1.31419366e+02] [-8.50185488e-03 9.99963858e-01 -1.79993599e-05 1.87502304e-01] [ 1.15337485e-03 2.78061784e-05 9.99999334e-01 4.11896572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:0.19, Z:0.04 [[ 9.99962039e-01 8.63658531e-03 -1.15356839e-03 1.31449484e+02] [-8.63661191e-03 9.99962704e-01 -1.80746371e-05 1.88450796e-01] [ 1.15336926e-03 2.80368734e-05 9.99999334e-01 3.97833044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:0.19, Z:0.04 [[ 9.99952765e-01 9.65077715e-03 -1.15356719e-03 1.31479031e+02] [-9.65080451e-03 9.99953430e-01 -1.81504957e-05 1.90150551e-01] [ 1.15333830e-03 2.92824898e-05 9.99999334e-01 3.89491724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:0.19, Z:0.04 [[ 9.99918713e-01 1.26978962e-02 -1.15356600e-03 1.31508235e+02] [-1.26979257e-02 9.99919378e-01 -1.82257728e-05 1.94705186e-01] [ 1.15324157e-03 3.28721867e-05 9.99999334e-01 4.01802387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:0.20, Z:0.05 [[ 9.99939250e-01 1.09619738e-02 -1.15355739e-03 1.31536737e+02] [-1.09620027e-02 9.99939915e-01 -1.87557311e-05 1.99677276e-01] [ 1.15328247e-03 3.13998909e-05 9.99999334e-01 4.73741000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:0.21, Z:0.04 [[ 9.99916784e-01 1.28489555e-02 -1.15341839e-03 1.31567038e+02] [-1.28489953e-02 9.99917448e-01 -2.71314673e-05 2.06034172e-01] [ 1.15297456e-03 4.19494770e-05 9.99999334e-01 4.19700469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:0.21, Z:0.05 [[ 9.99943602e-01 1.05575452e-02 -1.15355135e-03 1.31595493e+02] [-1.05575742e-02 9.99944267e-01 -1.91025511e-05 2.11242861e-01] [ 1.15328538e-03 3.12801777e-05 9.99999334e-01 4.80584082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:0.21, Z:0.04 [[ 9.99934499e-01 1.13871280e-02 -1.15344130e-03 1.31626013e+02] [-1.13871653e-02 9.99935164e-01 -2.57184650e-05 2.12086298e-01] [ 1.15307365e-03 3.88512071e-05 9.99999334e-01 4.05654035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:0.21, Z:0.04 [[ 9.99949964e-01 9.93673063e-03 -1.15355169e-03 1.31654567e+02] [-9.93675919e-03 9.99950629e-01 -1.90249193e-05 2.12325965e-01] [ 1.15330569e-03 3.04865327e-05 9.99999334e-01 4.05981658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:0.22, Z:0.05 [[ 9.99969627e-01 7.70801852e-03 -1.15354269e-03 1.31683132e+02] [-7.70804620e-03 9.99970292e-01 -1.95555306e-05 2.15897712e-01] [ 1.15335769e-03 2.84464970e-05 9.99999334e-01 4.57999179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:0.23, Z:0.04 [[ 9.99987630e-01 4.83828563e-03 -1.15348796e-03 1.31712454e+02] [-4.83831510e-03 9.99988295e-01 -2.27600467e-05 2.28924614e-01] [ 1.15336434e-03 2.83407034e-05 9.99999334e-01 3.96080243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:0.23, Z:0.05 [[ 9.99996829e-01 2.23841489e-03 -1.15354069e-03 1.31742154e+02] [-2.23843907e-03 9.99997494e-01 -1.96675002e-05 2.34329863e-01] [ 1.15349377e-03 2.22495684e-05 9.99999334e-01 4.70786205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:0.24, Z:0.05 [[ 9.99998779e-01 1.05459954e-03 -1.15354431e-03 1.31771674e+02] [-1.05462269e-03 9.99999444e-01 -1.94571038e-05 2.37726327e-01] [ 1.15352314e-03 2.06736341e-05 9.99999334e-01 4.78049237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:0.24, Z:0.04 [[ 9.99998493e-01 -1.29711824e-03 -1.15361433e-03 1.31801236e+02] [ 1.29710131e-03 9.99999159e-01 -1.54314261e-05 2.40000050e-01] [ 1.15363338e-03 1.39350482e-05 9.99999334e-01 4.03079213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:0.24, Z:0.04 [[ 9.99976629e-01 -6.73875846e-03 -1.15353308e-03 1.31830958e+02] [ 6.73873976e-03 9.99977294e-01 -2.00954829e-05 2.44211164e-01] [ 1.15364231e-03 1.23216540e-05 9.99999334e-01 4.01458156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:0.25, Z:0.04 [[ 9.99941979e-01 -1.07101484e-02 -1.15353176e-03 1.31861764e+02] [ 1.07101322e-02 9.99942645e-01 -2.01712804e-05 2.46213123e-01] [ 1.15368163e-03 7.81563243e-06 9.99999334e-01 3.95221343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:0.25, Z:0.04 [[ 9.99894649e-01 -1.44693187e-02 -1.15353176e-03 1.31892023e+02] [ 1.44693051e-02 9.99895314e-01 -2.01712804e-05 2.48474023e-01] [ 1.15370286e-03 3.47835243e-06 9.99999334e-01 3.81341624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:0.25, Z:0.04 [[ 9.99895592e-01 -1.44039492e-02 -1.15353176e-03 1.31923855e+02] [ 1.44039355e-02 9.99896258e-01 -2.01712804e-05 2.49047636e-01] [ 1.15370263e-03 3.55377733e-06 9.99999334e-01 3.81708933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:0.25, Z:0.04 [[ 9.99799876e-01 -1.99719195e-02 -1.15353307e-03 1.31955194e+02] [ 1.99719096e-02 9.99800541e-01 -2.00958666e-05 2.54184544e-01] [ 1.15370434e-03 -2.94641338e-06 9.99999334e-01 3.80149612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:0.26, Z:0.04 [[ 9.99749705e-01 -2.23427249e-02 -1.15353438e-03 1.31986411e+02] [ 2.23427167e-02 9.99750370e-01 -2.00204385e-05 2.57308722e-01] [ 1.15369374e-03 -5.75766438e-06 9.99999334e-01 3.77035356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:0.26, Z:0.05 [[ 9.99713771e-01 -2.38965492e-02 -1.15353567e-03 1.32017384e+02] [ 2.38965421e-02 9.99714437e-01 -1.99458273e-05 2.58809158e-01] [ 1.15368290e-03 -7.62539553e-06 9.99999334e-01 5.17434659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:0.26, Z:0.05 [[ 9.99643397e-01 -2.66786222e-02 -1.15351394e-03 1.32047949e+02] [ 2.66786155e-02 9.99644062e-01 -2.12160490e-05 2.59469675e-01] [ 1.15366938e-03 -9.56567171e-06 9.99999334e-01 5.03357746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:0.26, Z:0.04 [[ 9.99510128e-01 -3.12757625e-02 -1.15350072e-03 1.32079767e+02] [ 3.12757579e-02 9.99510794e-01 -2.19966283e-05 2.57990791e-01] [ 1.15362438e-03 -1.40907564e-05 9.99999334e-01 3.99822209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:0.26, Z:0.04 [[ 9.99453583e-01 -3.30333821e-02 -1.15354604e-03 1.32113222e+02] [ 3.30333819e-02 9.99454249e-01 -1.92857018e-05 2.57792937e-01] [ 1.15355356e-03 -1.88303631e-05 9.99999334e-01 3.87887445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:0.26, Z:0.04 [[ 9.99354898e-01 -3.58950823e-02 -1.15355542e-03 1.32146380e+02] [ 3.58950846e-02 9.99355564e-01 -1.87075581e-05 2.57567288e-01] [ 1.15348353e-03 -2.27114794e-05 9.99999334e-01 3.69072189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:0.26, Z:0.05 [[ 9.99238098e-01 -3.90114498e-02 -1.15356457e-03 1.32176548e+02] [ 3.90114549e-02 9.99238763e-01 -1.81249176e-05 2.56457242e-01] [ 1.15339351e-03 -2.68911240e-05 9.99999334e-01 4.87172258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:0.25, Z:0.04 [[ 9.98910272e-01 -4.66576746e-02 -1.15348644e-03 1.32208686e+02] [ 4.66576790e-02 9.98910937e-01 -2.31278445e-05 2.52652165e-01] [ 1.15330931e-03 -3.07163586e-05 9.99999334e-01 3.85020802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:0.25, Z:0.04 [[ 9.98704982e-01 -5.08628460e-02 -1.15357027e-03 1.32241658e+02] [ 5.08628595e-02 9.98705647e-01 -1.76484504e-05 2.50971051e-01] [ 1.15297479e-03 -4.10482873e-05 9.99999334e-01 4.15109616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.28, Y:0.25, Z:0.04 [[ 9.98520885e-01 -5.43572579e-02 -1.15357849e-03 1.32275189e+02] [ 5.43572744e-02 9.98521550e-01 -1.70936559e-05 2.49770287e-01] [ 1.15280215e-03 -4.56370101e-05 9.99999334e-01 4.35617030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:0.25, Z:0.04 [[ 9.98263469e-01 -5.88958008e-02 -1.15358640e-03 1.32308704e+02] [ 5.88958209e-02 9.98264134e-01 -1.65420851e-05 2.48615133e-01] [ 1.15255819e-03 -5.14280588e-05 9.99999334e-01 4.27014806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:0.24, Z:0.04 [[ 9.97822635e-01 -6.59443563e-02 -1.15359398e-03 1.32341878e+02] [ 6.59443818e-02 9.97823300e-01 -1.59955022e-05 2.42220954e-01] [ 1.15213776e-03 -6.01123677e-05 9.99999334e-01 3.67237376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:0.24, Z:0.05 [[ 9.97590505e-01 -6.93675249e-02 -1.15360117e-03 1.32371559e+02] [ 6.93675532e-02 9.97591170e-01 -1.54586326e-05 2.36059655e-01] [ 1.15189467e-03 -6.46011057e-05 9.99999334e-01 4.63283668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:0.23, Z:0.04 [[ 9.97518070e-01 -7.04014827e-02 -1.15352352e-03 1.32403643e+02] [ 7.04015051e-02 9.97518735e-01 -2.12037475e-05 2.28841503e-01] [ 1.15215410e-03 -6.00586711e-05 9.99999334e-01 3.56330760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:0.22, Z:0.04 [[ 9.97536905e-01 -7.01341021e-02 -1.15360176e-03 1.32436536e+02] [ 7.01341311e-02 9.97537570e-01 -1.53078632e-05 2.23216164e-01] [ 1.15183470e-03 -6.56366987e-05 9.99999334e-01 3.91765149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:0.22, Z:0.05 [[ 9.97660857e-01 -6.83482543e-02 -1.15360850e-03 1.32468666e+02] [ 6.83482828e-02 9.97661522e-01 -1.47818251e-05 2.18731057e-01] [ 1.15192112e-03 -6.40999118e-05 9.99999334e-01 4.50593792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.50, Y:0.22, Z:0.04 [[ 9.97742505e-01 -6.71458310e-02 -1.15361421e-03 1.32502061e+02] [ 6.71458591e-02 9.97743170e-01 -1.43222081e-05 2.17664590e-01] [ 1.15197237e-03 -6.31705413e-05 9.99999334e-01 4.32275405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.53, Y:0.21, Z:0.04 [[ 9.97847618e-01 -6.55652436e-02 -1.15362058e-03 1.32534898e+02] [ 6.55652713e-02 9.97848283e-01 -1.37894162e-05 2.14635648e-01] [ 1.15204242e-03 -6.18777099e-05 9.99999334e-01 4.08727205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:0.21, Z:0.04 [[ 9.97975981e-01 -6.35815186e-02 -1.15362670e-03 1.32567673e+02] [ 6.35815456e-02 9.97976646e-01 -1.32560902e-05 2.08756131e-01] [ 1.15213535e-03 -6.01201093e-05 9.99999334e-01 3.72637029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:0.20, Z:0.04 [[ 9.98116074e-01 -6.13430703e-02 -1.15362952e-03 1.32600061e+02] [ 6.13430961e-02 9.98116739e-01 -1.30061243e-05 1.97478284e-01] [ 1.15225477e-03 -5.77855850e-05 9.99999334e-01 3.88174906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:0.19, Z:0.04 [[ 9.98220431e-01 -5.96208052e-02 -1.15363463e-03 1.32632541e+02] [ 5.96208305e-02 9.98221096e-01 -1.25359377e-05 1.93972297e-01] [ 1.15232983e-03 -5.62670256e-05 9.99999334e-01 4.03073616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:0.19, Z:0.04 [[ 9.98331092e-01 -5.77382090e-02 -1.15363960e-03 1.32664467e+02] [ 5.77382336e-02 9.98331757e-01 -1.20602843e-05 1.91046517e-01] [ 1.15241139e-03 -5.45689561e-05 9.99999334e-01 4.31281343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:0.19, Z:0.05 [[ 9.98637668e-01 -5.21677808e-02 -1.15364435e-03 1.32696624e+02] [ 5.21678022e-02 9.98638333e-01 -1.15878181e-05 1.87981651e-01] [ 1.15267798e-03 -4.86110586e-05 9.99999334e-01 5.22979783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:0.18, Z:0.04 [[ 9.98675468e-01 -5.14390772e-02 -1.15375494e-03 1.32725796e+02] [ 5.14391111e-02 9.98676133e-01 -3.37518540e-07 1.81040705e-01] [ 1.15224488e-03 -5.90110571e-05 9.99999334e-01 4.13939753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:0.18, Z:0.04 [[ 9.98818229e-01 -4.85882180e-02 -1.15364252e-03 1.32756994e+02] [ 4.85882370e-02 9.98818894e-01 -1.15584097e-05 1.77585134e-01] [ 1.15284155e-03 -4.45087057e-05 9.99999334e-01 3.99663048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:0.17, Z:0.04 [[ 9.98923072e-01 -4.63828204e-02 -1.15364321e-03 1.32787705e+02] [ 4.63828380e-02 9.98923737e-01 -1.14892472e-05 1.73410733e-01] [ 1.15293449e-03 -4.20323719e-05 9.99999334e-01 4.00573726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:0.17, Z:0.04 [[ 9.99048430e-01 -4.35993629e-02 -1.15364321e-03 1.32817773e+02] [ 4.35993787e-02 9.99049095e-01 -1.14892472e-05 1.69438871e-01] [ 1.15304713e-03 -3.88198127e-05 9.99999334e-01 4.03723094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:0.16, Z:0.05 [[ 9.99404959e-01 -3.44731379e-02 -1.15364321e-03 1.32849236e+02] [ 3.44731476e-02 9.99405624e-01 -1.14892472e-05 1.64021618e-01] [ 1.15335358e-03 -2.82873019e-05 9.99999334e-01 5.18553904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.88, Y:0.16, Z:0.04 [[ 9.99452715e-01 -3.30596482e-02 -1.15371033e-03 1.32878845e+02] [ 3.30596647e-02 9.99453380e-01 -4.77436399e-06 1.62516417e-01] [ 1.15323752e-03 -3.33695256e-05 9.99999334e-01 4.48111340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:0.16, Z:0.04 [[ 9.99576964e-01 -2.90613405e-02 -1.15364030e-03 1.32908947e+02] [ 2.90613464e-02 9.99577630e-01 -1.16871036e-05 1.61546780e-01] [ 1.15349268e-03 -2.18441808e-05 9.99999334e-01 4.36589293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:0.16, Z:0.05 [[ 9.99797918e-01 -2.00696617e-02 -1.15363955e-03 1.32939624e+02] [ 2.00696615e-02 9.99798584e-01 -1.17601990e-05 1.59925926e-01] [ 1.15364321e-03 -1.13953329e-05 9.99999334e-01 5.12002862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.97, Y:0.16, Z:0.04 [[ 9.99853322e-01 -1.70881248e-02 -1.15367701e-03 1.32969971e+02] [ 1.70881268e-02 9.99853987e-01 -8.12345623e-06 1.59555636e-01] [ 1.15364737e-03 -1.15919143e-05 9.99999334e-01 4.15727616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.00, Y:0.16, Z:0.04 [[ 9.99919665e-01 -1.26227275e-02 -1.15363717e-03 1.32999446e+02] [ 1.26227221e-02 9.99920330e-01 -1.19650721e-05 1.59285123e-01] [ 1.15369629e-03 -2.59793048e-06 9.99999334e-01 4.11582851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:0.16, Z:0.05 [[ 9.99991541e-01 -3.94793436e-03 -1.15363638e-03 1.33028671e+02] [ 3.94792310e-03 9.99992207e-01 -1.20403678e-05 1.59915488e-01] [ 1.15367492e-03 7.48579827e-06 9.99999334e-01 5.25009321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:0.16, Z:0.04 [[ 9.99994503e-01 -3.10866505e-03 -1.15371596e-03 1.33058204e+02] [ 3.10866195e-03 9.99995168e-01 -4.48120639e-06 1.60850635e-01] [ 1.15372432e-03 8.94668848e-07 9.99999334e-01 4.24240608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:0.16, Z:0.04 [[ 9.99999250e-01 -4.12024266e-04 -1.15363256e-03 1.33087894e+02] [ 4.12010348e-04 9.99999915e-01 -1.23022660e-05 1.61979689e-01] [ 1.15363753e-03 1.18269482e-05 9.99999334e-01 4.24719593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:0.16, Z:0.05 [[ 9.99996642e-01 2.32068311e-03 -1.15363173e-03 1.33118143e+02] [-2.32069894e-03 9.99997307e-01 -1.23788989e-05 1.63357068e-01] [ 1.15359990e-03 1.50560893e-05 9.99999334e-01 5.16956192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:0.16, Z:0.04 [[ 9.99996903e-01 2.20534852e-03 -1.15372537e-03 1.33147466e+02] [-2.20535443e-03 9.99997568e-01 -3.84401368e-06 1.64292381e-01] [ 1.15371408e-03 6.38837512e-06 9.99999334e-01 4.25267782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:0.17, Z:0.04 [[ 9.99990931e-01 4.09965183e-03 -1.15362064e-03 1.33176663e+02] [-4.09966965e-03 9.99991596e-01 -1.30803244e-05 1.67559872e-01] [ 1.15355732e-03 1.78096693e-05 9.99999334e-01 4.27692926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:0.17, Z:0.04 [[ 9.99985464e-01 5.26689531e-03 -1.15361976e-03 1.33206710e+02] [-5.26691399e-03 9.99986130e-01 -1.31579263e-05 1.68189174e-01] [ 1.15353445e-03 1.92337511e-05 9.99999334e-01 4.11905513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:0.17, Z:0.04 [[ 9.99985741e-01 5.21403333e-03 -1.15361888e-03 1.33236851e+02] [-5.21405207e-03 9.99986407e-01 -1.32341714e-05 1.66771369e-01] [ 1.15353420e-03 1.92490116e-05 9.99999334e-01 4.04075238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:0.17, Z:0.04 [[ 9.99991110e-01 4.05571104e-03 -1.15361801e-03 1.33266667e+02] [-4.05572910e-03 9.99991775e-01 -1.33101653e-05 1.67216645e-01] [ 1.15355453e-03 1.79888091e-05 9.99999334e-01 4.09364591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:0.17, Z:0.04 [[ 9.99995254e-01 2.85664980e-03 -1.15361712e-03 1.33296636e+02] [-2.85666714e-03 9.99995920e-01 -1.33867827e-05 1.69404216e-01] [ 1.15357417e-03 1.66822193e-05 9.99999334e-01 4.22289122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:0.17, Z:0.05 [[ 9.99998953e-01 8.73024436e-04 -1.15361622e-03 1.33327006e+02] [-8.73040548e-04 9.99999619e-01 -1.34633401e-05 1.71958739e-01] [ 1.15360403e-03 1.44704798e-05 9.99999334e-01 5.02393005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.36, Y:0.17, Z:0.05 [[ 9.99996048e-01 -2.56393523e-03 -1.15366832e-03 1.33356673e+02] [ 2.56392649e-03 9.99996713e-01 -9.05376545e-06 1.73429358e-01] [ 1.15368774e-03 6.09580890e-06 9.99999334e-01 4.95181287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:0.17, Z:0.04 [[ 9.99987638e-01 -4.83664414e-03 -1.15366149e-03 1.33386462e+02] [ 4.83663626e-03 9.99988303e-01 -9.62038252e-06 1.72560546e-01] [ 1.15369453e-03 4.04042260e-06 9.99999334e-01 4.09799293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.42, Y:0.17, Z:0.04 [[ 9.99982795e-01 -5.75150373e-03 -1.15360928e-03 1.33415810e+02] [ 5.75149148e-03 9.99983460e-01 -1.39406545e-05 1.71708054e-01] [ 1.15367038e-03 7.30544068e-06 9.99999334e-01 4.11050221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.45, Y:0.17, Z:0.04 [[ 9.99979724e-01 -6.26259375e-03 -1.15360833e-03 1.33445886e+02] [ 6.26258175e-03 9.99980390e-01 -1.40188585e-05 1.71966273e-01] [ 1.15367350e-03 6.79400780e-06 9.99999334e-01 4.11738058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:0.17, Z:0.04 [[ 9.99959632e-01 -8.91091881e-03 -1.15360739e-03 1.33475392e+02] [ 8.91090848e-03 9.99960297e-01 -1.40958660e-05 1.72139505e-01] [ 1.15368720e-03 3.81560708e-06 9.99999334e-01 4.22862643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.51, Y:0.17, Z:0.05 [[ 9.99955057e-01 -9.41027895e-03 -1.15360644e-03 1.33506053e+02] [ 9.41026886e-03 9.99955722e-01 -1.41730241e-05 1.70858532e-01] [ 1.15368874e-03 3.31664037e-06 9.99999334e-01 5.00931458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:0.17, Z:0.04 [[ 9.99936488e-01 -1.12111516e-02 -1.15365069e-03 1.33536053e+02] [ 1.12111469e-02 9.99937153e-01 -1.06031656e-05 1.69757915e-01] [ 1.15369706e-03 -2.33125512e-06 9.99999334e-01 4.23680522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.57, Y:0.17, Z:0.04 [[ 9.99933356e-01 -1.14870552e-02 -1.15360329e-03 1.33565842e+02] [ 1.14870462e-02 9.99934022e-01 -1.44003715e-05 1.70009275e-01] [ 1.15369259e-03 1.14791754e-06 9.99999334e-01 4.20859705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.60, Y:0.17, Z:0.04 [[ 9.99936307e-01 -1.12272267e-02 -1.15360232e-03 1.33595545e+02] [ 1.12272175e-02 9.99936973e-01 -1.44774540e-05 1.73474554e-01] [ 1.15369215e-03 1.52478770e-06 9.99999334e-01 4.16867200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.63, Y:0.18, Z:0.04 [[ 9.99965430e-01 -8.23460087e-03 -1.15360136e-03 1.33625296e+02] [ 8.23458956e-03 9.99966095e-01 -1.45537573e-05 1.82439284e-01] [ 1.15368209e-03 5.05382051e-06 9.99999334e-01 4.34586317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.66, Y:0.18, Z:0.04 [[ 9.99975617e-01 -6.88728093e-03 -1.15360040e-03 1.33655020e+02] [ 6.88726863e-03 9.99976282e-01 -1.46297359e-05 1.84665162e-01] [ 1.15367379e-03 6.68422336e-06 9.99999334e-01 4.38892704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.69, Y:0.19, Z:0.04 [[ 9.99984403e-01 -5.46462800e-03 -1.15359942e-03 1.33685110e+02] [ 5.46461467e-03 9.99985069e-01 -1.47064267e-05 1.85475810e-01] [ 1.15366256e-03 8.40222099e-06 9.99999334e-01 4.42464483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:0.19, Z:0.06 [[ 9.99994902e-01 -2.97753594e-03 -1.15359844e-03 1.33715311e+02] [ 2.97752086e-03 9.99995567e-01 -1.47826110e-05 1.85902155e-01] [ 1.15363734e-03 1.13476722e-05 9.99999334e-01 5.52917622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:0.19, Z:0.05 [[ 9.99996098e-01 -2.54416959e-03 -1.15370970e-03 1.33745225e+02] [ 2.54416416e-03 9.99996764e-01 -6.17477353e-06 1.90236869e-01] [ 1.15372167e-03 3.23952257e-06 9.99999334e-01 5.13160681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:0.19, Z:0.04 [[ 9.99996157e-01 -2.52079779e-03 -1.15367721e-03 1.33775019e+02] [ 2.52078948e-03 9.99996823e-01 -8.65556367e-06 1.93880517e-01] [ 1.15369536e-03 5.74735303e-06 9.99999334e-01 4.27470811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:0.20, Z:0.04 [[ 9.99995389e-01 -2.80913631e-03 -1.15359536e-03 1.33804862e+02] [ 2.80912092e-03 9.99996054e-01 -1.49648327e-05 1.97000527e-01] [ 1.15363285e-03 1.17241749e-05 9.99999334e-01 4.39159726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:0.20, Z:0.04 [[ 9.99996104e-01 -2.54176469e-03 -1.15359436e-03 1.33834650e+02] [ 2.54174903e-03 9.99996770e-01 -1.50418393e-05 2.00389651e-01] [ 1.15362887e-03 1.21096334e-05 9.99999334e-01 4.39546942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:0.20, Z:0.04 [[ 9.99994042e-01 -3.25353170e-03 -1.15359336e-03 1.33864736e+02] [ 3.25351642e-03 9.99994707e-01 -1.51180683e-05 2.01902277e-01] [ 1.15363644e-03 1.13647433e-05 9.99999334e-01 4.42651131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:0.20, Z:0.04 [[ 9.99993825e-01 -3.31939345e-03 -1.15359235e-03 1.33894890e+02] [ 3.31937813e-03 9.99994491e-01 -1.51948935e-05 2.02283783e-01] [ 1.15363643e-03 1.13655905e-05 9.99999334e-01 4.42999073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:0.20, Z:0.04 [[ 9.99991300e-01 -4.00855384e-03 -1.15359134e-03 1.33924754e+02] [ 4.00853889e-03 9.99991966e-01 -1.52708715e-05 2.03156913e-01] [ 1.15364329e-03 1.06465229e-05 9.99999334e-01 4.48570295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:0.20, Z:0.04 [[ 9.99986952e-01 -4.97651904e-03 -1.15359033e-03 1.33954599e+02] [ 4.97650465e-03 9.99987617e-01 -1.53468636e-05 2.03904344e-01] [ 1.15365242e-03 9.60581570e-06 9.99999334e-01 4.45547146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.98, Y:0.21, Z:0.04 [[ 9.99985450e-01 -5.26966863e-03 -1.15358932e-03 1.33984261e+02] [ 5.26965435e-03 9.99986115e-01 -1.54228557e-05 2.07193498e-01] [ 1.15365457e-03 9.34361429e-06 9.99999334e-01 4.46724474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:0.21, Z:0.04 [[ 9.99985448e-01 -5.26997738e-03 -1.15358830e-03 1.34013623e+02] [ 5.26996301e-03 9.99986114e-01 -1.54985841e-05 2.11347979e-01] [ 1.15365396e-03 9.41899092e-06 9.99999334e-01 4.43514574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:134.04, Y:0.22, Z:0.04 [[ 9.99988426e-01 -4.67084217e-03 -1.15358727e-03 1.34043310e+02] [ 4.67082731e-03 9.99989092e-01 -1.55749460e-05 2.16314182e-01] [ 1.15364743e-03 1.01865589e-05 9.99999334e-01 4.43654168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:0.22, Z:0.04 [[ 9.99994165e-01 -3.21540969e-03 -1.15358623e-03 1.34072707e+02] [ 3.21539377e-03 9.99994830e-01 -1.56513079e-05 2.20621950e-01] [ 1.15363059e-03 1.19419826e-05 9.99999334e-01 4.45282514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:0.22, Z:0.04 [[ 9.99995882e-01 -2.62767183e-03 -1.15358520e-03 1.34102513e+02] [ 2.62765543e-03 9.99996548e-01 -1.57272854e-05 2.23778354e-01] [ 1.15362254e-03 1.26959963e-05 9.99999334e-01 4.39561881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:0.22, Z:0.04 [[ 9.99993178e-01 -3.50911037e-03 -1.15358414e-03 1.34132196e+02] [ 3.50909447e-03 9.99993843e-01 -1.58041704e-05 2.24162367e-01] [ 1.15363250e-03 1.17560269e-05 9.99999334e-01 4.40482345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:0.23, Z:0.05 [[ 9.99966141e-01 -8.14777614e-03 -1.15358309e-03 1.34162211e+02] [ 8.14776324e-03 9.99966806e-01 -1.58809202e-05 2.25540065e-01] [ 1.15367419e-03 6.48126065e-06 9.99999334e-01 5.28680391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:0.23, Z:0.04 [[ 9.99915570e-01 -1.29430367e-02 -1.15364968e-03 1.34191730e+02] [ 1.29430326e-02 9.99916235e-01 -1.09973969e-05 2.25823859e-01] [ 1.15369538e-03 -3.93525701e-06 9.99999334e-01 4.14818813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.22, Y:0.23, Z:0.04 [[ 9.99860566e-01 -1.66588434e-02 -1.15358465e-03 1.34222472e+02] [ 1.66588363e-02 9.99861232e-01 -1.57580243e-05 2.25573684e-01] [ 1.15368708e-03 -3.46155065e-06 9.99999334e-01 4.17112103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.25, Y:0.23, Z:0.04 [[ 9.99804253e-01 -1.97515993e-02 -1.15358465e-03 1.34252617e+02] [ 1.97515942e-02 9.99804918e-01 -1.57580243e-05 2.25091091e-01] [ 1.15367085e-03 -7.03019613e-06 9.99999334e-01 4.25057872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:0.23, Z:0.04 [[ 9.99727701e-01 -2.33064967e-02 -1.15358465e-03 1.34283164e+02] [ 2.33064940e-02 9.99728367e-01 -1.57580243e-05 2.25247147e-01] [ 1.15363856e-03 -1.11322803e-05 9.99999334e-01 4.32350402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.692320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:134.31, Y:0.23, Z:0.04 [[ 9.99632598e-01 -2.70802069e-02 -1.15358465e-03 1.34313460e+02] [ 2.70802067e-02 9.99633264e-01 -1.57580243e-05 2.25844542e-01] [ 1.15358832e-03 -1.54870759e-05 9.99999334e-01 4.10544245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:134.34, Y:0.22, Z:0.04 [[ 9.99615852e-01 -2.76914723e-02 -1.15358465e-03 1.34344026e+02] [ 2.76914725e-02 9.99616518e-01 -1.57580243e-05 2.23935149e-01] [ 1.15357863e-03 -1.61924867e-05 9.99999334e-01 3.96297182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.752320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:134.37, Y:0.22, Z:0.04 [[ 9.99615932e-01 -2.76885734e-02 -1.15358465e-03 1.34374674e+02] [ 2.76885737e-02 9.99616598e-01 -1.57580243e-05 2.20580829e-01] [ 1.15357868e-03 -1.61891413e-05 9.99999334e-01 3.90109707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:0.22, Z:0.04 [[ 9.99689431e-01 -2.48939932e-02 -1.15358465e-03 1.34405375e+02] [ 2.48939916e-02 9.99690096e-01 -1.57580243e-05 2.18358397e-01] [ 1.15361943e-03 -1.29641962e-05 9.99999334e-01 4.15518131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.812320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:134.44, Y:0.22, Z:0.04 [[ 9.99744590e-01 -2.25704345e-02 -1.15358465e-03 1.34435750e+02] [ 2.25704313e-02 9.99745255e-01 -1.57580243e-05 2.21718932e-01] [ 1.15364644e-03 -1.02829035e-05 9.99999334e-01 4.27927755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:134.47, Y:0.23, Z:0.04 [[ 9.99786137e-01 -2.06482500e-02 -1.15358465e-03 1.34466069e+02] [ 2.06482455e-02 9.99786802e-01 -1.57580243e-05 2.26197406e-01] [ 1.15366408e-03 -8.06484479e-06 9.99999334e-01 4.37493848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.872320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:134.50, Y:0.23, Z:0.04 [[ 9.99821403e-01 -1.88634691e-02 -1.15358465e-03 1.34496769e+02] [ 1.88634635e-02 9.99822069e-01 -1.57580243e-05 2.30550088e-01] [ 1.15367664e-03 -6.00539190e-06 9.99999334e-01 4.22082126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.53, Y:0.23, Z:0.04 [[ 9.99845400e-01 -1.75455361e-02 -1.15358465e-03 1.34527379e+02] [ 1.75455296e-02 9.99846065e-01 -1.57580243e-05 2.29324530e-01] [ 1.15368355e-03 -4.48466547e-06 9.99999334e-01 4.12338010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.56, Y:0.23, Z:0.04 [[ 9.99846506e-01 -1.74823978e-02 -1.15358465e-03 1.34557602e+02] [ 1.74823913e-02 9.99847171e-01 -1.57580243e-05 2.26853187e-01] [ 1.15368384e-03 -4.41181262e-06 9.99999334e-01 4.11063564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.59, Y:0.23, Z:0.04 [[ 9.99846464e-01 -1.74848117e-02 -1.15358465e-03 1.34588388e+02] [ 1.74848052e-02 9.99847129e-01 -1.57580243e-05 2.25208495e-01] [ 1.15368382e-03 -4.41459795e-06 9.99999334e-01 4.22313999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:0.23, Z:0.04 [[ 9.99840864e-01 -1.78021492e-02 -1.15358465e-03 1.34618847e+02] [ 1.78021429e-02 9.99841529e-01 -1.57580243e-05 2.25857238e-01] [ 1.15368237e-03 -4.78076208e-06 9.99999334e-01 4.24389683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02232058799999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:134.65, Y:0.23, Z:0.04 [[ 9.99856186e-01 -1.69197282e-02 -1.15358465e-03 1.34649618e+02] [ 1.69197212e-02 9.99856851e-01 -1.57580243e-05 2.29290898e-01] [ 1.15368614e-03 -3.76257256e-06 9.99999334e-01 4.17425001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.052320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:134.68, Y:0.23, Z:0.04 [[ 9.99873622e-01 -1.58559082e-02 -1.15358465e-03 1.34680459e+02] [ 1.58559005e-02 9.99874287e-01 -1.57580243e-05 2.29001669e-01] [ 1.15368949e-03 -2.53509058e-06 9.99999334e-01 4.12228134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.082320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:134.71, Y:0.23, Z:0.04 [[ 9.99883149e-01 -1.52432751e-02 -1.15358465e-03 1.34710586e+02] [ 1.52432671e-02 9.99883815e-01 -1.57580243e-05 2.27190111e-01] [ 1.15369082e-03 -1.82821587e-06 9.99999334e-01 4.07123298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.74, Y:0.23, Z:0.04 [[ 9.99905627e-01 -1.36896681e-02 -1.15358465e-03 1.34741301e+02] [ 1.36896590e-02 9.99906292e-01 -1.57580243e-05 2.25781588e-01] [ 1.15369227e-03 -3.56432527e-08 9.99999334e-01 4.12096478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:0.23, Z:0.04 [[ 9.99905086e-01 -1.37291212e-02 -1.15358465e-03 1.34771998e+02] [ 1.37291122e-02 9.99905751e-01 -1.57580243e-05 2.26193757e-01] [ 1.15369227e-03 -8.11643475e-08 9.99999334e-01 4.21136148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:0.23, Z:0.04 [[ 9.99874390e-01 -1.58073679e-02 -1.15358465e-03 1.34802528e+02] [ 1.58073602e-02 9.99875056e-01 -1.57580243e-05 2.26841243e-01] [ 1.15368961e-03 -2.47908310e-06 9.99999334e-01 4.28700764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.202320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:134.83, Y:0.23, Z:0.04 [[ 9.99849433e-01 -1.73141662e-02 -1.15358465e-03 1.34832967e+02] [ 1.73141595e-02 9.99850099e-01 -1.57580243e-05 2.25205526e-01] [ 1.15368456e-03 -4.21769690e-06 9.99999334e-01 4.37633929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.232320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:134.86, Y:0.22, Z:0.04 [[ 9.99819145e-01 -1.89827794e-02 -1.15358465e-03 1.34863434e+02] [ 1.89827738e-02 9.99819811e-01 -1.57580243e-05 2.23478361e-01] [ 1.15367592e-03 -6.14306205e-06 9.99999334e-01 4.46914101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:0.22, Z:0.04 [[ 9.99786676e-01 -2.06221394e-02 -1.15358465e-03 1.34894045e+02] [ 2.06221349e-02 9.99787341e-01 -1.57580243e-05 2.21735011e-01] [ 1.15366429e-03 -8.03471552e-06 9.99999334e-01 4.42085003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:0.22, Z:0.04 [[ 9.99788860e-01 -2.05159666e-02 -1.15358465e-03 1.34924646e+02] [ 2.05159621e-02 9.99789525e-01 -1.57580243e-05 2.20416866e-01] [ 1.15366514e-03 -7.91220174e-06 9.99999334e-01 4.28658890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:134.95, Y:0.22, Z:0.04 [[ 9.99802647e-01 -1.98326940e-02 -1.15358465e-03 1.34954847e+02] [ 1.98326890e-02 9.99803313e-01 -1.57580243e-05 2.17359172e-01] [ 1.15367028e-03 -7.12377110e-06 9.99999334e-01 4.16110362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.352320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:134.98, Y:0.21, Z:0.04 [[ 9.99810973e-01 -1.94084617e-02 -1.15358465e-03 1.34984997e+02] [ 1.94084564e-02 9.99811638e-01 -1.57580243e-05 2.13550424e-01] [ 1.15367320e-03 -6.63425170e-06 9.99999334e-01 4.22097779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.02, Y:0.21, Z:0.05 [[ 9.99805915e-01 -1.96672967e-02 -1.15358465e-03 1.35015834e+02] [ 1.96672916e-02 9.99806580e-01 -1.57580243e-05 2.09853873e-01] [ 1.15367144e-03 -6.93291975e-06 9.99999334e-01 4.57714530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:0.21, Z:0.05 [[ 9.99818817e-01 -1.90000418e-02 -1.15358465e-03 1.35046457e+02] [ 1.90000363e-02 9.99819483e-01 -1.57580243e-05 2.12140837e-01] [ 1.15367581e-03 -6.16298094e-06 9.99999334e-01 4.63449358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:135.08, Y:0.22, Z:0.05 [[ 9.99834470e-01 -1.81577076e-02 -1.15358465e-03 1.35076744e+02] [ 1.81577015e-02 9.99835135e-01 -1.57580243e-05 2.15428650e-01] [ 1.15368059e-03 -5.19102976e-06 9.99999334e-01 4.55124947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.11, Y:0.22, Z:0.04 [[ 9.99872304e-01 -1.59388060e-02 -1.15358465e-03 1.35106751e+02] [ 1.59387984e-02 9.99872969e-01 -1.57580243e-05 2.17513279e-01] [ 1.15368927e-03 -2.63074105e-06 9.99999334e-01 4.36550732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.14, Y:0.22, Z:0.04 [[ 9.99913172e-01 -1.31270137e-02 -1.15358465e-03 1.35136659e+02] [ 1.31270043e-02 9.99913837e-01 -1.57580243e-05 2.15291039e-01] [ 1.15369211e-03 6.13545484e-07 9.99999334e-01 4.20638284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.532320588 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:135.17, Y:0.21, Z:0.05 [[ 9.99924791e-01 -1.22099290e-02 -1.15358360e-03 1.35166510e+02] [ 1.22099189e-02 9.99925456e-01 -1.58341934e-05 2.13168280e-01] [ 1.15369094e-03 1.74784030e-06 9.99999334e-01 5.35876035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:135.20, Y:0.21, Z:0.04 [[ 9.99938258e-01 -1.10520946e-02 -1.15357285e-03 1.35196199e+02] [ 1.10520828e-02 9.99938924e-01 -1.66172645e-05 2.11250802e-01] [ 1.15368605e-03 3.86685592e-06 9.99999334e-01 4.37252272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:0.21, Z:0.05 [[ 9.99937763e-01 -1.10968250e-02 -1.15358175e-03 1.35226290e+02] [ 1.10968139e-02 9.99938428e-01 -1.59741115e-05 2.10392169e-01] [ 1.15368799e-03 3.17203525e-06 9.99999334e-01 4.51956692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:0.21, Z:0.05 [[ 9.99929181e-01 -1.18449546e-02 -1.15358069e-03 1.35255752e+02] [ 1.18449440e-02 9.99929846e-01 -1.60504873e-05 2.12127007e-01] [ 1.15368988e-03 2.38525200e-06 9.99999334e-01 4.55389610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.28, Y:0.22, Z:0.05 [[ 9.99936461e-01 -1.12135481e-02 -1.15357961e-03 1.35284931e+02] [ 1.12135370e-02 9.99937126e-01 -1.61277655e-05 2.15038362e-01] [ 1.15368793e-03 3.19103317e-06 9.99999334e-01 4.53676072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.682320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:135.31, Y:0.22, Z:0.05 [[ 9.99936027e-01 -1.12521281e-02 -1.15357853e-03 1.35314832e+02] [ 1.12521169e-02 9.99936693e-01 -1.62044549e-05 2.17911098e-01] [ 1.15368784e-03 3.22321775e-06 9.99999334e-01 4.60640967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:0.22, Z:0.05 [[ 9.99926992e-01 -1.20283259e-02 -1.15357745e-03 1.35344535e+02] [ 1.20283152e-02 9.99927657e-01 -1.62810696e-05 2.18057918e-01] [ 1.15368983e-03 2.40428787e-06 9.99999334e-01 4.54693113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.37, Y:0.22, Z:0.06 [[ 9.99916643e-01 -1.28598781e-02 -1.15357636e-03 1.35374432e+02] [ 1.28598678e-02 9.99917308e-01 -1.63577589e-05 2.15158782e-01] [ 1.15369133e-03 1.52155585e-06 9.99999334e-01 5.55861147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77232058799999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:135.40, Y:0.21, Z:0.05 [[ 9.99866128e-01 -1.63216017e-02 -1.15361554e-03 1.35404336e+02] [ 1.63215969e-02 9.99866794e-01 -1.35952579e-05 2.11152821e-01] [ 1.15368377e-03 -5.23540991e-06 9.99999334e-01 5.40493873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.802320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:135.43, Y:0.21, Z:0.05 [[ 9.99783098e-01 -2.07948741e-02 -1.15362202e-03 1.35434344e+02] [ 2.07948728e-02 9.99783763e-01 -1.31453954e-05 2.08452930e-01] [ 1.15364592e-03 -1.08468791e-05 9.99999334e-01 4.56197228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.832320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:135.46, Y:0.21, Z:0.05 [[ 9.99579259e-01 -2.89823241e-02 -1.15356955e-03 1.35464694e+02] [ 2.89823240e-02 9.99579924e-01 -1.67575044e-05 2.05614915e-01] [ 1.15357063e-03 -1.66826727e-05 9.99999334e-01 4.52775001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.50, Y:0.20, Z:0.05 [[ 9.99496002e-01 -3.17239898e-02 -1.15356955e-03 1.35495590e+02] [ 3.17239916e-02 9.99496667e-01 -1.67575044e-05 2.04377349e-01] [ 1.15352054e-03 -1.98467720e-05 9.99999334e-01 4.50238261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.53, Y:0.20, Z:0.05 [[ 9.99468969e-01 -3.25645355e-02 -1.15356955e-03 1.35526125e+02] [ 3.25645378e-02 9.99469635e-01 -1.67575044e-05 2.02309273e-01] [ 1.15350344e-03 -2.08168536e-05 9.99999334e-01 4.61073840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.56, Y:0.20, Z:0.05 [[ 9.99469595e-01 -3.25453217e-02 -1.15356955e-03 1.35555593e+02] [ 3.25453241e-02 9.99470260e-01 -1.67575044e-05 1.99084561e-01] [ 1.15350384e-03 -2.07946787e-05 9.99999334e-01 4.62981957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.59, Y:0.19, Z:0.05 [[ 9.99465785e-01 -3.26621127e-02 -1.15356848e-03 1.35585714e+02] [ 3.26621150e-02 9.99466451e-01 -1.68308958e-05 1.90520156e-01] [ 1.15350273e-03 -2.08560818e-05 9.99999334e-01 4.52372817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:0.19, Z:0.04 [[ 9.99472854e-01 -3.24450780e-02 -1.15356740e-03 1.35615332e+02] [ 3.24450800e-02 9.99473520e-01 -1.69046590e-05 1.86713679e-01] [ 1.15350854e-03 -2.05318388e-05 9.99999334e-01 4.38049619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:0.18, Z:0.04 [[ 9.99400686e-01 -3.45967969e-02 -1.15356631e-03 1.35644877e+02] [ 3.45968004e-02 9.99401351e-01 -1.69788404e-05 1.78511598e-01] [ 1.15346314e-03 -2.29410385e-05 9.99999334e-01 4.24428397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.67, Y:0.17, Z:0.04 [[ 9.99376163e-01 -3.52980780e-02 -1.15356522e-03 1.35674822e+02] [ 3.52980818e-02 9.99376828e-01 -1.70526035e-05 1.73042752e-01] [ 1.15344827e-03 -2.36766739e-05 9.99999334e-01 4.27334823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:0.17, Z:0.04 [[ 9.99353458e-01 -3.59351583e-02 -1.15356412e-03 1.35705017e+02] [ 3.59351624e-02 9.99354123e-01 -1.71264778e-05 1.66920788e-01] [ 1.15343450e-03 -2.43381091e-05 9.99999334e-01 4.42861899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.73, Y:0.16, Z:0.05 [[ 9.99375466e-01 -3.53177956e-02 -1.15356303e-03 1.35734804e+02] [ 3.53177993e-02 9.99376132e-01 -1.71994051e-05 1.61876632e-01] [ 1.15345081e-03 -2.35526442e-05 9.99999334e-01 4.67079752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:0.16, Z:0.05 [[ 9.99526842e-01 -3.07369558e-02 -1.15356193e-03 1.35764020e+02] [ 3.07369563e-02 9.99527508e-01 -1.72726861e-05 1.55610409e-01] [ 1.15354780e-03 -1.81924694e-05 9.99999334e-01 4.55860682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.79, Y:0.16, Z:0.05 [[ 9.99522842e-01 -3.08667689e-02 -1.15355969e-03 1.35793349e+02] [ 3.08667693e-02 9.99523508e-01 -1.74211722e-05 1.56021865e-01] [ 1.15354777e-03 -1.81938014e-05 9.99999334e-01 4.56199029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:0.15, Z:0.05 [[ 9.99619387e-01 -2.75635778e-02 -1.15355741e-03 1.35821749e+02] [ 2.75635758e-02 9.99620052e-01 -1.75709901e-05 1.53597180e-01] [ 1.15360344e-03 -1.42318648e-05 9.99999334e-01 4.55482672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:0.15, Z:0.04 [[ 9.99727043e-01 -2.33347238e-02 -1.15355567e-03 1.35850957e+02] [ 2.33347189e-02 9.99727708e-01 -1.76846702e-05 1.51076023e-01] [ 1.15365423e-03 -9.23805419e-06 9.99999334e-01 4.48783102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:0.15, Z:0.04 [[ 9.99835865e-01 -1.80807121e-02 -1.15355328e-03 1.35880067e+02] [ 1.80807036e-02 9.99836531e-01 -1.78393576e-05 1.49345564e-01] [ 1.15368725e-03 -3.02062532e-06 9.99999334e-01 4.49866721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:0.15, Z:0.06 [[ 9.99933215e-01 -1.14993032e-02 -1.15355085e-03 1.35910293e+02] [ 1.14992901e-02 9.99933881e-01 -1.79947177e-05 1.49270818e-01] [ 1.15368151e-03 4.72850008e-06 9.99999334e-01 5.51203482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:0.15, Z:0.05 [[ 9.99999137e-01 6.28724598e-04 -1.15367179e-03 1.35938814e+02] [-6.28736915e-04 9.99999802e-01 -1.03138961e-05 1.52727509e-01] [ 1.15366508e-03 1.10392432e-05 9.99999334e-01 4.58062286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:0.16, Z:0.05 [[ 9.99972232e-01 7.36237533e-03 -1.15353527e-03 1.35968129e+02] [-7.36240182e-03 9.99972897e-01 -1.87242638e-05 1.55558519e-01] [ 1.15336615e-03 2.72165341e-05 9.99999335e-01 4.55179130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:0.16, Z:0.05 [[ 9.99911189e-01 1.32772122e-02 -1.15353406e-03 1.35997917e+02] [-1.32772427e-02 9.99911853e-01 -1.87988663e-05 1.58349712e-01] [ 1.15318278e-03 3.41129484e-05 9.99999335e-01 4.61148343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:0.16, Z:0.05 [[ 9.99823663e-01 1.87433302e-02 -1.15353285e-03 1.36028838e+02] [-1.87433645e-02 9.99824328e-01 -1.88727386e-05 1.61395359e-01] [ 1.15297647e-03 4.04904973e-05 9.99999335e-01 4.68247545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:0.17, Z:0.05 [[ 9.99720964e-01 2.35937008e-02 -1.15353285e-03 1.36059660e+02] [-2.35937383e-02 9.99721629e-01 -1.88727386e-05 1.65226364e-01] [ 1.15276646e-03 4.60836246e-05 9.99999335e-01 4.75686658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:0.18, Z:0.05 [[ 9.99522881e-01 3.08655001e-02 -1.15353285e-03 1.36089640e+02] [-3.08655424e-02 9.99523545e-01 -1.88727386e-05 1.75198039e-01] [ 1.15240073e-03 5.44681512e-05 9.99999335e-01 4.92907989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.12, Y:0.18, Z:0.05 [[ 9.99416672e-01 3.41318635e-02 -1.15353226e-03 1.36119592e+02] [-3.41319080e-02 9.99417337e-01 -1.89084935e-05 1.80842163e-01] [ 1.15221476e-03 5.82697208e-05 9.99999335e-01 4.91338487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:0.19, Z:0.05 [[ 9.99347704e-01 3.60948160e-02 -1.15353226e-03 1.36149848e+02] [-3.60948618e-02 9.99348368e-01 -1.89084935e-05 1.86862553e-01] [ 1.15209809e-03 6.05327472e-05 9.99999335e-01 4.69499895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.18, Y:0.20, Z:0.05 [[ 9.99297512e-01 3.74586603e-02 -1.15353226e-03 1.36179608e+02] [-3.74587070e-02 9.99298176e-01 -1.89084935e-05 1.96674906e-01] [ 1.15201440e-03 6.21050376e-05 9.99999335e-01 4.58711098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:0.20, Z:0.05 [[ 9.99345201e-01 3.61640464e-02 -1.15353112e-03 1.36209422e+02] [-3.61640924e-02 9.99345865e-01 -1.89778378e-05 2.00974327e-01] [ 1.15209024e-03 6.06818173e-05 9.99999335e-01 4.66402227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:0.21, Z:0.05 [[ 9.99452503e-01 3.30660534e-02 -1.15352807e-03 1.36239364e+02] [-3.30660975e-02 9.99453167e-01 -1.91618808e-05 2.05707539e-01] [ 1.15226367e-03 5.72940612e-05 9.99999335e-01 4.61337904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:0.21, Z:0.05 [[ 9.99579627e-01 2.89696124e-02 -1.15352687e-03 1.36269291e+02] [-2.89696538e-02 9.99580291e-01 -1.92333587e-05 2.12168339e-01] [ 1.15248555e-03 5.26425477e-05 9.99999335e-01 4.64432835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.30, Y:0.22, Z:0.05 [[ 9.99795527e-01 2.01884705e-02 -1.15352570e-03 1.36297892e+02] [-2.01885062e-02 9.99796191e-01 -1.93036210e-05 2.22739705e-01] [ 1.15290089e-03 4.25876346e-05 9.99999335e-01 4.64607075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:0.22, Z:0.05 [[ 9.99867344e-01 1.62469429e-02 -1.15351765e-03 1.36327577e+02] [-1.62469765e-02 9.99868009e-01 -1.97730706e-05 2.24457517e-01] [ 1.15304414e-03 3.85116218e-05 9.99999335e-01 4.74740994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:0.23, Z:0.05 [[ 9.99931146e-01 1.16778410e-02 -1.15351639e-03 1.36357293e+02] [-1.16778717e-02 9.99931811e-01 -1.98464719e-05 2.25275030e-01] [ 1.15320597e-03 3.33157218e-05 9.99999335e-01 4.93963214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:0.23, Z:0.05 [[ 9.99991307e-01 4.00695243e-03 -1.15351511e-03 1.36386513e+02] [-4.00697808e-03 9.99991972e-01 -1.99204124e-05 2.30161167e-01] [ 1.15342603e-03 2.45423490e-05 9.99999335e-01 4.96061847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:0.23, Z:0.05 [[ 9.99999253e-01 4.04688931e-04 -1.15351316e-03 1.36416220e+02] [-4.04712308e-04 9.99999918e-01 -2.00327655e-05 2.33402622e-01] [ 1.15350496e-03 2.04995915e-05 9.99999335e-01 4.82451669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.45, Y:0.23, Z:0.05 [[ 9.99995207e-01 -2.87306774e-03 -1.15351183e-03 1.36445686e+02] [ 2.87304646e-03 9.99995873e-01 -2.01091368e-05 2.34873858e-01] [ 1.15356484e-03 1.67949473e-05 9.99999335e-01 4.65625974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:0.23, Z:0.05 [[ 9.99979483e-01 -6.30105448e-03 -1.15351048e-03 1.36475213e+02] [ 6.30103539e-03 9.99980148e-01 -2.01861378e-05 2.34147527e-01] [ 1.15361478e-03 1.29174133e-05 9.99999335e-01 4.51630298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:0.23, Z:0.05 [[ 9.99929162e-01 -1.18465442e-02 -1.15350913e-03 1.36504516e+02] [ 1.18465287e-02 9.99929827e-01 -2.02631534e-05 2.32699927e-01] [ 1.15366823e-03 6.59663899e-06 9.99999335e-01 4.80922550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:0.23, Z:0.05 [[ 9.99900549e-01 -1.40556538e-02 -1.15350777e-03 1.36533906e+02] [ 1.40556397e-02 9.99901214e-01 -2.03401083e-05 2.34899136e-01] [ 1.15367971e-03 4.12479583e-06 9.99999335e-01 5.03888554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:0.24, Z:0.05 [[ 9.99881440e-01 -1.53549650e-02 -1.15350641e-03 1.36563227e+02] [ 1.53549516e-02 9.99882106e-01 -2.04167929e-05 2.39024796e-01] [ 1.15368392e-03 2.70233707e-06 9.99999335e-01 5.07088100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.59, Y:0.25, Z:0.05 [[ 9.99863745e-01 -1.64669886e-02 -1.15350505e-03 1.36593844e+02] [ 1.64669760e-02 9.99864410e-01 -2.04934173e-05 2.46087195e-01] [ 1.15368611e-03 1.49588503e-06 9.99999335e-01 4.64474880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:0.25, Z:0.04 [[ 9.99860307e-01 -1.66743916e-02 -1.15350505e-03 1.36624082e+02] [ 1.66743790e-02 9.99860973e-01 -2.04934173e-05 2.47879337e-01] [ 1.15368640e-03 1.25657412e-06 9.99999335e-01 4.47653138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:0.25, Z:0.04 [[ 9.99838954e-01 -1.79091108e-02 -1.15350505e-03 1.36654678e+02] [ 1.79090990e-02 9.99839619e-01 -2.04934173e-05 2.47702527e-01] [ 1.15368707e-03 -1.68119289e-07 9.99999335e-01 4.35082782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:0.24, Z:0.05 [[ 9.99774269e-01 -2.12150818e-02 -1.15350505e-03 1.36684993e+02] [ 2.12150723e-02 9.99774935e-01 -2.04934173e-05 2.42758482e-01] [ 1.15368021e-03 -3.98290169e-06 9.99999335e-01 4.69457737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:0.24, Z:0.05 [[ 9.99732686e-01 -2.30916748e-02 -1.15350505e-03 1.36715451e+02] [ 2.30916666e-02 9.99733352e-01 -2.04934173e-05 2.41937824e-01] [ 1.15367070e-03 -6.14841490e-06 9.99999335e-01 4.88406345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:0.24, Z:0.05 [[ 9.99700523e-01 -2.44444960e-02 -1.15350505e-03 1.36745532e+02] [ 2.44444886e-02 9.99701189e-01 -2.04934173e-05 2.43337593e-01] [ 1.15366132e-03 -7.70956107e-06 9.99999335e-01 5.02735440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:0.25, Z:0.05 [[ 9.99683163e-01 -2.51444494e-02 -1.15350505e-03 1.36776347e+02] [ 2.51444425e-02 9.99683828e-01 -2.04934173e-05 2.46630184e-01] [ 1.15365564e-03 -8.51731719e-06 9.99999335e-01 4.99741983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:0.25, Z:0.05 [[ 9.99698679e-01 -2.45197833e-02 -1.15350505e-03 1.36807168e+02] [ 2.45197760e-02 9.99699345e-01 -2.04934173e-05 2.49301832e-01] [ 1.15366074e-03 -7.79644321e-06 9.99999335e-01 4.64042210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:0.25, Z:0.05 [[ 9.99722713e-01 -2.35194820e-02 -1.15350572e-03 1.36837917e+02] [ 2.35194741e-02 9.99723379e-01 -2.04555913e-05 2.47336415e-01] [ 1.15366774e-03 -6.67992871e-06 9.99999335e-01 4.62611306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:0.24, Z:0.05 [[ 9.99728985e-01 -2.32513464e-02 -1.15350572e-03 1.36868675e+02] [ 2.32513383e-02 9.99729651e-01 -2.04555913e-05 2.44414132e-01] [ 1.15366949e-03 -6.37050425e-06 9.99999335e-01 4.67086065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.90, Y:0.24, Z:0.05 [[ 9.99712351e-01 -2.39559064e-02 -1.15350572e-03 1.36898955e+02] [ 2.39558987e-02 9.99713016e-01 -2.04555913e-05 2.41796003e-01] [ 1.15366472e-03 -7.18355902e-06 9.99999335e-01 4.83244276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:0.24, Z:0.05 [[ 9.99679276e-01 -2.52984896e-02 -1.15350572e-03 1.36929634e+02] [ 2.52984829e-02 9.99679942e-01 -2.04555913e-05 2.41057934e-01] [ 1.15365403e-03 -8.73291407e-06 9.99999335e-01 5.12459673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:0.24, Z:0.05 [[ 9.99667399e-01 -2.57635467e-02 -1.15350572e-03 1.36960331e+02] [ 2.57635402e-02 9.99668065e-01 -2.04555913e-05 2.42061706e-01] [ 1.15364984e-03 -9.26960335e-06 9.99999335e-01 5.08572845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:0.24, Z:0.05 [[ 9.99691269e-01 -2.48200780e-02 -1.15350572e-03 1.36990919e+02] [ 2.48200710e-02 9.99691934e-01 -2.04555913e-05 2.43172882e-01] [ 1.15365808e-03 -8.18081791e-06 9.99999335e-01 5.03731917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:0.24, Z:0.05 [[ 9.99723745e-01 -2.34755879e-02 -1.15350572e-03 1.37021604e+02] [ 2.34755799e-02 9.99724410e-01 -2.04555913e-05 2.43898979e-01] [ 1.15366804e-03 -6.62927544e-06 9.99999335e-01 4.82917091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:0.24, Z:0.05 [[ 9.99830763e-01 -1.83606995e-02 -1.15350572e-03 1.37052020e+02] [ 1.83606882e-02 9.99831428e-01 -2.04555913e-05 2.43533212e-01] [ 1.15368685e-03 -7.27029433e-07 9.99999335e-01 4.62799500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.08, Y:0.24, Z:0.05 [[ 9.99878284e-01 -1.55591441e-02 -1.15350572e-03 1.37082889e+02] [ 1.55591308e-02 9.99878949e-01 -2.04555913e-05 2.41777219e-01] [ 1.15368436e-03 2.50555503e-06 9.99999335e-01 4.71465568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.11, Y:0.24, Z:0.05 [[ 9.99893500e-01 -1.45484682e-02 -1.15350572e-03 1.37112620e+02] [ 1.45484543e-02 9.99894165e-01 -2.04555913e-05 2.39795468e-01] [ 1.15368124e-03 3.67168745e-06 9.99999335e-01 4.95185935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:0.24, Z:0.05 [[ 9.99913936e-01 -1.30687034e-02 -1.15350437e-03 1.37142203e+02] [ 1.30686884e-02 9.99914601e-01 -2.05313728e-05 2.38557952e-01] [ 1.15367418e-03 5.45481656e-06 9.99999335e-01 5.05405619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:0.24, Z:0.05 [[ 9.99902737e-01 -1.38991125e-02 -1.15350301e-03 1.37171535e+02] [ 1.38990980e-02 9.99903403e-01 -2.06077292e-05 2.39940764e-01] [ 1.15367801e-03 4.57307346e-06 9.99999335e-01 4.90805432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:0.24, Z:0.05 [[ 9.99901846e-01 -1.39631174e-02 -1.15350163e-03 1.37201380e+02] [ 1.39631029e-02 9.99902511e-01 -2.06849264e-05 2.42093294e-01] [ 1.15367800e-03 4.57643427e-06 9.99999335e-01 4.81307058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:0.24, Z:0.05 [[ 9.99906649e-01 -1.36148239e-02 -1.15350025e-03 1.37231299e+02] [ 1.36148090e-02 9.99907314e-01 -2.07614906e-05 2.43431587e-01] [ 1.15367600e-03 5.05486697e-06 9.99999335e-01 4.81247733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:0.24, Z:0.05 [[ 9.99934570e-01 -1.13808890e-02 -1.15349886e-03 1.37261405e+02] [ 1.13808726e-02 9.99935236e-01 -2.08384908e-05 2.42626273e-01] [ 1.15366131e-03 7.70930390e-06 9.99999335e-01 5.06827956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:0.24, Z:0.05 [[ 9.99937948e-01 -1.10801187e-02 -1.15349816e-03 1.37291249e+02] [ 1.10801020e-02 9.99938614e-01 -2.08767466e-05 2.42717641e-01] [ 1.15365867e-03 8.09457381e-06 9.99999335e-01 5.21957977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.32, Y:0.24, Z:0.05 [[ 9.99944373e-01 -1.04843337e-02 -1.15349679e-03 1.37320735e+02] [ 1.04843165e-02 9.99945038e-01 -2.09526006e-05 2.43096045e-01] [ 1.15365306e-03 8.85780968e-06 9.99999335e-01 5.18515124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.35, Y:0.24, Z:0.05 [[ 9.99939741e-01 -1.09171530e-02 -1.15349540e-03 1.37350096e+02] [ 1.09171360e-02 9.99940406e-01 -2.10288969e-05 2.43978951e-01] [ 1.15365623e-03 8.43476363e-06 9.99999335e-01 5.48211759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.38, Y:0.24, Z:0.05 [[ 9.99901886e-01 -1.39602021e-02 -1.15350145e-03 1.37379896e+02] [ 1.39601875e-02 9.99902552e-01 -2.06990912e-05 2.42464190e-01] [ 1.15367801e-03 4.59396379e-06 9.99999335e-01 5.36290647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.41, Y:0.24, Z:0.05 [[ 9.99869665e-01 -1.61035002e-02 -1.15345665e-03 1.37409834e+02] [ 1.61034842e-02 9.99870330e-01 -2.31724317e-05 2.40864010e-01] [ 1.15368024e-03 4.59474055e-06 9.99999335e-01 5.49220255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:0.24, Z:0.05 [[ 9.99808187e-01 -1.95514405e-02 -1.15350910e-03 1.37439750e+02] [ 1.95514302e-02 9.99808852e-01 -2.02724197e-05 2.38536030e-01] [ 1.15368497e-03 -2.28422140e-06 9.99999335e-01 5.23814780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:0.24, Z:0.05 [[ 9.99779367e-01 -2.09734652e-02 -1.15349915e-03 1.37469503e+02] [ 2.09734552e-02 9.99780033e-01 -2.08237148e-05 2.39003195e-01] [ 1.15368216e-03 -3.37374226e-06 9.99999335e-01 5.28673556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:0.24, Z:0.05 [[ 9.99769333e-01 -2.14464542e-02 -1.15349775e-03 1.37499556e+02] [ 2.14464444e-02 9.99769998e-01 -2.09007297e-05 2.40327094e-01] [ 1.15368069e-03 -3.84251688e-06 9.99999335e-01 5.17132839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:0.24, Z:0.05 [[ 9.99772000e-01 -2.13217427e-02 -1.15349637e-03 1.37529057e+02] [ 2.13217327e-02 9.99772666e-01 -2.09768338e-05 2.41215103e-01] [ 1.15368140e-03 -3.62249019e-06 9.99999335e-01 4.93157364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:0.24, Z:0.05 [[ 9.99737510e-01 -2.28818648e-02 -1.15349499e-03 1.37558364e+02] [ 2.28818557e-02 9.99738176e-01 -2.10524250e-05 2.38115594e-01] [ 1.15367470e-03 -5.34720695e-06 9.99999335e-01 4.72875456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:0.24, Z:0.05 [[ 9.99699545e-01 -2.44844617e-02 -1.15349360e-03 1.37588398e+02] [ 2.44844537e-02 9.99700211e-01 -2.11284108e-05 2.36126195e-01] [ 1.15366511e-03 -7.12059791e-06 9.99999335e-01 4.83215110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:0.23, Z:0.05 [[ 9.99643003e-01 -2.66933650e-02 -1.15349220e-03 1.37618111e+02] [ 2.66933583e-02 9.99643669e-01 -2.12044412e-05 2.33684022e-01] [ 1.15364719e-03 -9.59370933e-06 9.99999335e-01 4.98496388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:0.23, Z:0.06 [[ 9.99600225e-01 -2.82499436e-02 -1.15349080e-03 1.37647440e+02] [ 2.82499379e-02 9.99600891e-01 -2.12801632e-05 2.30720151e-01] [ 1.15363160e-03 -1.13143876e-05 9.99999335e-01 5.78355276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:0.23, Z:0.06 [[ 9.99600332e-01 -2.82461590e-02 -1.15346743e-03 1.37677436e+02] [ 2.82461518e-02 9.99600998e-01 -2.25515421e-05 2.31262736e-01] [ 1.15364419e-03 -1.00384871e-05 9.99999335e-01 5.78701451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:0.22, Z:0.05 [[ 9.99536625e-01 -3.04171895e-02 -1.15346735e-03 1.37707945e+02] [ 3.04171837e-02 9.99537290e-01 -2.25557947e-05 2.24055586e-01] [ 1.15361971e-03 -1.25398854e-05 9.99999335e-01 4.95538042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:0.22, Z:0.05 [[ 9.99543858e-01 -3.01785513e-02 -1.15349234e-03 1.37737340e+02] [ 3.01785470e-02 9.99544524e-01 -2.11957885e-05 2.22827242e-01] [ 1.15360661e-03 -1.36246026e-05 9.99999335e-01 4.92085861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:0.22, Z:0.05 [[ 9.99590542e-01 -2.85905178e-02 -1.15349096e-03 1.37767113e+02] [ 2.85905122e-02 9.99591208e-01 -2.12708299e-05 2.23225306e-01] [ 1.15362756e-03 -1.17167770e-05 9.99999335e-01 4.82116759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:0.22, Z:0.05 [[ 9.99750213e-01 -2.23199723e-02 -1.15348955e-03 1.37796624e+02] [ 2.23199625e-02 9.99750878e-01 -2.13466105e-05 2.21988731e-01] [ 1.15367865e-03 -4.40456521e-06 9.99999335e-01 4.89423908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.83, Y:0.22, Z:0.05 [[ 9.99804701e-01 -1.97288933e-02 -1.15348814e-03 1.37826104e+02] [ 1.97288817e-02 9.99805366e-01 -2.14226406e-05 2.20047859e-01] [ 1.15368628e-03 -1.33857432e-06 9.99999335e-01 5.06870954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:0.22, Z:0.05 [[ 9.99848722e-01 -1.73551674e-02 -1.15348672e-03 1.37855870e+02] [ 1.73551541e-02 9.99849388e-01 -2.14991894e-05 2.18145604e-01] [ 1.15368611e-03 1.47699739e-06 9.99999335e-01 5.07373058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:0.22, Z:0.05 [[ 9.99879827e-01 -1.54596517e-02 -1.15348528e-03 1.37885477e+02] [ 1.54596371e-02 9.99880492e-01 -2.15759472e-05 2.17527600e-01] [ 1.15368099e-03 3.74089052e-06 9.99999335e-01 4.93118814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:0.21, Z:0.05 [[ 9.99920943e-01 -1.25211089e-02 -1.15348383e-03 1.37914759e+02] [ 1.25210923e-02 9.99921608e-01 -2.16532948e-05 2.14668737e-01] [ 1.15366453e-03 7.20870547e-06 9.99999335e-01 4.70286640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:0.21, Z:0.05 [[ 9.99930118e-01 -1.17655786e-02 -1.15348238e-03 1.37944114e+02] [ 1.17655613e-02 9.99930783e-01 -2.17301730e-05 2.12472090e-01] [ 1.15365821e-03 8.15728680e-06 9.99999335e-01 4.64349759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:0.21, Z:0.05 [[ 9.99945224e-01 -1.04027761e-02 -1.15348018e-03 1.37974235e+02] [ 1.04027578e-02 9.99945890e-01 -2.18465648e-05 2.11667204e-01] [ 1.15364503e-03 9.84599325e-06 9.99999335e-01 4.83505850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:0.22, Z:0.05 [[ 9.99982342e-01 -5.82974181e-03 -1.15347871e-03 1.38003313e+02] [ 5.82972040e-03 9.99983007e-01 -2.19239120e-05 2.17004537e-01] [ 1.15358691e-03 1.51990665e-05 9.99999335e-01 4.89402477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:0.22, Z:0.05 [[ 9.99995514e-01 -2.76443007e-03 -1.15347650e-03 1.38033135e+02] [ 2.76440648e-03 9.99996179e-01 -2.20393379e-05 2.19722247e-01] [ 1.15353302e-03 1.88505611e-05 9.99999335e-01 4.81199332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:0.22, Z:0.05 [[ 9.99999331e-01 8.29990757e-05 -1.15347503e-03 1.38062778e+02] [-8.30246414e-05 9.99999996e-01 -2.21160805e-05 2.19345131e-01] [ 1.15347319e-03 2.22118325e-05 9.99999335e-01 4.66295542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:0.22, Z:0.05 [[ 9.99997699e-01 1.80886770e-03 -1.15347356e-03 1.38092077e+02] [-1.80889450e-03 9.99998364e-01 -2.21922566e-05 2.17884441e-01] [ 1.15343153e-03 2.42787175e-05 9.99999335e-01 4.73884270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.12, Y:0.22, Z:0.05 [[ 9.99994465e-01 3.12088145e-03 -1.15347211e-03 1.38122167e+02] [-3.12090921e-03 9.99995130e-01 -2.22675996e-05 2.19174005e-01] [ 1.15339700e-03 2.58673580e-05 9.99999335e-01 4.88744881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.15, Y:0.22, Z:0.05 [[ 9.99996040e-01 2.56686751e-03 -1.15347138e-03 1.38151713e+02] [-2.56689494e-03 9.99996705e-01 -2.23053176e-05 2.22797720e-01] [ 1.15341032e-03 2.52660692e-05 9.99999335e-01 4.94757364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:0.23, Z:0.05 [[ 9.99997893e-01 1.69803144e-03 -1.15346994e-03 1.38181646e+02] [-1.69805838e-03 9.99998558e-01 -2.23796755e-05 2.26478689e-01] [ 1.15343027e-03 2.43382877e-05 9.99999335e-01 4.87672315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:0.23, Z:0.05 [[ 9.99998363e-01 -1.39440791e-03 -1.15346848e-03 1.38211210e+02] [ 1.39438294e-03 9.99999028e-01 -2.24542737e-05 2.29185029e-01] [ 1.15349867e-03 2.08458602e-05 9.99999335e-01 4.68088200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:0.23, Z:0.05 [[ 9.99995378e-01 -2.81326981e-03 -1.15346702e-03 1.38240911e+02] [ 2.81324570e-03 9.99996043e-01 -2.25292997e-05 2.30154782e-01] [ 1.15352584e-03 1.92842094e-05 9.99999335e-01 4.65015245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.27, Y:0.23, Z:0.05 [[ 9.99994427e-01 -3.13300851e-03 -1.15346554e-03 1.38270976e+02] [ 3.13298452e-03 9.99995092e-01 -2.26048890e-05 2.31639494e-01] [ 1.15353070e-03 1.89909733e-05 9.99999335e-01 4.55872872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.30, Y:0.23, Z:0.06 [[ 9.99996616e-01 -2.33170574e-03 -1.15346404e-03 1.38302538e+02] [ 2.33168113e-03 9.99997281e-01 -2.26811833e-05 2.32943473e-01] [ 1.15351379e-03 1.99915962e-05 9.99999335e-01 5.51556060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:0.23, Z:0.05 [[ 9.99970487e-01 -7.59569936e-03 -1.15370867e-03 1.38332255e+02] [ 7.59569267e-03 9.99971152e-01 -1.01803487e-05 2.33942420e-01] [ 1.15375272e-03 1.41683167e-06 9.99999334e-01 4.67425685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:0.23, Z:0.05 [[ 9.99948579e-01 -1.00752067e-02 -1.15346272e-03 1.38361912e+02] [ 1.00751872e-02 9.99949244e-01 -2.26857617e-05 2.34008941e-01] [ 1.15363274e-03 1.10632423e-05 9.99999335e-01 4.75526926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.39, Y:0.23, Z:0.05 [[ 9.99910665e-01 -1.33165782e-02 -1.15346120e-03 1.38391151e+02] [ 1.33165608e-02 9.99911330e-01 -2.27631077e-05 2.34471902e-01] [ 1.15366205e-03 7.40093809e-06 9.99999335e-01 4.59207288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:0.24, Z:0.05 [[ 9.99872244e-01 -1.59425350e-02 -1.15345965e-03 1.38420645e+02] [ 1.59425193e-02 9.99872910e-01 -2.28410527e-05 2.35173439e-01] [ 1.15367721e-03 4.44908182e-06 9.99999335e-01 4.50265540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:0.24, Z:0.04 [[ 9.99830202e-01 -1.83912083e-02 -1.15345812e-03 1.38450264e+02] [ 1.83911941e-02 9.99830867e-01 -2.29185210e-05 2.35565663e-01] [ 1.15368453e-03 1.70115738e-06 9.99999335e-01 4.10127189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:0.24, Z:0.05 [[ 9.99805486e-01 -1.96890700e-02 -1.15345657e-03 1.38480082e+02] [ 1.96890566e-02 9.99806151e-01 -2.29959892e-05 2.36025425e-01] [ 1.15368574e-03 2.81044427e-07 9.99999335e-01 4.57554701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:0.24, Z:0.04 [[ 9.99792557e-01 -2.03350191e-02 -1.15343158e-03 1.38510375e+02] [ 2.03350046e-02 9.99793222e-01 -2.42543315e-05 2.36806645e-01] [ 1.15368629e-03 7.94263682e-07 9.99999335e-01 4.44992373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.54, Y:0.24, Z:0.05 [[ 9.99775531e-01 -2.11555349e-02 -1.15346243e-03 1.38539585e+02] [ 2.11555228e-02 9.99776197e-01 -2.26856339e-05 2.36658043e-01] [ 1.15368421e-03 -1.72155911e-06 9.99999335e-01 4.61061844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:0.24, Z:0.05 [[ 9.99762612e-01 -2.17575250e-02 -1.15346091e-03 1.38569677e+02] [ 2.17575133e-02 9.99763277e-01 -2.27629041e-05 2.36081867e-01] [ 1.15368312e-03 -2.33894047e-06 9.99999335e-01 4.60034767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.60, Y:0.24, Z:0.04 [[ 9.99770503e-01 -2.13918310e-02 -1.15345938e-03 1.38599794e+02] [ 2.13918189e-02 9.99771169e-01 -2.28399017e-05 2.35633359e-01] [ 1.15368402e-03 -1.83993413e-06 9.99999335e-01 4.48676756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:0.24, Z:0.05 [[ 9.99775304e-01 -2.11662595e-02 -1.15345786e-03 1.38629442e+02] [ 2.11662472e-02 9.99775970e-01 -2.29164486e-05 2.36389925e-01] [ 1.15368451e-03 -1.50307480e-06 9.99999335e-01 5.34349842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.66, Y:0.24, Z:0.04 [[ 9.99740473e-01 -2.27520570e-02 -1.15350587e-03 1.38658978e+02] [ 2.27520485e-02 9.99741138e-01 -2.04969401e-05 2.39303415e-01] [ 1.15367362e-03 -5.75300095e-06 9.99999335e-01 4.23883784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:0.24, Z:0.04 [[ 9.99715523e-01 -2.38231700e-02 -1.15346172e-03 1.38688171e+02] [ 2.38231596e-02 9.99716188e-01 -2.27366601e-05 2.40638626e-01] [ 1.15367602e-03 -4.74891072e-06 9.99999335e-01 4.22719717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.72, Y:0.24, Z:0.04 [[ 9.99695732e-01 -2.46396696e-02 -1.15346020e-03 1.38718005e+02] [ 2.46396596e-02 9.99696397e-01 -2.28135973e-05 2.41011465e-01] [ 1.15367213e-03 -5.61421094e-06 9.99999335e-01 4.28659216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:0.24, Z:0.04 [[ 9.99687059e-01 -2.49890563e-02 -1.15345871e-03 1.38747245e+02] [ 2.49890465e-02 9.99687725e-01 -2.28888235e-05 2.39287820e-01] [ 1.15367048e-03 -5.94217262e-06 9.99999335e-01 4.37562270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:0.24, Z:0.04 [[ 9.99681194e-01 -2.52226167e-02 -1.15345643e-03 1.38777090e+02] [ 2.52226070e-02 9.99681859e-01 -2.30029938e-05 2.38319719e-01] [ 1.15366967e-03 -6.09751788e-06 9.99999335e-01 4.28987173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.81, Y:0.24, Z:0.05 [[ 9.99690393e-01 -2.48553454e-02 -1.15345492e-03 1.38807833e+02] [ 2.48553354e-02 9.99691058e-01 -2.30785965e-05 2.37346187e-01] [ 1.15367220e-03 -5.59805760e-06 9.99999335e-01 5.18205130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:0.24, Z:0.04 [[ 9.99640741e-01 -2.67779533e-02 -1.15360008e-03 1.38837090e+02] [ 2.67779528e-02 9.99641406e-01 -1.58587939e-05 2.37423056e-01] [ 1.15361107e-03 -1.50379520e-05 9.99999334e-01 4.36913331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:0.24, Z:0.04 [[ 9.99662242e-01 -2.59628680e-02 -1.15344712e-03 1.38866248e+02] [ 2.59628583e-02 9.99662908e-01 -2.33989965e-05 2.39074336e-01] [ 1.15366581e-03 -6.55569083e-06 9.99999335e-01 4.45345928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:0.24, Z:0.04 [[ 9.99683816e-01 -2.51184609e-02 -1.15344557e-03 1.38895657e+02] [ 2.51184506e-02 9.99684482e-01 -2.34749059e-05 2.41132018e-01] [ 1.15367129e-03 -5.50528209e-06 9.99999335e-01 4.34012222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.92, Y:0.24, Z:0.04 [[ 9.99699109e-01 -2.45022714e-02 -1.15344403e-03 1.38924945e+02] [ 2.45022606e-02 9.99699774e-01 -2.35505664e-05 2.42428473e-01] [ 1.15367478e-03 -4.71850595e-06 9.99999335e-01 4.32458796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:0.24, Z:0.05 [[ 9.99749940e-01 -2.23321875e-02 -1.15344246e-03 1.38954172e+02] [ 2.23321751e-02 9.99750606e-01 -2.36271721e-05 2.43048455e-01] [ 1.15368244e-03 -2.13761506e-06 9.99999335e-01 5.30462881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:0.24, Z:0.04 [[ 9.99754994e-01 -2.21047905e-02 -1.15352532e-03 1.38983563e+02] [ 2.21047826e-02 9.99755659e-01 -1.96021011e-05 2.40415152e-01] [ 1.15367677e-03 -5.90112795e-06 9.99999334e-01 4.34339755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.01, Y:0.24, Z:0.06 [[ 9.99807217e-01 -1.96009968e-02 -1.15343805e-03 1.39013563e+02] [ 1.96009823e-02 9.99807882e-01 -2.38269096e-05 2.39742676e-01] [ 1.15368348e-03 1.21379738e-06 9.99999335e-01 5.58392756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:0.24, Z:0.05 [[ 9.99843503e-01 -1.76532898e-02 -1.15351538e-03 1.39042418e+02] [ 1.76532784e-02 9.99844169e-01 -2.01153755e-05 2.41739367e-01] [ 1.15369073e-03 -2.51100626e-07 9.99999334e-01 4.53438736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:0.24, Z:0.05 [[ 9.99870109e-01 -1.60759236e-02 -1.15342664e-03 1.39072333e+02] [ 1.60759063e-02 9.99870774e-01 -2.43236551e-05 2.44124234e-01] [ 1.15366861e-03 5.77811709e-06 9.99999335e-01 4.52290598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:0.25, Z:0.05 [[ 9.99875068e-01 -1.57644719e-02 -1.15342501e-03 1.39102453e+02] [ 1.57644543e-02 9.99875733e-01 -2.44003943e-05 2.45795622e-01] [ 1.15366634e-03 6.21423004e-06 9.99999335e-01 4.50418053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.13, Y:0.25, Z:0.04 [[ 9.99859426e-01 -1.67271713e-02 -1.15342339e-03 1.39131661e+02] [ 1.67271542e-02 9.99860091e-01 -2.44770134e-05 2.46333611e-01] [ 1.15367145e-03 5.18008164e-06 9.99999335e-01 4.48829434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:0.24, Z:0.04 [[ 9.99858945e-01 -1.67559076e-02 -1.15342175e-03 1.39161436e+02] [ 1.67558904e-02 9.99859610e-01 -2.45540231e-05 2.43767330e-01] [ 1.15367125e-03 5.22395121e-06 9.99999335e-01 4.48143862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:0.24, Z:0.05 [[ 9.99860414e-01 -1.66679993e-02 -1.15342010e-03 1.39190891e+02] [ 1.66679820e-02 9.99861079e-01 -2.46312149e-05 2.42873830e-01] [ 1.15367042e-03 5.40259125e-06 9.99999335e-01 4.50252424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.22, Y:0.24, Z:0.05 [[ 9.99876303e-01 -1.56859123e-02 -1.15341845e-03 1.39220231e+02] [ 1.56858943e-02 9.99876968e-01 -2.47084214e-05 2.43907168e-01] [ 1.15366411e-03 6.61296520e-06 9.99999335e-01 4.58051716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:0.25, Z:0.05 [[ 9.99882008e-01 -1.53179453e-02 -1.15341678e-03 1.39250273e+02] [ 1.53179269e-02 9.99882673e-01 -2.47858869e-05 2.46462213e-01] [ 1.15366112e-03 7.11500837e-06 9.99999335e-01 4.56146281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:0.25, Z:0.05 [[ 9.99890308e-01 -1.47662265e-02 -1.15341510e-03 1.39279968e+02] [ 1.47662077e-02 9.99890973e-01 -2.48638138e-05 2.50699008e-01] [ 1.15365649e-03 7.82951952e-06 9.99999335e-01 4.58618794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:0.25, Z:0.05 [[ 9.99885576e-01 -1.50832854e-02 -1.15341343e-03 1.39310056e+02] [ 1.50832666e-02 9.99886241e-01 -2.49409444e-05 2.51578616e-01] [ 1.15365841e-03 7.54084816e-06 9.99999335e-01 4.52200454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.34, Y:0.25, Z:0.05 [[ 9.99892185e-01 -1.46385578e-02 -1.15341176e-03 1.39339493e+02] [ 1.46385387e-02 9.99892851e-01 -2.50183483e-05 2.51785894e-01] [ 1.15365440e-03 8.13138831e-06 9.99999335e-01 4.51737705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.37, Y:0.25, Z:0.05 [[ 9.99894185e-01 -1.45013234e-02 -1.15341008e-03 1.39369004e+02] [ 1.45013041e-02 9.99894850e-01 -2.50954179e-05 2.49841847e-01] [ 1.15365271e-03 8.36681209e-06 9.99999335e-01 4.50291688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.40, Y:0.25, Z:0.06 [[ 9.99912234e-01 -1.31982194e-02 -1.15340840e-03 1.39399329e+02] [ 1.31981991e-02 9.99912900e-01 -2.51722163e-05 2.50703539e-01] [ 1.15364017e-03 9.94709323e-06 9.99999335e-01 5.69819645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:0.25, Z:0.05 [[ 9.99884530e-01 -1.51524430e-02 -1.15365167e-03 1.39428951e+02] [ 1.51524368e-02 9.99885195e-01 -1.40660364e-05 2.52885472e-01] [ 1.15373236e-03 -3.41622191e-06 9.99999334e-01 4.65287228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:0.26, Z:0.06 [[ 9.99898242e-01 -1.42188499e-02 -1.15339917e-03 1.39459607e+02] [ 1.42188299e-02 9.99898907e-01 -2.54909964e-05 2.56257854e-01] [ 1.15364502e-03 9.08841589e-06 9.99999335e-01 5.88212391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:0.26, Z:0.06 [[ 9.99877637e-01 -1.56006255e-02 -1.15358344e-03 1.39489389e+02] [ 1.56006162e-02 9.99878303e-01 -1.70770014e-05 2.60469166e-01] [ 1.15370946e-03 -9.21700630e-07 9.99999334e-01 5.96658621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:0.26, Z:0.05 [[ 9.99838491e-01 -1.79348896e-02 -1.15360983e-03 1.39518519e+02] [ 1.79348832e-02 9.99839157e-01 -1.58792209e-05 2.61082677e-01] [ 1.15370907e-03 -4.81320130e-06 9.99999334e-01 4.65908742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.55, Y:0.26, Z:0.05 [[ 9.99840084e-01 -1.78458800e-02 -1.15338689e-03 1.39547877e+02] [ 1.78458621e-02 9.99840750e-01 -2.58329422e-05 2.60329862e-01] [ 1.15366422e-03 5.24562771e-06 9.99999335e-01 4.58867876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.58, Y:0.26, Z:0.05 [[ 9.99838897e-01 -1.79122969e-02 -1.15338516e-03 1.39578029e+02] [ 1.79122789e-02 9.99839562e-01 -2.59098139e-05 2.60991227e-01] [ 1.15366422e-03 5.24588300e-06 9.99999335e-01 4.59215814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:0.26, Z:0.05 [[ 9.99822143e-01 -1.88242281e-02 -1.15338344e-03 1.39607830e+02] [ 1.88242107e-02 9.99822809e-01 -2.59864303e-05 2.58921072e-01] [ 1.15366824e-03 4.27027563e-06 9.99999335e-01 4.55773063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.64, Y:0.26, Z:0.05 [[ 9.99731796e-01 -2.31302097e-02 -1.15338170e-03 1.39637862e+02] [ 2.31301951e-02 9.99732461e-01 -2.60632415e-05 2.56502790e-01] [ 1.15367597e-03 -6.21692520e-07 9.99999335e-01 4.72746939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.67, Y:0.26, Z:0.05 [[ 9.99684405e-01 -2.50950219e-02 -1.15337995e-03 1.39667788e+02] [ 2.50950084e-02 9.99685070e-01 -2.61404306e-05 2.57579991e-01] [ 1.15367271e-03 -2.81189879e-06 9.99999335e-01 4.86510054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.70, Y:0.26, Z:0.05 [[ 9.99663339e-01 -2.59206171e-02 -1.15337822e-03 1.39697546e+02] [ 2.59206041e-02 9.99664004e-01 -2.62166597e-05 2.59140130e-01] [ 1.15367024e-03 -3.68842651e-06 9.99999335e-01 4.84884946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:0.26, Z:0.06 [[ 9.99662519e-01 -2.59522089e-02 -1.15337648e-03 1.39727381e+02] [ 2.59521959e-02 9.99663185e-01 -2.62928294e-05 2.60566136e-01] [ 1.15367036e-03 -3.64869623e-06 9.99999335e-01 5.81547727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:0.26, Z:0.06 [[ 9.99725915e-01 -2.33830179e-02 -1.15338912e-03 1.39757361e+02] [ 2.33830038e-02 9.99726580e-01 -2.57420026e-05 2.61414805e-01] [ 1.15367569e-03 -1.23475513e-06 9.99999335e-01 5.69560225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:0.26, Z:0.06 [[ 9.99782806e-01 -2.08089277e-02 -1.15339187e-03 1.39787074e+02] [ 2.08089120e-02 9.99783471e-01 -2.56228696e-05 2.61965295e-01] [ 1.15367531e-03 1.61647452e-06 9.99999335e-01 5.61703879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.82, Y:0.26, Z:0.05 [[ 9.99829148e-01 -1.84484096e-02 -1.15337473e-03 1.39816867e+02] [ 1.84483915e-02 9.99829814e-01 -2.63660172e-05 2.57499084e-01] [ 1.15366485e-03 5.08360395e-06 9.99999335e-01 4.60474073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:0.25, Z:0.05 [[ 9.99804000e-01 -1.97643773e-02 -1.15336817e-03 1.39847000e+02] [ 1.97643597e-02 9.99804666e-01 -2.66500108e-05 2.54155795e-01] [ 1.15366959e-03 3.84920408e-06 9.99999335e-01 4.60892008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:0.25, Z:0.06 [[ 9.99788690e-01 -2.05242782e-02 -1.15336637e-03 1.39876260e+02] [ 2.05242610e-02 9.99789355e-01 -2.67272747e-05 2.51700077e-01] [ 1.15367198e-03 3.04963443e-06 9.99999335e-01 5.52189259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:0.25, Z:0.05 [[ 9.99756336e-01 -2.20440274e-02 -1.15346543e-03 1.39905821e+02] [ 2.20440161e-02 9.99757001e-01 -2.24855506e-05 2.51353795e-01] [ 1.15368081e-03 -2.94693891e-06 9.99999335e-01 4.61777249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:0.25, Z:0.06 [[ 9.99750761e-01 -2.22953964e-02 -1.15336008e-03 1.39935511e+02] [ 2.22953801e-02 9.99751427e-01 -2.69879950e-05 2.53209338e-01] [ 1.15367509e-03 1.26666726e-06 9.99999335e-01 5.83534780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:0.25, Z:0.05 [[ 9.99764172e-01 -2.16856941e-02 -1.15343876e-03 1.39965581e+02] [ 2.16856813e-02 9.99764838e-01 -2.36288355e-05 2.54885759e-01] [ 1.15367992e-03 -1.38984216e-06 9.99999335e-01 4.82077378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.00, Y:0.26, Z:0.06 [[ 9.99798865e-01 -2.00224712e-02 -1.15335552e-03 1.39995285e+02] [ 2.00224532e-02 9.99799530e-01 -2.71631622e-05 2.55937247e-01] [ 1.15366818e-03 4.06469184e-06 9.99999335e-01 5.88923968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:0.26, Z:0.05 [[ 9.99848931e-01 -1.73431578e-02 -1.15333827e-03 1.40025641e+02] [ 1.73431372e-02 9.99849596e-01 -2.78953586e-05 2.56205570e-01] [ 1.15364860e-03 7.88864071e-06 9.99999335e-01 4.79348621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.05, Y:0.26, Z:0.05 [[ 9.99913138e-01 -1.31295689e-02 -1.15335426e-03 1.40054923e+02] [ 1.31295462e-02 9.99913803e-01 -2.72178000e-05 2.55519301e-01] [ 1.15361220e-03 1.20724178e-05 9.99999335e-01 4.53959418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.08, Y:0.25, Z:0.04 [[ 9.99918921e-01 -1.26815012e-02 -1.15335243e-03 1.40084303e+02] [ 1.26814782e-02 9.99919586e-01 -2.72950630e-05 2.54268361e-01] [ 1.15360583e-03 1.26666363e-05 9.99999335e-01 4.39574482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.11, Y:0.25, Z:0.04 [[ 9.99880715e-01 -1.54021599e-02 -1.15335060e-03 1.40114061e+02] [ 1.54021385e-02 9.99881380e-01 -2.73720074e-05 2.49629727e-01] [ 1.15363538e-03 9.60467658e-06 9.99999335e-01 4.41606802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:0.25, Z:0.04 [[ 9.99865288e-01 -1.63730250e-02 -1.15334876e-03 1.40143352e+02] [ 1.63730043e-02 9.99865953e-01 -2.74493459e-05 2.47298186e-01] [ 1.15364359e-03 8.56186397e-06 9.99999335e-01 4.45530940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:0.25, Z:0.06 [[ 9.99844191e-01 -1.76142904e-02 -1.15334692e-03 1.40172636e+02] [ 1.76142703e-02 9.99844856e-01 -2.75267455e-05 2.45541798e-01] [ 1.15365285e-03 7.20709226e-06 9.99999335e-01 5.73677094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:0.25, Z:0.05 [[ 9.99857734e-01 -1.68279824e-02 -1.15329128e-03 1.40202906e+02] [ 1.68279591e-02 9.99858399e-01 -2.98767234e-05 2.45026964e-01] [ 1.15363074e-03 1.04649345e-05 9.99999335e-01 4.86195898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:0.25, Z:0.05 [[ 9.99884179e-01 -1.51755967e-02 -1.15335486e-03 1.40231281e+02] [ 1.51755755e-02 9.99884844e-01 -2.71785195e-05 2.46009022e-01] [ 1.15363450e-03 9.67254788e-06 9.99999335e-01 4.94866081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:0.25, Z:0.05 [[ 9.99925941e-01 -1.21153563e-02 -1.15335120e-03 1.40260981e+02] [ 1.21153328e-02 9.99926606e-01 -2.73329358e-05 2.45757513e-01] [ 1.15359770e-03 1.33576779e-05 9.99999335e-01 4.71922321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:0.24, Z:0.05 [[ 9.99946594e-01 -1.02703248e-02 -1.15334938e-03 1.40290907e+02] [ 1.02703000e-02 9.99947259e-01 -2.74095354e-05 2.43785064e-01] [ 1.15357006e-03 1.55628273e-05 9.99999335e-01 4.50426863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:0.24, Z:0.05 [[ 9.99957309e-01 -9.16784938e-03 -1.15334756e-03 1.40320845e+02] [ 9.16782378e-03 9.99957974e-01 -2.74858219e-05 2.41687166e-01] [ 1.15355108e-03 1.69109613e-05 9.99999335e-01 4.60418155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.35, Y:0.24, Z:0.05 [[ 9.99973283e-01 -7.21831469e-03 -1.15334574e-03 1.40351001e+02] [ 7.21828770e-03 9.99973947e-01 -2.75619896e-05 2.40597590e-01] [ 1.15351465e-03 1.92360718e-05 9.99999335e-01 4.89217771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:0.24, Z:0.05 [[ 9.99977344e-01 -6.63187433e-03 -1.15334390e-03 1.40380489e+02] [ 6.63184686e-03 9.99978009e-01 -2.76387235e-05 2.41651568e-01] [ 1.15350184e-03 1.99892971e-05 9.99999335e-01 5.03737603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:0.24, Z:0.05 [[ 9.99981077e-01 -6.04283057e-03 -1.15334210e-03 1.40409731e+02] [ 6.04280262e-03 9.99981742e-01 -2.77137413e-05 2.42167293e-01] [ 1.15348851e-03 2.07437982e-05 9.99999335e-01 5.09344277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:0.24, Z:0.05 [[ 9.99980127e-01 -6.19801260e-03 -1.15334027e-03 1.40439806e+02] [ 6.19798467e-03 9.99980792e-01 -2.77896438e-05 2.43001195e-01] [ 1.15349036e-03 2.06407062e-05 9.99999335e-01 5.14213595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:0.25, Z:0.06 [[ 9.99983081e-01 -5.70146327e-03 -1.15333845e-03 1.40469365e+02] [ 5.70143492e-03 9.99983746e-01 -2.78649061e-05 2.45583610e-01] [ 1.15347858e-03 2.12887505e-05 9.99999335e-01 5.98264772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:0.25, Z:0.05 [[ 9.99990625e-01 -4.17356604e-03 -1.15340909e-03 1.40499961e+02] [ 4.17354005e-03 9.99991290e-01 -2.49395627e-05 2.46513910e-01] [ 1.15350313e-03 2.01255299e-05 9.99999335e-01 4.84276564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:0.25, Z:0.06 [[ 9.99992807e-01 -3.61324395e-03 -1.15334514e-03 1.40529762e+02] [ 3.61321451e-03 9.99993472e-01 -2.76105657e-05 2.45802174e-01] [ 1.15343738e-03 2.34430837e-05 9.99999335e-01 5.76435270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:0.24, Z:0.05 [[ 9.99993087e-01 -3.53486607e-03 -1.15343642e-03 1.40559403e+02] [ 3.53484096e-03 9.99993752e-01 -2.38097975e-05 2.44644272e-01] [ 1.15351337e-03 1.97324186e-05 9.99999335e-01 4.92456623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.59, Y:0.25, Z:0.05 [[ 9.99988797e-01 -4.59073538e-03 -1.15334103e-03 1.40589127e+02] [ 4.59070640e-03 9.99989462e-01 -2.77710430e-05 2.48128511e-01] [ 1.15345637e-03 2.24760818e-05 9.99999335e-01 5.26152797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:0.25, Z:0.05 [[ 9.99993521e-01 -3.41004433e-03 -1.15333924e-03 1.40618359e+02] [ 3.41001448e-03 9.99994185e-01 -2.78453360e-05 2.52823142e-01] [ 1.15342749e-03 2.39122521e-05 9.99999335e-01 5.28386824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.65, Y:0.26, Z:0.05 [[ 9.99995675e-01 -2.70539282e-03 -1.15333654e-03 1.40647984e+02] [ 2.70536238e-03 9.99996340e-01 -2.79569270e-05 2.57088617e-01] [ 1.15340795e-03 2.48366128e-05 9.99999335e-01 5.29883230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:0.26, Z:0.05 [[ 9.99998497e-01 -1.29427076e-03 -1.15333474e-03 1.40677940e+02] [ 1.29423929e-03 9.99999162e-01 -2.80309677e-05 2.62573132e-01] [ 1.15337005e-03 2.65382345e-05 9.99999335e-01 4.80928267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:0.27, Z:0.05 [[ 9.99998148e-01 -1.54100291e-03 -1.15333293e-03 1.40707949e+02] [ 1.54097152e-03 9.99998812e-01 -2.81050645e-05 2.65750732e-01] [ 1.15337487e-03 2.63277592e-05 9.99999335e-01 4.73147544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:0.27, Z:0.05 [[ 9.99996465e-01 -2.39581063e-03 -1.15333112e-03 1.40738015e+02] [ 2.39577973e-03 9.99997130e-01 -2.81792870e-05 2.68448471e-01] [ 1.15339532e-03 2.54160601e-05 9.99999335e-01 4.78636733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:0.27, Z:0.05 [[ 9.99994193e-01 -3.20698266e-03 -1.15332929e-03 1.40767519e+02] [ 3.20695220e-03 9.99994857e-01 -2.82537627e-05 2.70399126e-01] [ 1.15341397e-03 2.45549267e-05 9.99999335e-01 4.96878321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.80, Y:0.27, Z:0.05 [[ 9.99976005e-01 -6.83079260e-03 -1.15332744e-03 1.40797107e+02] [ 6.83076447e-03 9.99976670e-01 -2.83290382e-05 2.72552967e-01] [ 1.15349405e-03 2.04502503e-05 9.99999335e-01 5.30958857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:0.27, Z:0.05 [[ 9.99950097e-01 -9.92339035e-03 -1.15332560e-03 1.40826772e+02] [ 9.92336419e-03 9.99950762e-01 -2.84038829e-05 2.74185998e-01] [ 1.15355067e-03 1.69575955e-05 9.99999335e-01 5.27709069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:0.28, Z:0.05 [[ 9.99914018e-01 -1.30623887e-02 -1.15332372e-03 1.40856426e+02] [ 1.30623645e-02 9.99914683e-01 -2.84798432e-05 2.76383990e-01] [ 1.15359734e-03 1.34122596e-05 9.99999335e-01 5.12531795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.89, Y:0.28, Z:0.05 [[ 9.99837383e-01 -1.79966096e-02 -1.15332182e-03 1.40886104e+02] [ 1.79965887e-02 9.99838048e-01 -2.85567711e-05 2.79105076e-01] [ 1.15364896e-03 7.79626890e-06 9.99999335e-01 4.92597912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:0.28, Z:0.05 [[ 9.99811897e-01 -1.93607959e-02 -1.15331988e-03 1.40916009e+02] [ 1.93607757e-02 9.99812562e-01 -2.86348932e-05 2.81314649e-01] [ 1.15365810e-03 6.30033941e-06 9.99999335e-01 4.97675113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:0.28, Z:0.05 [[ 9.99798194e-01 -2.00559571e-02 -1.15331794e-03 1.40945562e+02] [ 2.00559373e-02 9.99798859e-01 -2.87127516e-05 2.84112585e-01] [ 1.15366182e-03 5.57608483e-06 9.99999335e-01 5.02378175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:0.29, Z:0.05 [[ 9.99749656e-01 -2.23449210e-02 -1.15331601e-03 1.40974860e+02] [ 2.23449027e-02 9.99750321e-01 -2.87900879e-05 2.90531979e-01] [ 1.15367136e-03 3.01214650e-06 9.99999335e-01 5.05766797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:0.29, Z:0.06 [[ 9.99730641e-01 -2.31800714e-02 -1.15331407e-03 1.41004365e+02] [ 2.31800536e-02 9.99731306e-01 -2.88678074e-05 2.92634890e-01] [ 1.15367333e-03 2.12614981e-06 9.99999335e-01 6.09319725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:0.29, Z:0.05 [[ 9.99665374e-01 -2.58419981e-02 -1.15334822e-03 1.41033692e+02] [ 2.58419836e-02 9.99666040e-01 -2.74960666e-05 2.92648170e-01] [ 1.15367360e-03 -2.31794011e-06 9.99999335e-01 4.98830004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:0.29, Z:0.06 [[ 9.99600065e-01 -2.82556267e-02 -1.15331801e-03 1.41063100e+02] [ 2.82556123e-02 9.99600730e-01 -2.87097839e-05 2.91055846e-01] [ 1.15366874e-03 -3.88940470e-06 9.99999335e-01 5.85558826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:0.28, Z:0.05 [[ 9.99379308e-01 -3.52089218e-02 -1.15329619e-03 1.41093267e+02] [ 3.52089111e-02 9.99379974e-01 -2.95867836e-05 2.84847353e-01] [ 1.15362284e-03 -1.10378837e-05 9.99999335e-01 4.73846414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:0.28, Z:0.05 [[ 9.99262470e-01 -3.83821063e-02 -1.15332411e-03 1.41122770e+02] [ 3.83820990e-02 9.99263135e-01 -2.84553483e-05 2.83737857e-01] [ 1.15356644e-03 -1.58326384e-05 9.99999335e-01 4.83029057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:0.28, Z:0.05 [[ 9.99199233e-01 -3.99945372e-02 -1.15332225e-03 1.41152888e+02] [ 3.99945309e-02 9.99199898e-01 -2.85304223e-05 2.84372403e-01] [ 1.15354054e-03 -1.76190062e-05 9.99999335e-01 4.98927169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:0.29, Z:0.05 [[ 9.99151935e-01 -4.11592129e-02 -1.15332039e-03 1.41182378e+02] [ 4.11592073e-02 9.99152600e-01 -2.86052666e-05 2.85545161e-01] [ 1.15352044e-03 -1.88887457e-05 9.99999335e-01 5.13601809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:0.29, Z:0.05 [[ 9.99147808e-01 -4.12592773e-02 -1.15331854e-03 1.41211838e+02] [ 4.12592716e-02 9.99148473e-01 -2.86799689e-05 2.87520331e-01] [ 1.15351977e-03 -1.89295546e-05 9.99999335e-01 5.34357226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:0.29, Z:0.05 [[ 9.99167018e-01 -4.07914145e-02 -1.15331670e-03 1.41241194e+02] [ 4.07914085e-02 9.99167684e-01 -2.87537161e-05 2.87028353e-01] [ 1.15352968e-03 -1.83156477e-05 9.99999335e-01 5.27978039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:0.28, Z:0.05 [[ 9.99139417e-01 -4.14619808e-02 -1.15331485e-03 1.41271403e+02] [ 4.14619751e-02 9.99140082e-01 -2.88278117e-05 2.84144727e-01] [ 1.15351835e-03 -1.90157085e-05 9.99999335e-01 5.15010315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:0.28, Z:0.05 [[ 9.99135806e-01 -4.15488954e-02 -1.15331297e-03 1.41301538e+02] [ 4.15488897e-02 9.99136472e-01 -2.89027128e-05 2.79502350e-01] [ 1.15351793e-03 -1.90411380e-05 9.99999335e-01 5.06796324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:0.27, Z:0.05 [[ 9.99093227e-01 -4.25604713e-02 -1.15331108e-03 1.41331291e+02] [ 4.25604662e-02 9.99093892e-01 -2.89777425e-05 2.74594063e-01] [ 1.15349937e-03 -2.01339911e-05 9.99999335e-01 5.11799092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:0.28, Z:0.05 [[ 9.99076987e-01 -4.29400027e-02 -1.15330921e-03 1.41361245e+02] [ 4.29399978e-02 9.99077653e-01 -2.90521466e-05 2.76265070e-01] [ 1.15349296e-03 -2.04977638e-05 9.99999335e-01 5.10665468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:0.28, Z:0.05 [[ 9.99130203e-01 -4.16834106e-02 -1.15330733e-03 1.41390675e+02] [ 4.16834047e-02 9.99130869e-01 -2.91266638e-05 2.77042058e-01] [ 1.15351905e-03 -1.89724465e-05 9.99999335e-01 5.22016567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:0.27, Z:0.05 [[ 9.99157493e-01 -4.10240581e-02 -1.15330545e-03 1.41420765e+02] [ 4.10240517e-02 9.99158159e-01 -2.92008148e-05 2.74720363e-01] [ 1.15353249e-03 -1.81370495e-05 9.99999335e-01 5.36966286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:0.28, Z:0.05 [[ 9.99154821e-01 -4.10890970e-02 -1.15330356e-03 1.41450920e+02] [ 4.10890906e-02 9.99155486e-01 -2.92752888e-05 2.75470219e-01] [ 1.15353247e-03 -1.81376484e-05 9.99999335e-01 5.37314255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:0.27, Z:0.06 [[ 9.99162780e-01 -4.08950880e-02 -1.15330165e-03 1.41480184e+02] [ 4.08950814e-02 9.99163446e-01 -2.93503615e-05 2.72936664e-01] [ 1.15353713e-03 -1.78385759e-05 9.99999335e-01 5.56785351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:0.27, Z:0.06 [[ 9.99196624e-01 -4.00596596e-02 -1.15329973e-03 1.41509581e+02] [ 4.00596523e-02 9.99197290e-01 -2.94253766e-05 2.71529257e-01] [ 1.15355274e-03 -1.67990494e-05 9.99999335e-01 5.54515688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:0.27, Z:0.05 [[ 9.99307130e-01 -3.72011949e-02 -1.15329782e-03 1.41538302e+02] [ 3.72011857e-02 9.99307796e-01 -2.95002194e-05 2.69595550e-01] [ 1.15359695e-03 -1.34242667e-05 9.99999335e-01 5.30787831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:0.27, Z:0.05 [[ 9.99389381e-01 -3.49218354e-02 -1.15329394e-03 1.41566949e+02] [ 3.49218244e-02 9.99390047e-01 -2.96511261e-05 2.69857321e-01] [ 1.15362596e-03 -1.06421078e-05 9.99999335e-01 5.16609170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:0.27, Z:0.05 [[ 9.99434496e-01 -3.36059112e-02 -1.15329002e-03 1.41595973e+02] [ 3.36058992e-02 9.99435162e-01 -2.98026731e-05 2.70697704e-01] [ 1.15364015e-03 -8.97152872e-06 9.99999335e-01 5.18620411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:0.27, Z:0.05 [[ 9.99473698e-01 -3.24190846e-02 -1.15328607e-03 1.41624906e+02] [ 3.24190716e-02 9.99474363e-01 -2.99549840e-05 2.72053425e-01] [ 1.15365097e-03 -7.44924498e-06 9.99999335e-01 5.31255206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:0.27, Z:0.05 [[ 9.99547038e-01 -3.00730481e-02 -1.15328210e-03 1.41653626e+02] [ 3.00730334e-02 9.99547704e-01 -3.01070577e-05 2.70299688e-01] [ 1.15366588e-03 -4.58927070e-06 9.99999335e-01 5.32075069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:0.27, Z:0.05 [[ 9.99608472e-01 -2.79566338e-02 -1.15327804e-03 1.41682366e+02] [ 2.79566175e-02 9.99609137e-01 -3.02617082e-05 2.68383941e-01] [ 1.15367328e-03 -1.99189309e-06 9.99999335e-01 5.24778044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:0.27, Z:0.05 [[ 9.99666446e-01 -2.58005002e-02 -1.15327499e-03 1.41710844e+02] [ 2.58004823e-02 9.99667112e-01 -3.03776892e-05 2.66653509e-01] [ 1.15367483e-03 6.12505768e-07 9.99999335e-01 5.23011900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.74, Y:0.26, Z:0.05 [[ 9.99756396e-01 -2.20413050e-02 -1.15327082e-03 1.41739661e+02] [ 2.20412844e-02 9.99757061e-01 -3.05351620e-05 2.64807920e-01] [ 1.15366368e-03 5.10815346e-06 9.99999335e-01 5.32556534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:0.27, Z:0.05 [[ 9.99806274e-01 -1.96490092e-02 -1.15326665e-03 1.41768249e+02] [ 1.96489868e-02 9.99806940e-01 -3.06915668e-05 2.65877214e-01] [ 1.15364706e-03 8.02509975e-06 9.99999335e-01 5.37702684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:0.27, Z:0.05 [[ 9.99854498e-01 -1.70191879e-02 -1.15326251e-03 1.41797042e+02] [ 1.70191636e-02 9.99855163e-01 -3.08463374e-05 2.67667021e-01] [ 1.15362046e-03 1.12142858e-05 9.99999335e-01 5.48140265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:0.27, Z:0.06 [[ 9.99898830e-01 -1.41774288e-02 -1.15325840e-03 1.41826178e+02] [ 1.41774025e-02 9.99899495e-01 -3.09994458e-05 2.70074193e-01] [ 1.15358198e-03 1.46461011e-05 9.99999335e-01 5.54724477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:0.27, Z:0.06 [[ 9.99958986e-01 -8.98306121e-03 -1.15325427e-03 1.41854679e+02] [ 8.98303126e-03 9.99959651e-01 -3.11522858e-05 2.74953201e-01] [ 1.15348758e-03 2.07912889e-05 9.99999335e-01 5.55236296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:0.28, Z:0.05 [[ 9.99966906e-01 -8.05341830e-03 -1.15325017e-03 1.41884246e+02] [ 8.05338755e-03 9.99967570e-01 -3.13034762e-05 2.76671609e-01] [ 1.15346487e-03 2.20148697e-05 9.99999335e-01 5.49646845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:0.28, Z:0.06 [[ 9.99978895e-01 -6.39379129e-03 -1.15324811e-03 1.41913949e+02] [ 6.39375935e-03 9.99979559e-01 -3.13789206e-05 2.77618985e-01] [ 1.15342517e-03 2.40046674e-05 9.99999335e-01 5.54486645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:0.28, Z:0.06 [[ 9.99980242e-01 -6.17949624e-03 -1.15324607e-03 1.41943424e+02] [ 6.17946407e-03 9.99980906e-01 -3.14538035e-05 2.77808787e-01] [ 1.15341842e-03 2.43267394e-05 9.99999335e-01 5.56278710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:0.28, Z:0.06 [[ 9.99985192e-01 -5.31848519e-03 -1.15324402e-03 1.41973029e+02] [ 5.31845237e-03 9.99985856e-01 -3.15288150e-05 2.78366281e-01] [ 1.15339539e-03 2.53948747e-05 9.99999335e-01 5.63948425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:0.28, Z:0.06 [[ 9.99989989e-01 -4.32341619e-03 -1.15324196e-03 1.42002465e+02] [ 4.32338261e-03 9.99990654e-01 -3.16038263e-05 2.81122462e-01] [ 1.15336782e-03 2.66176037e-05 9.99999335e-01 5.72627583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:0.29, Z:0.06 [[ 9.99993617e-01 -3.38185023e-03 -1.15323992e-03 1.42031945e+02] [ 3.38181594e-03 9.99994281e-01 -3.16782962e-05 2.85056393e-01] [ 1.15334045e-03 2.77780488e-05 9.99999335e-01 5.76379292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:0.29, Z:0.06 [[ 9.99999335e-01 -1.98137751e-05 -1.15323787e-03 1.42061757e+02] [ 1.97771697e-05 9.99999999e-01 -3.17526956e-05 2.92852753e-01] [ 1.15323850e-03 3.17298667e-05 9.99999335e-01 5.64752788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:0.30, Z:0.06 [[ 9.99998439e-01 1.33834867e-03 -1.15323583e-03 1.42091780e+02] [-1.33838626e-03 9.99999104e-01 -3.18266047e-05 2.96179125e-01] [ 1.15319220e-03 3.33700300e-05 9.99999335e-01 5.53417094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:0.30, Z:0.05 [[ 9.99997078e-01 2.12473092e-03 -1.15323380e-03 1.42121896e+02] [-2.12476912e-03 9.99997742e-01 -3.18999199e-05 2.97633394e-01] [ 1.15316342e-03 3.43501822e-05 9.99999335e-01 5.48173323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:0.30, Z:0.06 [[ 9.99998635e-01 -1.18359667e-03 -1.15323176e-03 1.42151456e+02] [ 1.18356058e-03 9.99999299e-01 -3.19735927e-05 2.97158057e-01] [ 1.15326880e-03 3.06086294e-05 9.99999335e-01 5.79647032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:0.30, Z:0.06 [[ 9.99993937e-01 -3.28559823e-03 -1.15322971e-03 1.42180780e+02] [ 3.28556346e-03 9.99994602e-01 -3.20473209e-05 2.98427775e-01] [ 1.15332878e-03 2.82581172e-05 9.99999335e-01 5.82007173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:0.30, Z:0.06 [[ 9.99982664e-01 -5.77416568e-03 -1.15322766e-03 1.42209942e+02] [ 5.77413248e-03 9.99983329e-01 -3.21208827e-05 3.00829725e-01] [ 1.15339391e-03 2.54614365e-05 9.99999335e-01 5.82065573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:0.30, Z:0.06 [[ 9.99973783e-01 -7.14866778e-03 -1.15322560e-03 1.42239584e+02] [ 7.14863541e-03 9.99974448e-01 -3.21946106e-05 3.03937691e-01] [ 1.15342628e-03 2.39497772e-05 9.99999335e-01 5.74348321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:0.31, Z:0.06 [[ 9.99958849e-01 -8.99834955e-03 -1.15322351e-03 1.42269586e+02] [ 8.99831831e-03 9.99959514e-01 -3.22693068e-05 3.08607788e-01] [ 1.15346719e-03 2.18909066e-05 9.99999335e-01 5.54908417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:0.31, Z:0.06 [[ 9.99958070e-01 -9.08451633e-03 -1.15322140e-03 1.42299384e+02] [ 9.08448506e-03 9.99958735e-01 -3.23447054e-05 3.11770641e-01] [ 1.15346765e-03 2.18669266e-05 9.99999335e-01 5.65114387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:0.31, Z:0.06 [[ 9.99958472e-01 -9.04019585e-03 -1.15321929e-03 1.42328897e+02] [ 9.04016447e-03 9.99959136e-01 -3.24198444e-05 3.14448667e-01] [ 1.15346524e-03 2.19932060e-05 9.99999335e-01 5.71552624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:0.32, Z:0.06 [[ 9.99952155e-01 -9.71381246e-03 -1.15321717e-03 1.42358989e+02] [ 9.71378145e-03 9.99952820e-01 -3.24949116e-05 3.16293781e-01] [ 1.15347841e-03 2.12912573e-05 9.99999335e-01 5.81141420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:0.31, Z:0.06 [[ 9.99931791e-01 -1.16225227e-02 -1.15321505e-03 1.42388478e+02] [ 1.16224929e-02 9.99932456e-01 -3.25699926e-05 3.14844609e-01] [ 1.15351570e-03 1.91645373e-05 9.99999335e-01 5.81040350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:0.32, Z:0.06 [[ 9.99930670e-01 -1.17185959e-02 -1.15321292e-03 1.42417758e+02] [ 1.17185661e-02 9.99931335e-01 -3.26453767e-05 3.16529206e-01] [ 1.15351629e-03 1.91291116e-05 9.99999335e-01 5.66668564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:0.32, Z:0.06 [[ 9.99942974e-01 -1.06169039e-02 -1.15321075e-03 1.42448737e+02] [ 1.06168733e-02 9.99943639e-01 -3.27215948e-05 3.21903457e-01] [ 1.15349316e-03 2.04762364e-05 9.99999335e-01 6.48713829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:0.34, Z:0.05 [[ 9.99946077e-01 -1.03204754e-02 -1.15350018e-03 1.42477747e+02] [ 1.03204562e-02 9.99946742e-01 -2.25374867e-05 3.35251769e-01] [ 1.15367135e-03 1.06316232e-05 9.99999334e-01 5.37636696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:0.34, Z:0.05 [[ 9.99946522e-01 -1.02772993e-02 -1.15319896e-03 1.42507448e+02] [ 1.02772680e-02 9.99947187e-01 -3.30484608e-05 3.39945184e-01] [ 1.15347770e-03 2.11949587e-05 9.99999335e-01 5.45714513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:0.34, Z:0.06 [[ 9.99936090e-01 -1.12466241e-02 -1.15319679e-03 1.42537370e+02] [ 1.12465933e-02 9.99936755e-01 -3.31239160e-05 3.42183299e-01] [ 1.15349639e-03 2.01522637e-05 9.99999335e-01 5.59438284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:0.34, Z:0.06 [[ 9.99931602e-01 -1.16388326e-02 -1.15319462e-03 1.42567339e+02] [ 1.16388021e-02 9.99932266e-01 -3.31993128e-05 3.44255854e-01] [ 1.15350291e-03 1.97752381e-05 9.99999335e-01 5.69282076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:0.35, Z:0.06 [[ 9.99890207e-01 -1.47730992e-02 -1.15319242e-03 1.42597345e+02] [ 1.47730706e-02 9.99890872e-01 -3.32757824e-05 3.49798758e-01] [ 1.15355816e-03 1.62359359e-05 9.99999335e-01 5.61826104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:0.35, Z:0.05 [[ 9.99843003e-01 -1.76816405e-02 -1.15319017e-03 1.42626812e+02] [ 1.76816138e-02 9.99843667e-01 -3.33533554e-05 3.53966643e-01] [ 1.15359963e-03 1.29578558e-05 9.99999335e-01 5.44295231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:0.36, Z:0.05 [[ 9.99787377e-01 -2.05881465e-02 -1.15318795e-03 1.42656155e+02] [ 2.05881216e-02 9.99788042e-01 -3.34299443e-05 3.56863537e-01] [ 1.15363178e-03 9.68086247e-06 9.99999335e-01 5.42303198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:0.36, Z:0.05 [[ 9.99711663e-01 -2.39845819e-02 -1.15318571e-03 1.42685767e+02] [ 2.39845592e-02 9.99712329e-01 -3.35070596e-05 3.57491545e-01] [ 1.15365762e-03 5.83874735e-06 9.99999335e-01 5.33769744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:0.36, Z:0.05 [[ 9.99608295e-01 -2.79629402e-02 -1.15318345e-03 1.42715889e+02] [ 2.79629200e-02 9.99608961e-01 -3.35846471e-05 3.56594228e-01] [ 1.15367164e-03 1.32511522e-06 9.99999335e-01 5.47987360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:0.36, Z:0.06 [[ 9.99398505e-01 -3.46597393e-02 -1.15318120e-03 1.42746124e+02] [ 3.46597235e-02 9.99399171e-01 -3.36618229e-05 3.55240607e-01] [ 1.15365504e-03 -6.32736597e-06 9.99999335e-01 5.79254783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:0.36, Z:0.06 [[ 9.99335402e-01 -3.64338372e-02 -1.15318120e-03 1.42776145e+02] [ 3.64338226e-02 9.99336067e-01 -3.36618229e-05 3.56048400e-01] [ 1.15364199e-03 -8.37534788e-06 9.99999335e-01 5.81489097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:0.36, Z:0.06 [[ 9.99315826e-01 -3.69668692e-02 -1.15318120e-03 1.42806896e+02] [ 3.69668550e-02 9.99316492e-01 -3.36618229e-05 3.56817934e-01] [ 1.15363736e-03 -8.99068976e-06 9.99999335e-01 5.79392739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:0.36, Z:0.06 [[ 9.99323222e-01 -3.67664016e-02 -1.15318120e-03 1.42837303e+02] [ 3.67663873e-02 9.99323887e-01 -3.36618229e-05 3.58641967e-01] [ 1.15363914e-03 -8.75926520e-06 9.99999335e-01 5.55934854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:0.36, Z:0.06 [[ 9.99406070e-01 -3.44409396e-02 -1.15318120e-03 1.42867412e+02] [ 3.44409237e-02 9.99406735e-01 -3.36618229e-05 3.60852099e-01] [ 1.15365640e-03 -6.07479553e-06 9.99999335e-01 5.50609666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:0.36, Z:0.05 [[ 9.99453603e-01 -3.30327861e-02 -1.15318010e-03 1.42897698e+02] [ 3.30327692e-02 9.99454269e-01 -3.36994954e-05 3.61061974e-01] [ 1.15366396e-03 -4.41164991e-06 9.99999335e-01 5.40529141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.93, Y:0.36, Z:0.05 [[ 9.99490281e-01 -3.19037355e-02 -1.15318010e-03 1.42928611e+02] [ 3.19037179e-02 9.99490946e-01 -3.36994954e-05 3.59867085e-01] [ 1.15366821e-03 -3.10841438e-06 9.99999335e-01 5.33438176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:0.36, Z:0.06 [[ 9.99595035e-01 -2.84330190e-02 -1.15318010e-03 1.42958668e+02] [ 2.84329991e-02 9.99595700e-01 -3.36994954e-05 3.58356828e-01] [ 1.15367205e-03 8.97479611e-07 9.99999335e-01 5.89501539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.99, Y:0.36, Z:0.05 [[ 9.99586189e-01 -2.87423079e-02 -1.15332287e-03 1.42987881e+02] [ 2.87422938e-02 9.99586855e-01 -2.87962681e-05 3.60830810e-01] [ 1.15367405e-03 -4.36479284e-06 9.99999335e-01 5.30868420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:0.36, Z:0.06 [[ 9.99626716e-01 -2.72964984e-02 -1.15317804e-03 1.43017204e+02] [ 2.72964777e-02 9.99627381e-01 -3.37454906e-05 3.64820405e-01] [ 1.15366948e-03 2.25519529e-06 9.99999335e-01 5.52203025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:0.37, Z:0.06 [[ 9.99674528e-01 -2.54854488e-02 -1.15317579e-03 1.43048100e+02] [ 2.54854267e-02 9.99675193e-01 -3.38222133e-05 3.68452540e-01] [ 1.15366321e-03 4.42202794e-06 9.99999335e-01 5.66577782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.08, Y:0.37, Z:0.06 [[ 9.99724360e-01 -2.34494091e-02 -1.15317579e-03 1.43078066e+02] [ 2.34493857e-02 9.99725025e-01 -3.38222133e-05 3.70894164e-01] [ 1.15365181e-03 6.77162656e-06 9.99999335e-01 5.69954285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:0.37, Z:0.07 [[ 9.99771290e-01 -2.13550312e-02 -1.15317579e-03 1.43108106e+02] [ 2.13550064e-02 9.99771955e-01 -3.38222133e-05 3.71109775e-01] [ 1.15363509e-03 9.18840144e-06 9.99999335e-01 6.54273505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:0.37, Z:0.07 [[ 9.99788194e-01 -2.05484249e-02 -1.15321485e-03 1.43138097e+02] [ 2.05484011e-02 9.99788859e-01 -3.24973086e-05 3.72659156e-01] [ 1.15363913e-03 8.79370423e-06 9.99999335e-01 6.72031777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.17, Y:0.38, Z:0.06 [[ 9.99800157e-01 -1.99578468e-02 -1.15319555e-03 1.43167793e+02] [ 1.99578218e-02 9.99800822e-01 -3.31508240e-05 3.78051190e-01] [ 1.15362747e-03 1.01289278e-05 9.99999335e-01 5.65515019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:0.38, Z:0.06 [[ 9.99803293e-01 -1.98001568e-02 -1.15316965e-03 1.43198234e+02] [ 1.98001307e-02 9.99803958e-01 -3.40284118e-05 3.81109298e-01] [ 1.15361735e-03 1.11888084e-05 9.99999335e-01 6.46055397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.23, Y:0.38, Z:0.06 [[ 9.99815294e-01 -1.91845616e-02 -1.15319848e-03 1.43228714e+02] [ 1.91845363e-02 9.99815959e-01 -3.30432091e-05 3.83291178e-01] [ 1.15362016e-03 1.09135278e-05 9.99999335e-01 6.40258348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.26, Y:0.38, Z:0.06 [[ 9.99808019e-01 -1.95600349e-02 -1.15327638e-03 1.43258909e+02] [ 1.95600129e-02 9.99808684e-01 -3.03758578e-05 3.84979162e-01] [ 1.15364989e-03 7.81192541e-06 9.99999335e-01 6.46742877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.29, Y:0.39, Z:0.06 [[ 9.99833937e-01 -1.81870509e-02 -1.15321435e-03 1.43289220e+02] [ 1.81870255e-02 9.99834602e-01 -3.25097127e-05 3.86274513e-01] [ 1.15361486e-03 1.15307753e-05 9.99999335e-01 5.92396335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:0.39, Z:0.06 [[ 9.99834762e-01 -1.81416123e-02 -1.15318710e-03 1.43320000e+02] [ 1.81415858e-02 9.99835427e-01 -3.34491019e-05 3.88150525e-01] [ 1.15360414e-03 1.25229321e-05 9.99999335e-01 6.02905263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.35, Y:0.39, Z:0.06 [[ 9.99860566e-01 -1.66588712e-02 -1.15318710e-03 1.43350758e+02] [ 1.66588437e-02 9.99861231e-01 -3.34491019e-05 3.91010247e-01] [ 1.15358430e-03 1.42336743e-05 9.99999335e-01 5.91301407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:0.39, Z:0.06 [[ 9.99860566e-01 -1.66588712e-02 -1.15318710e-03 1.43381742e+02] [ 1.66588437e-02 9.99861231e-01 -3.34491019e-05 3.91908952e-01] [ 1.15358430e-03 1.42336743e-05 9.99999335e-01 5.91659008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:0.40, Z:0.06 [[ 9.99883856e-01 -1.51968674e-02 -1.15318710e-03 1.43411776e+02] [ 1.51968389e-02 9.99884521e-01 -3.34491019e-05 3.96072456e-01] [ 1.15356225e-03 1.59204184e-05 9.99999335e-01 5.79785691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:0.40, Z:0.06 [[ 9.99933225e-01 -1.14985390e-02 -1.15318710e-03 1.43441633e+02] [ 1.14985081e-02 9.99933889e-01 -3.34491019e-05 4.04071931e-01] [ 1.15349548e-03 2.01869371e-05 9.99999335e-01 5.65485680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.47, Y:0.41, Z:0.06 [[ 9.99948757e-01 -1.00574861e-02 -1.15318710e-03 1.43471680e+02] [ 1.00574542e-02 9.99949422e-01 -3.34491019e-05 4.08274329e-01] [ 1.15346519e-03 2.18492614e-05 9.99999335e-01 5.69597536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.50, Y:0.41, Z:0.06 [[ 9.99948572e-01 -1.00758391e-02 -1.15318599e-03 1.43501464e+02] [ 1.00758072e-02 9.99949237e-01 -3.34874517e-05 4.12060400e-01] [ 1.15346486e-03 2.18664499e-05 9.99999335e-01 5.77860479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:0.42, Z:0.07 [[ 9.99941852e-01 -1.07221131e-02 -1.15318377e-03 1.43532255e+02] [ 1.07220815e-02 9.99942516e-01 -3.35637274e-05 4.16437111e-01] [ 1.15347735e-03 2.11972454e-05 9.99999335e-01 6.86448540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:0.42, Z:0.06 [[ 9.99912921e-01 -1.31461209e-02 -1.15337382e-03 1.43562423e+02] [ 1.31460984e-02 9.99913586e-01 -2.70475645e-05 4.17473882e-01] [ 1.15362973e-03 1.18828434e-05 9.99999334e-01 5.96277539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.59, Y:0.42, Z:0.07 [[ 9.99895935e-01 -1.43801385e-02 -1.15318909e-03 1.43592729e+02] [ 1.43801096e-02 9.99896600e-01 -3.34217422e-05 4.19141030e-01] [ 1.15355046e-03 1.68352787e-05 9.99999335e-01 6.82718066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.62, Y:0.42, Z:0.06 [[ 9.99863865e-01 -1.64596746e-02 -1.15331659e-03 1.43623114e+02] [ 1.64596521e-02 9.99864530e-01 -2.89904013e-05 4.21251227e-01] [ 1.15363753e-03 1.00032648e-05 9.99999335e-01 5.79168467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.65, Y:0.43, Z:0.06 [[ 9.99858560e-01 -1.67788644e-02 -1.15319589e-03 1.43653307e+02] [ 1.67788373e-02 9.99859225e-01 -3.31848512e-05 4.30077085e-01] [ 1.15359035e-03 1.38308713e-05 9.99999335e-01 5.91355377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.68, Y:0.43, Z:0.07 [[ 9.99839008e-01 -1.79061173e-02 -1.15319589e-03 1.43683377e+02] [ 1.79060909e-02 9.99839673e-01 -3.31848512e-05 4.34326207e-01] [ 1.15360521e-03 1.25302782e-05 9.99999335e-01 6.80364495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.71, Y:0.44, Z:0.06 [[ 9.99847312e-01 -1.74362446e-02 -1.15316505e-03 1.43714414e+02] [ 1.74362167e-02 9.99847977e-01 -3.42613439e-05 4.35783018e-01] [ 1.15358713e-03 1.41492769e-05 9.99999335e-01 5.90807713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.75, Y:0.44, Z:0.07 [[ 9.99830484e-01 -1.83759063e-02 -1.15320765e-03 1.43745118e+02] [ 1.83758807e-02 9.99831149e-01 -3.27617200e-05 4.35113936e-01] [ 1.15361495e-03 1.15649602e-05 9.99999335e-01 6.78451380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.78, Y:0.43, Z:0.06 [[ 9.99767912e-01 -2.15126045e-02 -1.15313918e-03 1.43775576e+02] [ 2.15125782e-02 9.99768577e-01 -3.52003901e-05 4.31993766e-01] [ 1.15362957e-03 1.03852236e-05 9.99999335e-01 5.82422535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.81, Y:0.43, Z:0.06 [[ 9.99718235e-01 -2.37090980e-02 -1.15322197e-03 1.43806383e+02] [ 2.37090766e-02 9.99718900e-01 -3.22390449e-05 4.33628641e-01] [ 1.15366216e-03 4.88813306e-06 9.99999335e-01 5.75374819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.84, Y:0.44, Z:0.06 [[ 9.99672839e-01 -2.55516107e-02 -1.15322197e-03 1.43837604e+02] [ 2.55515905e-02 9.99673504e-01 -3.22390449e-05 4.35812132e-01] [ 1.15366921e-03 2.76184199e-06 9.99999335e-01 5.81904254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.87, Y:0.44, Z:0.06 [[ 9.99661733e-01 -2.59824847e-02 -1.15322410e-03 1.43868959e+02] [ 2.59824648e-02 9.99662398e-01 -3.21628762e-05 4.36985828e-01] [ 1.15367044e-03 2.18839202e-06 9.99999335e-01 5.77674530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.90, Y:0.44, Z:0.06 [[ 9.99697945e-01 -2.45497288e-02 -1.15322621e-03 1.43900122e+02] [ 2.45497082e-02 9.99698610e-01 -3.20868399e-05 4.38167504e-01] [ 1.15366636e-03 3.76578101e-06 9.99999335e-01 5.99931510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.93, Y:0.44, Z:0.07 [[ 9.99740078e-01 -2.27694264e-02 -1.15322831e-03 1.43930719e+02] [ 2.27694046e-02 9.99740743e-01 -3.20111261e-05 4.40993691e-01] [ 1.15365820e-03 5.74448367e-06 9.99999335e-01 6.81083622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.96, Y:0.44, Z:0.06 [[ 9.99805171e-01 -1.97051038e-02 -1.15311287e-03 1.43961615e+02] [ 1.97050751e-02 9.99805836e-01 -3.61950890e-05 4.44605682e-01] [ 1.15360220e-03 1.34658615e-05 9.99999335e-01 6.15505894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:0.45, Z:0.06 [[ 9.99851098e-01 -1.72177727e-02 -1.15324219e-03 1.43991662e+02] [ 1.72177479e-02 9.99851763e-01 -3.14534906e-05 4.47427181e-01] [ 1.15361280e-03 1.15925738e-05 9.99999335e-01 6.05646054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:0.45, Z:0.06 [[ 9.99872422e-01 -1.59314202e-02 -1.15324219e-03 1.44021933e+02] [ 1.59313945e-02 9.99873087e-01 -3.14534906e-05 4.48421603e-01] [ 1.15359693e-03 1.30767215e-05 9.99999335e-01 5.99919594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.05, Y:0.45, Z:0.06 [[ 9.99906081e-01 -1.36564815e-02 -1.15324219e-03 1.44052735e+02] [ 1.36564543e-02 9.99906746e-01 -3.14534906e-05 4.50149522e-01] [ 1.15356419e-03 1.57013372e-05 9.99999335e-01 6.00511725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:0.45, Z:0.06 [[ 9.99905722e-01 -1.36827578e-02 -1.15324323e-03 1.44083506e+02] [ 1.36827307e-02 9.99906387e-01 -3.14151634e-05 4.52754641e-01] [ 1.15356512e-03 1.56326850e-05 9.99999335e-01 6.11714669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.532320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.11, Y:0.46, Z:0.06 [[ 9.99904712e-01 -1.37563078e-02 -1.15324323e-03 1.44114048e+02] [ 1.37562807e-02 9.99905377e-01 -3.14151634e-05 4.55740186e-01] [ 1.15356627e-03 1.55478322e-05 9.99999335e-01 6.19492056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:0.46, Z:0.06 [[ 9.99902906e-01 -1.38869960e-02 -1.15324323e-03 1.44144293e+02] [ 1.38869690e-02 9.99903571e-01 -3.14151634e-05 4.59267074e-01] [ 1.15356829e-03 1.53970601e-05 9.99999335e-01 6.29263247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.17, Y:0.46, Z:0.06 [[ 9.99914831e-01 -1.30000269e-02 -1.15324323e-03 1.44174836e+02] [ 1.29999993e-02 9.99915496e-01 -3.14151634e-05 4.60842312e-01] [ 1.15355418e-03 1.64203265e-05 9.99999335e-01 6.23244318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:0.46, Z:0.06 [[ 9.99920624e-01 -1.25465798e-02 -1.15324323e-03 1.44205362e+02] [ 1.25465519e-02 9.99921288e-01 -3.14151634e-05 4.62452763e-01] [ 1.15354661e-03 1.69434436e-05 9.99999335e-01 6.18773729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:0.46, Z:0.06 [[ 9.99925422e-01 -1.21581773e-02 -1.15324323e-03 1.44235994e+02] [ 1.21581492e-02 9.99926086e-01 -3.14151634e-05 4.64534606e-01] [ 1.15353995e-03 1.73915172e-05 9.99999335e-01 6.18486723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:0.47, Z:0.06 [[ 9.99920325e-01 -1.25703577e-02 -1.15324323e-03 1.44266484e+02] [ 1.25703298e-02 9.99920990e-01 -3.14151634e-05 4.65861373e-01] [ 1.15354702e-03 1.69160125e-05 9.99999335e-01 6.22030465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:0.46, Z:0.06 [[ 9.99912282e-01 -1.31946059e-02 -1.15324323e-03 1.44297241e+02] [ 1.31945784e-02 9.99912947e-01 -3.14151634e-05 4.64676009e-01] [ 1.15355735e-03 1.61958494e-05 9.99999335e-01 6.17262267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.33, Y:0.46, Z:0.06 [[ 9.99904996e-01 -1.37356524e-02 -1.15324323e-03 1.44327330e+02] [ 1.37356253e-02 9.99905661e-01 -3.14151634e-05 4.63146340e-01] [ 1.15356595e-03 1.55716618e-05 9.99999335e-01 6.13144000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.36, Y:0.46, Z:0.06 [[ 9.99880554e-01 -1.54125776e-02 -1.15324323e-03 1.44357465e+02] [ 1.54125516e-02 9.99881219e-01 -3.14151634e-05 4.62908716e-01] [ 1.15359044e-03 1.36369901e-05 9.99999335e-01 6.03664974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:0.46, Z:0.06 [[ 9.99825196e-01 -1.86613849e-02 -1.15324323e-03 1.44387831e+02] [ 1.86613611e-02 9.99825861e-01 -3.14151634e-05 4.64807839e-01] [ 1.15362866e-03 9.88858345e-06 9.99999335e-01 5.91353756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.42, Y:0.47, Z:0.06 [[ 9.99808595e-01 -1.95305556e-02 -1.15324323e-03 1.44418360e+02] [ 1.95305323e-02 9.99809260e-01 -3.14151634e-05 4.65603542e-01] [ 1.15363682e-03 8.88569612e-06 9.99999335e-01 5.92509392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:0.47, Z:0.06 [[ 9.99782457e-01 -2.08256976e-02 -1.15324323e-03 1.44449264e+02] [ 2.08256752e-02 9.99783122e-01 -3.14151634e-05 4.65305784e-01] [ 1.15364736e-03 7.39126017e-06 9.99999335e-01 5.94695229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:0.46, Z:0.06 [[ 9.99720870e-01 -2.35977100e-02 -1.15324323e-03 1.44479974e+02] [ 2.35976895e-02 9.99721535e-01 -3.14151634e-05 4.62449357e-01] [ 1.15366342e-03 4.19251869e-06 9.99999335e-01 6.15669318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:0.46, Z:0.06 [[ 9.99693751e-01 -2.47199052e-02 -1.15324323e-03 1.44511258e+02] [ 2.47198854e-02 9.99694416e-01 -3.14151634e-05 4.61953140e-01] [ 1.15366740e-03 2.89750190e-06 9.99999335e-01 6.14200223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:0.46, Z:0.06 [[ 9.99657194e-01 -2.61565317e-02 -1.15324530e-03 1.44542353e+02] [ 2.61565129e-02 9.99657859e-01 -3.13392581e-05 4.62135914e-01] [ 1.15367045e-03 1.16363925e-06 9.99999335e-01 6.14283178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:0.46, Z:0.06 [[ 9.99584055e-01 -2.88164426e-02 -1.15324736e-03 1.44573246e+02] [ 2.88164257e-02 9.99584720e-01 -3.12631613e-05 4.62378777e-01] [ 1.15366933e-03 -1.98230931e-06 9.99999335e-01 6.12175602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.61, Y:0.46, Z:0.06 [[ 9.99462201e-01 -3.27716176e-02 -1.15324939e-03 1.44605010e+02] [ 3.27716034e-02 9.99462866e-01 -3.11879538e-05 4.61443285e-01] [ 1.15365202e-03 -6.62265080e-06 9.99999335e-01 5.95001807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.64, Y:0.46, Z:0.06 [[ 9.99382147e-01 -3.51282442e-02 -1.15325143e-03 1.44636784e+02] [ 3.51282317e-02 9.99382813e-01 -3.11124279e-05 4.59412643e-01] [ 1.15363258e-03 -9.41847847e-06 9.99999335e-01 5.84673079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.67, Y:0.46, Z:0.06 [[ 9.99353182e-01 -3.59428441e-02 -1.15325342e-03 1.44668053e+02] [ 3.59428322e-02 9.99353847e-01 -3.10385649e-05 4.56876443e-01] [ 1.15362386e-03 -1.04327056e-05 9.99999335e-01 5.84881881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:0.45, Z:0.07 [[ 9.99262762e-01 -3.83744982e-02 -1.15325541e-03 1.44698371e+02] [ 3.83744880e-02 9.99263428e-01 -3.09645766e-05 4.52873298e-01] [ 1.15359420e-03 -1.33138374e-05 9.99999335e-01 7.04442472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.73, Y:0.45, Z:0.06 [[ 9.99265967e-01 -3.82909655e-02 -1.15313941e-03 1.44729715e+02] [ 3.82909502e-02 9.99266632e-01 -3.53148802e-05 4.53280002e-01] [ 1.15364598e-03 -8.86584603e-06 9.99999335e-01 6.23851988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.76, Y:0.45, Z:0.06 [[ 9.99253452e-01 -3.86161823e-02 -1.15327033e-03 1.44761527e+02] [ 3.86161730e-02 9.99254117e-01 -3.03382196e-05 4.53030889e-01] [ 1.15358167e-03 -1.42193160e-05 9.99999335e-01 6.24363477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:0.45, Z:0.06 [[ 9.99225563e-01 -3.93312095e-02 -1.15327226e-03 1.44792866e+02] [ 3.93312007e-02 9.99226229e-01 -3.02648804e-05 4.51606992e-01] [ 1.15357024e-03 -1.51181405e-05 9.99999335e-01 6.24442626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.82, Y:0.45, Z:0.06 [[ 9.99188245e-01 -4.02681023e-02 -1.15327418e-03 1.44824411e+02] [ 4.02680943e-02 9.99188911e-01 -3.01913205e-05 4.45810561e-01] [ 1.15355452e-03 -1.62733410e-05 9.99999335e-01 6.13238824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:0.44, Z:0.06 [[ 9.99182613e-01 -4.04076194e-02 -1.15327609e-03 1.44855810e+02] [ 4.04076115e-02 9.99183278e-01 -3.01181719e-05 4.44552961e-01] [ 1.15355119e-03 -1.65075786e-05 9.99999335e-01 6.14393206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.89, Y:0.44, Z:0.06 [[ 9.99179433e-01 -4.04861748e-02 -1.15327801e-03 1.44887132e+02] [ 4.04861671e-02 9.99180099e-01 -3.00446118e-05 4.43951723e-01] [ 1.15354883e-03 -1.66718480e-05 9.99999335e-01 6.19517282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.92, Y:0.44, Z:0.06 [[ 9.99164806e-01 -4.08455615e-02 -1.15327991e-03 1.44918584e+02] [ 4.08455541e-02 9.99165472e-01 -2.99715176e-05 4.43112208e-01] [ 1.15354167e-03 -1.71598713e-05 9.99999335e-01 6.18926686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:0.44, Z:0.06 [[ 9.99128347e-01 -4.17278866e-02 -1.15328182e-03 1.44950161e+02] [ 4.17278799e-02 9.99129012e-01 -2.98976528e-05 4.39481936e-01] [ 1.15352489e-03 -1.82524130e-05 9.99999335e-01 6.19823655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:0.44, Z:0.06 [[ 9.99114553e-01 -4.20568746e-02 -1.15328372e-03 1.44981769e+02] [ 4.20568682e-02 9.99115218e-01 -2.98244358e-05 4.38258637e-01] [ 1.15351763e-03 -1.87054735e-05 9.99999335e-01 6.18344554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.01, Y:0.44, Z:0.06 [[ 9.99088064e-01 -4.26814950e-02 -1.15328561e-03 1.45013022e+02] [ 4.26814891e-02 9.99088730e-01 -2.97509304e-05 4.36966056e-01] [ 1.15350447e-03 -1.95001479e-05 9.99999335e-01 6.14331107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.04, Y:0.44, Z:0.06 [[ 9.99070552e-01 -4.30894764e-02 -1.15328751e-03 1.45043442e+02] [ 4.30894708e-02 9.99071217e-01 -2.96773563e-05 4.35020025e-01] [ 1.15349513e-03 -2.00447756e-05 9.99999335e-01 6.28212777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.07, Y:0.43, Z:0.06 [[ 9.98932314e-01 -4.61833584e-02 -1.15328751e-03 1.45074049e+02] [ 4.61833549e-02 9.98932979e-01 -2.96773563e-05 4.29898003e-01] [ 1.15342752e-03 -2.36170160e-05 9.99999335e-01 6.33467764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.10, Y:0.43, Z:0.06 [[ 9.98871232e-01 -4.74861291e-02 -1.15328751e-03 1.45104505e+02] [ 4.74861265e-02 9.98871897e-01 -2.96773563e-05 4.28746580e-01] [ 1.15339574e-03 -2.51212989e-05 9.99999335e-01 6.33063050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.13, Y:0.43, Z:0.06 [[ 9.98794292e-01 -4.90778260e-02 -1.15328751e-03 1.45134889e+02] [ 4.90778244e-02 9.98794957e-01 -2.96773563e-05 4.28270364e-01] [ 1.15335425e-03 -2.69592677e-05 9.99999335e-01 6.19852020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:0.42, Z:0.06 [[ 9.98687877e-01 -5.11976057e-02 -1.15328751e-03 1.45165358e+02] [ 5.11976056e-02 9.98688542e-01 -2.96773563e-05 4.24122617e-01] [ 1.15329443e-03 -2.94071429e-05 9.99999335e-01 6.06940705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.20, Y:0.42, Z:0.06 [[ 9.98612719e-01 -5.26432010e-02 -1.15328751e-03 1.45196282e+02] [ 5.26432018e-02 9.98613385e-01 -2.96773563e-05 4.20511872e-01] [ 1.15325065e-03 -3.10765615e-05 9.99999335e-01 6.16444161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:0.42, Z:0.06 [[ 9.98520852e-01 -5.43578718e-02 -1.15328751e-03 1.45226574e+02] [ 5.43578737e-02 9.98521517e-01 -2.96773563e-05 4.15510451e-01] [ 1.15319559e-03 -3.30567975e-05 9.99999335e-01 6.29425499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.26, Y:0.41, Z:0.06 [[ 9.98411005e-01 -5.63394613e-02 -1.15328751e-03 1.45256235e+02] [ 5.63394646e-02 9.98411671e-01 -2.96773563e-05 4.09269914e-01] [ 1.15312771e-03 -3.53454015e-05 9.99999335e-01 6.24003822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.29, Y:0.41, Z:0.06 [[ 9.98407511e-01 -5.64013383e-02 -1.15328567e-03 1.45286384e+02] [ 5.64013415e-02 9.98408177e-01 -2.97487150e-05 4.10032330e-01] [ 1.15312771e-03 -3.53455182e-05 9.99999335e-01 6.24351751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:0.40, Z:0.06 [[ 9.98288389e-01 -5.84718991e-02 -1.15328382e-03 1.45316245e+02] [ 5.84719037e-02 9.98289054e-01 -2.98201904e-05 4.03418589e-01] [ 1.15305425e-03 -3.76655504e-05 9.99999335e-01 6.15671820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:0.39, Z:0.06 [[ 9.98170572e-01 -6.04498082e-02 -1.15328197e-03 1.45346221e+02] [ 6.04498139e-02 9.98171237e-01 -2.98915489e-05 3.92021564e-01] [ 1.15297983e-03 -3.98788159e-05 9.99999335e-01 6.01913982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:0.39, Z:0.06 [[ 9.98192099e-01 -6.00932931e-02 -1.15328012e-03 1.45376341e+02] [ 6.00932986e-02 9.98192764e-01 -2.99625076e-05 3.89064758e-01] [ 1.15299642e-03 -3.93960685e-05 9.99999335e-01 6.13195274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:0.39, Z:0.06 [[ 9.98313229e-01 -5.80462522e-02 -1.15327828e-03 1.45405566e+02] [ 5.80462562e-02 9.98313894e-01 -3.00334148e-05 3.87067757e-01] [ 1.15307706e-03 -3.69607311e-05 9.99999335e-01 6.30197910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:0.38, Z:0.06 [[ 9.98686488e-01 -5.12246971e-02 -1.15327550e-03 1.45435039e+02] [ 5.12246964e-02 9.98687153e-01 -3.01397591e-05 3.79685227e-01] [ 1.15330532e-03 -2.89760171e-05 9.99999335e-01 6.23139702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:0.38, Z:0.06 [[ 9.98916105e-01 -4.65326285e-02 -1.15327169e-03 1.45463617e+02] [ 4.65326246e-02 9.98916770e-01 -3.02848868e-05 3.75490986e-01] [ 1.15343166e-03 -2.34126973e-05 9.99999335e-01 6.07147976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.49, Y:0.37, Z:0.06 [[ 9.99166824e-01 -4.07961855e-02 -1.15326880e-03 1.45492414e+02] [ 4.07961775e-02 9.99167489e-01 -3.03945791e-05 3.72079021e-01] [ 1.15354867e-03 -1.66797035e-05 9.99999335e-01 5.97576872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:0.37, Z:0.06 [[ 9.99354099e-01 -3.59173376e-02 -1.15326484e-03 1.45521678e+02] [ 3.59173263e-02 9.99354764e-01 -3.05441302e-05 3.69933375e-01] [ 1.15361777e-03 -1.08977877e-05 9.99999335e-01 5.89222832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.55, Y:0.37, Z:0.06 [[ 9.99615644e-01 -2.76989823e-02 -1.15326081e-03 1.45550611e+02] [ 2.76989653e-02 9.99616310e-01 -3.06954107e-05 3.67145773e-01] [ 1.15366855e-03 -1.26051846e-06 9.99999335e-01 6.07560905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:0.37, Z:0.06 [[ 9.99691946e-01 -2.47928150e-02 -1.15325773e-03 1.45579808e+02] [ 2.47927960e-02 9.99692611e-01 -3.08104839e-05 3.66148412e-01] [ 1.15366711e-03 2.20850889e-06 9.99999335e-01 6.05730016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:0.37, Z:0.06 [[ 9.99771758e-01 -2.13331230e-02 -1.15325356e-03 1.45609053e+02] [ 2.13331015e-02 9.99772423e-01 -3.09659274e-05 3.65596868e-01] [ 1.15365171e-03 6.35638438e-06 9.99999335e-01 6.06996012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:0.36, Z:0.06 [[ 9.99911354e-01 -1.32647499e-02 -1.15324939e-03 1.45637648e+02] [ 1.32647228e-02 9.99912019e-01 -3.11205740e-05 3.64393379e-01] [ 1.15356073e-03 1.58202818e-05 9.99999335e-01 6.10450950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:0.36, Z:0.06 [[ 9.99955632e-01 -9.34899524e-03 -1.15324529e-03 1.45666910e+02] [ 9.34896539e-03 9.99956297e-01 -3.12716191e-05 3.64400249e-01] [ 1.15348725e-03 2.04885813e-05 9.99999335e-01 6.09849931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:0.37, Z:0.06 [[ 9.99983335e-01 -5.65683720e-03 -1.15324122e-03 1.45696071e+02] [ 5.65680472e-03 9.99984000e-01 -3.14209114e-05 3.65982824e-01] [ 1.15340052e-03 2.48967273e-05 9.99999335e-01 6.03136806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:0.37, Z:0.06 [[ 9.99996628e-01 -2.32682975e-03 -1.15323819e-03 1.45725830e+02] [ 2.32679493e-03 9.99997293e-01 -3.15320645e-05 3.69351885e-01] [ 1.15330843e-03 2.88486094e-05 9.99999335e-01 5.87549629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:0.38, Z:0.06 [[ 9.99995233e-01 2.86441838e-03 -1.15323616e-03 1.45754361e+02] [-2.86445673e-03 9.99995897e-01 -3.16058486e-05 3.75732102e-01] [ 1.15314090e-03 3.49090931e-05 9.99999335e-01 5.94012858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.78, Y:0.38, Z:0.06 [[ 9.99992152e-01 3.79019020e-03 -1.15322292e-03 1.45783800e+02] [-3.79022971e-03 9.99992817e-01 -3.20820114e-05 3.77077960e-01] [ 1.15309304e-03 3.64527393e-05 9.99999335e-01 6.09570622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:0.38, Z:0.06 [[ 9.99994531e-01 3.09954748e-03 -1.15322085e-03 1.45813234e+02] [-3.09958662e-03 9.99995196e-01 -3.21559889e-05 3.77094108e-01] [ 1.15311564e-03 3.57303209e-05 9.99999335e-01 6.29500393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.84, Y:0.38, Z:0.07 [[ 9.99987878e-01 4.78689886e-03 -1.15321883e-03 1.45844982e+02] [-4.78693921e-03 9.99988542e-01 -3.22282501e-05 3.78822401e-01] [ 1.15305135e-03 3.77482479e-05 9.99999335e-01 7.40003894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:0.39, Z:0.08 [[ 9.99994829e-01 3.00177795e-03 -1.15354286e-03 1.45874586e+02] [-3.00180378e-03 9.99995494e-01 -2.06543718e-05 3.88446406e-01] [ 1.15347566e-03 2.41169743e-05 9.99999334e-01 7.58451106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:0.39, Z:0.06 [[ 9.99979385e-01 6.31657536e-03 -1.15320256e-03 1.45904173e+02] [-6.31661737e-03 9.99980049e-01 -3.27953156e-05 3.93236094e-01] [ 1.15297240e-03 4.00789789e-05 9.99999335e-01 5.95707551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:0.40, Z:0.06 [[ 9.99975277e-01 6.93659335e-03 -1.15321311e-03 1.45933401e+02] [-6.93663534e-03 9.99975941e-01 -3.24201987e-05 3.96714591e-01] [ 1.15296047e-03 4.04188159e-05 9.99999335e-01 5.87742647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:0.40, Z:0.06 [[ 9.99967398e-01 7.99205288e-03 -1.15321106e-03 1.45962753e+02] [-7.99209566e-03 9.99968062e-01 -3.24928609e-05 4.03267995e-01] [ 1.15291454e-03 4.17083747e-05 9.99999335e-01 5.96458590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:0.41, Z:0.06 [[ 9.99973028e-01 7.25353388e-03 -1.15320904e-03 1.45991796e+02] [-7.25357625e-03 9.99973692e-01 -3.25644363e-05 4.08898925e-01] [ 1.15294249e-03 4.09284477e-05 9.99999335e-01 6.17808955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.02, Y:0.41, Z:0.06 [[ 9.99983469e-01 5.63301747e-03 -1.15320803e-03 1.46021296e+02] [-5.63305881e-03 9.99984134e-01 -3.26001227e-05 4.14510564e-01] [ 1.15300609e-03 3.90956725e-05 9.99999335e-01 6.26868303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:0.42, Z:0.06 [[ 9.99991636e-01 3.92393200e-03 -1.15320597e-03 1.46050679e+02] [-3.92397228e-03 9.99992301e-01 -3.26726232e-05 4.18327245e-01] [ 1.15306889e-03 3.71974982e-05 9.99999335e-01 6.23098888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:0.42, Z:0.06 [[ 9.99997814e-01 -1.74392267e-03 -1.15320390e-03 1.46080146e+02] [ 1.74388606e-03 9.99998479e-01 -3.27455145e-05 4.20867492e-01] [ 1.15325926e-03 3.07343867e-05 9.99999335e-01 5.91395603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:0.42, Z:0.06 [[ 9.99994537e-01 -3.09779474e-03 -1.15319980e-03 1.46110131e+02] [ 3.09775887e-03 9.99995201e-01 -3.28892795e-05 4.23543510e-01] [ 1.15329615e-03 2.93167649e-05 9.99999335e-01 5.74767838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.14, Y:0.43, Z:0.06 [[ 9.99990001e-01 -4.32075283e-03 -1.15319765e-03 1.46139506e+02] [ 4.32071768e-03 9.99990665e-01 -3.29646626e-05 4.27422739e-01] [ 1.15332932e-03 2.79816915e-05 9.99999335e-01 5.73166340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:0.43, Z:0.06 [[ 9.99985378e-01 -5.28339384e-03 -1.15319552e-03 1.46168727e+02] [ 5.28335925e-03 9.99986042e-01 -3.30390028e-05 4.31851275e-01] [ 1.15335398e-03 2.69457735e-05 9.99999335e-01 5.78951766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:0.44, Z:0.06 [[ 9.99985730e-01 -5.21629580e-03 -1.15318917e-03 1.46198568e+02] [ 5.21626091e-03 9.99986395e-01 -3.32593129e-05 4.40070531e-01] [ 1.15334697e-03 2.72435027e-05 9.99999335e-01 6.10382574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.632320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:146.23, Y:0.44, Z:0.07 [[ 9.99982516e-01 -5.79986573e-03 -1.15318703e-03 1.46228101e+02] [ 5.79983115e-03 9.99983180e-01 -3.33330518e-05 4.44430727e-01] [ 1.15336096e-03 2.66441789e-05 9.99999335e-01 6.98648373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:0.45, Z:0.06 [[ 9.99989423e-01 -4.45250686e-03 -1.15314241e-03 1.46258489e+02] [ 4.45246959e-03 9.99990087e-01 -3.48848711e-05 4.48330594e-01] [ 1.15328630e-03 2.97501706e-05 9.99999335e-01 5.91389153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:0.45, Z:0.07 [[ 9.99991335e-01 -3.99989410e-03 -1.15319206e-03 1.46288765e+02] [ 3.99985852e-03 9.99992000e-01 -3.31579547e-05 4.54458329e-01] [ 1.15331547e-03 2.85450623e-05 9.99999335e-01 6.94441608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:0.46, Z:0.06 [[ 9.99988217e-01 -4.71540244e-03 -1.15336729e-03 1.46318009e+02] [ 4.71537437e-03 9.99988882e-01 -2.70547412e-05 4.57898427e-01] [ 1.15348204e-03 2.16158639e-05 9.99999335e-01 5.87692928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:0.46, Z:0.06 [[ 9.99968810e-01 -7.81345599e-03 -1.15319631e-03 1.46347565e+02] [ 7.81342310e-03 9.99969474e-01 -3.30251556e-05 4.61683410e-01] [ 1.15341914e-03 2.40137149e-05 9.99999335e-01 5.93247552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:0.47, Z:0.06 [[ 9.99947995e-01 -1.01329917e-02 -1.15319413e-03 1.46377571e+02] [ 1.01329602e-02 9.99948660e-01 -3.31007997e-05 4.65591504e-01] [ 1.15347034e-03 2.14138080e-05 9.99999335e-01 5.98303303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:0.46, Z:0.06 [[ 9.99821219e-01 -1.88732712e-02 -1.15319198e-03 1.46407264e+02] [ 1.88732455e-02 9.99821884e-01 -3.31758216e-05 4.64472816e-01] [ 1.15361271e-03 1.14054152e-05 9.99999335e-01 5.74554238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:0.46, Z:0.06 [[ 9.99724853e-01 -2.34283476e-02 -1.15318976e-03 1.46437399e+02] [ 2.34283249e-02 9.99725519e-01 -3.32525598e-05 4.62327993e-01] [ 1.15365229e-03 6.22610604e-06 9.99999335e-01 5.62193459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:0.46, Z:0.06 [[ 9.99630903e-01 -2.71427234e-02 -1.15318753e-03 1.46466937e+02] [ 2.71427030e-02 9.99631568e-01 -3.33296899e-05 4.62466449e-01] [ 1.15366732e-03 2.01676133e-06 9.99999335e-01 5.66917900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:0.47, Z:0.06 [[ 9.99541629e-01 -3.02522971e-02 -1.15318531e-03 1.46497102e+02] [ 3.02522786e-02 9.99542295e-01 -3.34066087e-05 4.69431850e-01] [ 1.15366811e-03 -1.49518709e-06 9.99999335e-01 5.66962313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:0.47, Z:0.06 [[ 9.99525635e-01 -3.07762160e-02 -1.15318531e-03 1.46527229e+02] [ 3.07761979e-02 9.99526300e-01 -3.34066087e-05 4.72141817e-01] [ 1.15366717e-03 -2.09989741e-06 9.99999335e-01 5.70411575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:0.47, Z:0.06 [[ 9.99497254e-01 -3.16845369e-02 -1.15318531e-03 1.46557624e+02] [ 3.16845194e-02 9.99497919e-01 -3.34066087e-05 4.71885794e-01] [ 1.15366479e-03 -3.14830853e-06 9.99999335e-01 5.60261140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:0.47, Z:0.06 [[ 9.99455084e-01 -3.29879410e-02 -1.15318531e-03 1.46588020e+02] [ 3.29879244e-02 9.99455750e-01 -3.34066087e-05 4.69861197e-01] [ 1.15365970e-03 -4.65278476e-06 9.99999335e-01 5.55312292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:0.47, Z:0.06 [[ 9.99305536e-01 -3.72440137e-02 -1.15318531e-03 1.46618592e+02] [ 3.72439999e-02 9.99306201e-01 -3.34066087e-05 4.66138027e-01] [ 1.15362942e-03 -9.56582443e-06 9.99999335e-01 5.78778703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.65, Y:0.47, Z:0.06 [[ 9.99228905e-01 -3.92462126e-02 -1.15318531e-03 1.46649282e+02] [ 3.92462002e-02 9.99229571e-01 -3.34066087e-05 4.65862253e-01] [ 1.15360794e-03 -1.18772923e-05 9.99999335e-01 5.76769628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.68, Y:0.47, Z:0.06 [[ 9.99166986e-01 -4.07922143e-02 -1.15318531e-03 1.46680070e+02] [ 4.07922029e-02 9.99167651e-01 -3.34066087e-05 4.65832408e-01] [ 1.15358818e-03 -1.36621884e-05 9.99999335e-01 5.83492990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:0.46, Z:0.06 [[ 9.99060448e-01 -4.33231051e-02 -1.15318531e-03 1.46710594e+02] [ 4.33230953e-02 9.99061113e-01 -3.34066087e-05 4.63368684e-01] [ 1.15354987e-03 -1.65843355e-05 9.99999335e-01 5.63786854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:0.46, Z:0.06 [[ 9.99061295e-01 -4.33035635e-02 -1.15318531e-03 1.46741582e+02] [ 4.33035538e-02 9.99061961e-01 -3.34066087e-05 4.62587290e-01] [ 1.15355020e-03 -1.65617722e-05 9.99999335e-01 5.66799323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.77, Y:0.46, Z:0.07 [[ 9.99043447e-01 -4.37134039e-02 -1.15318531e-03 1.46771068e+02] [ 4.37133945e-02 9.99044112e-01 -3.34066087e-05 4.61105547e-01] [ 1.15354331e-03 -1.70349907e-05 9.99999335e-01 6.75375345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.80, Y:0.46, Z:0.06 [[ 9.99156691e-01 -4.10435955e-02 -1.15289591e-03 1.46802242e+02] [ 4.10435727e-02 9.99157357e-01 -4.34654954e-05 4.59543801e-01] [ 1.15370841e-03 -3.89012658e-06 9.99999334e-01 5.88828921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:0.45, Z:0.06 [[ 9.99325284e-01 -3.67103111e-02 -1.15319643e-03 1.46831706e+02] [ 3.67102975e-02 9.99325949e-01 -3.29468834e-05 4.54597538e-01] [ 1.15362861e-03 -9.40953034e-06 9.99999335e-01 5.90345376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:0.45, Z:0.07 [[ 9.99379313e-01 -3.52087856e-02 -1.15319430e-03 1.46861391e+02] [ 3.52087710e-02 9.99379978e-01 -3.30212236e-05 4.53493823e-01] [ 1.15364193e-03 -7.60182630e-06 9.99999335e-01 7.00298640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:0.45, Z:0.06 [[ 9.99513417e-01 -3.11704935e-02 -1.15305251e-03 1.46892335e+02] [ 3.11704705e-02 9.99514082e-01 -3.79611212e-05 4.54692531e-01] [ 1.15367548e-03 2.00146088e-06 9.99999335e-01 5.94643286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:0.46, Z:0.06 [[ 9.99615105e-01 -2.77184479e-02 -1.15320043e-03 1.46922385e+02] [ 2.77184286e-02 9.99615770e-01 -3.27528494e-05 4.57208407e-01] [ 1.15366519e-03 7.75339283e-07 9.99999335e-01 6.04707737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:0.46, Z:0.06 [[ 9.99820290e-01 -1.89224218e-02 -1.15319825e-03 1.46952048e+02] [ 1.89223965e-02 9.99820955e-01 -3.28292596e-05 4.61277327e-01] [ 1.15361299e-03 1.10020852e-05 9.99999335e-01 6.26048649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:0.46, Z:0.06 [[ 9.99893861e-01 -1.45236979e-02 -1.15319609e-03 1.46982029e+02] [ 1.45236696e-02 9.99894525e-01 -3.29052115e-05 4.62941541e-01] [ 1.15355236e-03 1.61530801e-05 9.99999335e-01 6.48737008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:0.46, Z:0.06 [[ 9.99943071e-01 -1.06077514e-02 -1.15319392e-03 1.47012046e+02] [ 1.06077205e-02 9.99943736e-01 -3.29811044e-05 4.64900727e-01] [ 1.15347889e-03 2.07464682e-05 9.99999335e-01 6.44437753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.04, Y:0.47, Z:0.06 [[ 9.99975451e-01 -6.91146573e-03 -1.15319174e-03 1.47041549e+02] [ 6.91143221e-03 9.99976115e-01 -3.30570561e-05 4.66849323e-01] [ 1.15339267e-03 2.50860380e-05 9.99999335e-01 6.44079660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.07, Y:0.47, Z:0.06 [[ 9.99991813e-01 -3.87877207e-03 -1.15318956e-03 1.47071272e+02] [ 3.87873644e-03 9.99992477e-01 -3.31328311e-05 4.69401749e-01] [ 1.15330940e-03 2.86596414e-05 9.99999335e-01 6.18856688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:0.47, Z:0.06 [[ 9.99990624e-01 -4.17390121e-03 -1.15318741e-03 1.47100650e+02] [ 4.17386569e-03 9.99991289e-01 -3.32074817e-05 4.69836384e-01] [ 1.15331597e-03 2.83939210e-05 9.99999335e-01 6.15720638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:0.47, Z:0.06 [[ 9.99988612e-01 -4.63093495e-03 -1.15318526e-03 1.47130713e+02] [ 4.63089964e-03 9.99989277e-01 -3.32819480e-05 4.70129762e-01] [ 1.15332702e-03 2.79412838e-05 9.99999335e-01 6.18657527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:0.47, Z:0.06 [[ 9.99984164e-01 -5.50839863e-03 -1.15318312e-03 1.47160660e+02] [ 5.50836383e-03 9.99984828e-01 -3.33561611e-05 4.71149142e-01] [ 1.15334936e-03 2.70034807e-05 9.99999335e-01 6.31439922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:0.48, Z:0.07 [[ 9.99972271e-01 -7.35718317e-03 -1.15318095e-03 1.47190186e+02] [ 7.35714951e-03 9.99972935e-01 -3.34308683e-05 4.75278734e-01] [ 1.15339570e-03 2.49458166e-05 9.99999335e-01 7.49655062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:0.48, Z:0.08 [[ 9.99972033e-01 -7.38943225e-03 -1.15317786e-03 1.47220170e+02] [ 7.38939849e-03 9.99972697e-01 -3.35372524e-05 4.76127237e-01] [ 1.15339420e-03 2.50150238e-05 9.99999335e-01 7.50001126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.25, Y:0.48, Z:0.06 [[ 9.99982962e-01 -5.72245898e-03 -1.15317677e-03 1.47249640e+02] [ 5.72242406e-03 9.99983626e-01 -3.35745289e-05 4.78270624e-01] [ 1.15335002e-03 2.69749903e-05 9.99999335e-01 6.28281736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:0.48, Z:0.06 [[ 9.99990206e-01 -4.27290972e-03 -1.15317550e-03 1.47279030e+02] [ 4.27287380e-03 9.99990871e-01 -3.36181753e-05 4.80493576e-01] [ 1.15330862e-03 2.86904727e-05 9.99999335e-01 6.26772661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:0.48, Z:0.06 [[ 9.99988903e-01 -4.56773822e-03 -1.15317332e-03 1.47308367e+02] [ 4.56770240e-03 9.99989567e-01 -3.36926976e-05 4.81881684e-01] [ 1.15331519e-03 2.84249712e-05 9.99999335e-01 6.36880960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:0.48, Z:0.06 [[ 9.99981142e-01 -6.03202404e-03 -1.15317114e-03 1.47338259e+02] [ 6.03198910e-03 9.99981807e-01 -3.37674042e-05 4.82277405e-01] [ 1.15335384e-03 2.68108517e-05 9.99999335e-01 6.48495243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.37, Y:0.48, Z:0.06 [[ 9.99970085e-01 -7.64849022e-03 -1.15316892e-03 1.47367746e+02] [ 7.64845627e-03 9.99970750e-01 -3.38429741e-05 4.81583959e-01] [ 1.15339404e-03 2.50219996e-05 9.99999335e-01 6.49792996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:0.48, Z:0.07 [[ 9.99957403e-01 -9.15764126e-03 -1.15316669e-03 1.47397650e+02] [ 9.15760823e-03 9.99958068e-01 -3.39188063e-05 4.81073486e-01] [ 1.15342895e-03 2.33571128e-05 9.99999335e-01 6.60380781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:0.48, Z:0.07 [[ 9.99922260e-01 -1.24154631e-02 -1.15316445e-03 1.47426820e+02] [ 1.24154322e-02 9.99922925e-01 -3.39945797e-05 4.83614882e-01] [ 1.15349763e-03 1.96749019e-05 9.99999335e-01 6.56502231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:0.49, Z:0.07 [[ 9.99912387e-01 -1.31866504e-02 -1.15316220e-03 1.47456515e+02] [ 1.31866199e-02 9.99913052e-01 -3.40709875e-05 4.87491081e-01] [ 1.15351121e-03 1.88616909e-05 9.99999335e-01 6.52829602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:0.49, Z:0.07 [[ 9.99925104e-01 -1.21842484e-02 -1.15315995e-03 1.47486116e+02] [ 1.21842172e-02 9.99925769e-01 -3.41467606e-05 4.91582319e-01] [ 1.15349041e-03 2.00938519e-05 9.99999335e-01 6.54097417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.52, Y:0.49, Z:0.06 [[ 9.99926189e-01 -1.20949159e-02 -1.15315768e-03 1.47516086e+02] [ 1.20948845e-02 9.99926854e-01 -3.42234821e-05 4.94208723e-01] [ 1.15348726e-03 2.02736471e-05 9.99999335e-01 6.40605476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:0.50, Z:0.06 [[ 9.99951438e-01 -9.78731054e-03 -1.15315540e-03 1.47545762e+02] [ 9.78727749e-03 9.99952103e-01 -3.42999492e-05 4.95032071e-01] [ 1.15343587e-03 2.30120316e-05 9.99999335e-01 6.48210118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.982320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:147.58, Y:0.50, Z:0.07 [[ 9.99955563e-01 -9.35637119e-03 -1.15315312e-03 1.47575748e+02] [ 9.35633777e-03 9.99956228e-01 -3.43766103e-05 4.96411119e-01] [ 1.15342428e-03 2.35857926e-05 9.99999335e-01 6.55824287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:0.50, Z:0.07 [[ 9.99963695e-01 -8.44272142e-03 -1.15315083e-03 1.47605602e+02] [ 8.44268730e-03 9.99964359e-01 -3.44530770e-05 4.99249337e-01] [ 1.15340061e-03 2.47161343e-05 9.99999335e-01 6.59919909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:0.50, Z:0.07 [[ 9.99970587e-01 -7.58255428e-03 -1.15314856e-03 1.47635183e+02] [ 7.58251950e-03 9.99971252e-01 -3.45288494e-05 5.03263731e-01] [ 1.15337723e-03 2.57840623e-05 9.99999335e-01 6.65103869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.072320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:147.66, Y:0.51, Z:0.08 [[ 9.99965763e-01 -8.19408725e-03 -1.15314630e-03 1.47664545e+02] [ 8.19405279e-03 9.99966428e-01 -3.46043012e-05 5.09535008e-01] [ 1.15339114e-03 2.51541748e-05 9.99999335e-01 7.57320835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:0.51, Z:0.06 [[ 9.99962862e-01 -8.54080382e-03 -1.15325993e-03 1.47694103e+02] [ 8.54077393e-03 9.99963526e-01 -3.08365234e-05 5.11183175e-01] [ 1.15348124e-03 2.09856458e-05 9.99999335e-01 6.28632196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.72, Y:0.51, Z:0.06 [[ 9.99955833e-01 -9.32755533e-03 -1.15313799e-03 1.47724229e+02] [ 9.32752131e-03 9.99956497e-01 -3.48690457e-05 5.12509114e-01] [ 1.15341307e-03 2.41115864e-05 9.99999335e-01 6.20042497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.75, Y:0.52, Z:0.07 [[ 9.99904635e-01 -1.37619289e-02 -1.15313571e-03 1.47753553e+02] [ 1.37618977e-02 9.99905300e-01 -3.49444388e-05 5.15174711e-01] [ 1.15350741e-03 1.90717706e-05 9.99999335e-01 7.35282699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:0.52, Z:0.06 [[ 9.99915450e-01 -1.29523270e-02 -1.15287280e-03 1.47784790e+02] [ 1.29522852e-02 9.99916115e-01 -4.37223340e-05 5.19116597e-01] [ 1.15334240e-03 2.87862999e-05 9.99999334e-01 6.47181135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:0.52, Z:0.06 [[ 9.99890772e-01 -1.47347895e-02 -1.15315570e-03 1.47814487e+02] [ 1.47347599e-02 9.99891437e-01 -3.41772099e-05 5.23391234e-01] [ 1.15353410e-03 1.71820045e-05 9.99999335e-01 6.40912579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:0.53, Z:0.06 [[ 9.99877321e-01 -1.56209203e-02 -1.15315342e-03 1.47844562e+02] [ 1.56208912e-02 9.99877986e-01 -3.42538110e-05 5.27618572e-01] [ 1.15354780e-03 1.62363246e-05 9.99999335e-01 6.40965843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:0.53, Z:0.06 [[ 9.99848049e-01 -1.73939254e-02 -1.15315342e-03 1.47874756e+02] [ 1.73938975e-02 9.99848714e-01 -3.42538110e-05 5.31931684e-01] [ 1.15357478e-03 1.41907737e-05 9.99999335e-01 6.29780100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:0.53, Z:0.06 [[ 9.99831176e-01 -1.83382083e-02 -1.15315342e-03 1.47904818e+02] [ 1.83381810e-02 9.99831841e-01 -3.42538110e-05 5.33473665e-01] [ 1.15358766e-03 1.31012919e-05 9.99999335e-01 6.29776564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:0.54, Z:0.06 [[ 9.99815828e-01 -1.91567136e-02 -1.15315342e-03 1.47935167e+02] [ 1.91566869e-02 9.99816493e-01 -3.42538110e-05 5.35211259e-01] [ 1.15359800e-03 1.21569033e-05 9.99999335e-01 6.34080680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:0.54, Z:0.06 [[ 9.99790221e-01 -2.04495641e-02 -1.15315342e-03 1.47965586e+02] [ 2.04495382e-02 9.99790886e-01 -3.42538110e-05 5.38158056e-01] [ 1.15361276e-03 1.06651703e-05 9.99999335e-01 6.33586153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.00, Y:0.54, Z:0.06 [[ 9.99707637e-01 -2.41518186e-02 -1.15315342e-03 1.47996060e+02] [ 2.41517952e-02 9.99708302e-01 -3.42538110e-05 5.42720057e-01] [ 1.15364434e-03 6.39307116e-06 9.99999335e-01 6.03091507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.03, Y:0.54, Z:0.07 [[ 9.99608107e-01 -2.79696685e-02 -1.15315342e-03 1.48026750e+02] [ 2.79696476e-02 9.99608772e-01 -3.42538110e-05 5.43078119e-01] [ 1.15366035e-03 1.98709227e-06 9.99999335e-01 7.04444016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:0.54, Z:0.06 [[ 9.99600728e-01 -2.82321707e-02 -1.15301758e-03 1.48057356e+02] [ 2.82321447e-02 9.99601393e-01 -3.88496955e-05 5.41545250e-01] [ 1.15365479e-03 6.28202470e-06 9.99999335e-01 5.92130985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.09, Y:0.54, Z:0.06 [[ 9.99553877e-01 -2.98448861e-02 -1.15316718e-03 1.48088211e+02] [ 2.98448670e-02 9.99554542e-01 -3.37361243e-05 5.38589173e-01] [ 1.15366034e-03 -6.95047360e-07 9.99999335e-01 6.09375337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:0.54, Z:0.06 [[ 9.99535163e-01 -3.04652080e-02 -1.15316718e-03 1.48118490e+02] [ 3.04651894e-02 9.99535828e-01 -3.37361243e-05 5.38821897e-01] [ 1.15365969e-03 -1.41101409e-06 9.99999335e-01 6.06522853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.15, Y:0.54, Z:0.07 [[ 9.99491867e-01 -3.18540071e-02 -1.15316718e-03 1.48148646e+02] [ 3.18539894e-02 9.99492532e-01 -3.37361243e-05 5.39358297e-01] [ 1.15365662e-03 -3.01399335e-06 9.99999335e-01 6.85864902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:0.54, Z:0.06 [[ 9.99529619e-01 -3.06465586e-02 -1.15300317e-03 1.48179440e+02] [ 3.06465336e-02 9.99530284e-01 -3.93967272e-05 5.37621564e-01] [ 1.15366896e-03 4.04264538e-06 9.99999335e-01 6.03489499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:0.54, Z:0.06 [[ 9.99545005e-01 -3.01405600e-02 -1.15318195e-03 1.48209656e+02] [ 3.01405418e-02 9.99545670e-01 -3.31840402e-05 5.36496687e-01] [ 1.15365821e-03 -1.58858695e-06 9.99999335e-01 6.04700773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:0.54, Z:0.06 [[ 9.99583904e-01 -2.88216742e-02 -1.15318195e-03 1.48240421e+02] [ 2.88216551e-02 9.99584569e-01 -3.31840402e-05 5.35571281e-01] [ 1.15365930e-03 -6.63798589e-08 9.99999335e-01 6.10401665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:0.53, Z:0.06 [[ 9.99638248e-01 -2.68708514e-02 -1.15318195e-03 1.48271142e+02] [ 2.68708310e-02 9.99638913e-01 -3.31840402e-05 5.34963148e-01] [ 1.15365723e-03 2.18507867e-06 9.99999335e-01 6.26370631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.30, Y:0.54, Z:0.06 [[ 9.99738629e-01 -2.28329666e-02 -1.15318195e-03 1.48301437e+02] [ 2.28329435e-02 9.99739294e-01 -3.31840402e-05 5.36093571e-01] [ 1.15363899e-03 6.84482865e-06 9.99999335e-01 6.41460613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:0.54, Z:0.07 [[ 9.99789206e-01 -2.04991293e-02 -1.15318195e-03 1.48331397e+02] [ 2.04991046e-02 9.99789871e-01 -3.31840402e-05 5.37811754e-01] [ 1.15361987e-03 9.53784786e-06 9.99999335e-01 6.53961624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.36, Y:0.54, Z:0.07 [[ 9.99826865e-01 -1.85717488e-02 -1.15318085e-03 1.48362146e+02] [ 1.85717229e-02 9.99827530e-01 -3.32221843e-05 5.38497387e-01] [ 1.15359895e-03 1.17998773e-05 9.99999335e-01 6.54200188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:0.54, Z:0.08 [[ 9.99850007e-01 -1.72810240e-02 -1.15318085e-03 1.48392992e+02] [ 1.72809971e-02 9.99850672e-01 -3.32221843e-05 5.37885856e-01] [ 1.15358276e-03 1.32890863e-05 9.99999335e-01 7.73941186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.42, Y:0.54, Z:0.07 [[ 9.99902124e-01 -1.39431594e-02 -1.15326998e-03 1.48423106e+02] [ 1.39431339e-02 9.99902789e-01 -3.01261344e-05 5.36674717e-01] [ 1.15357793e-03 1.40429880e-05 9.99999335e-01 7.27608138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:0.54, Z:0.07 [[ 9.99934374e-01 -1.13981183e-02 -1.15313528e-03 1.48452983e+02] [ 1.13980857e-02 9.99935039e-01 -3.48163787e-05 5.39417331e-01] [ 1.15345721e-03 2.16705591e-05 9.99999335e-01 6.57904596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:0.55, Z:0.07 [[ 9.99968620e-01 -7.83770472e-03 -1.15318924e-03 1.48482479e+02] [ 7.83767196e-03 9.99969284e-01 -3.29265826e-05 5.46225975e-01] [ 1.15341189e-03 2.38872303e-05 9.99999335e-01 6.64984446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:0.55, Z:0.07 [[ 9.99986312e-01 -5.10356442e-03 -1.15318707e-03 1.48511702e+02] [ 5.10352976e-03 9.99986976e-01 -3.30024162e-05 5.50248648e-01] [ 1.15334048e-03 2.71166399e-05 9.99999335e-01 6.60890068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.54, Y:0.55, Z:0.07 [[ 9.99996250e-01 -2.48404130e-03 -1.15318490e-03 1.48540848e+02] [ 2.48400481e-03 9.99996914e-01 -3.30780012e-05 5.54138535e-01] [ 1.15326351e-03 3.02133603e-05 9.99999335e-01 6.60337987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.57, Y:0.56, Z:0.07 [[ 9.99998170e-01 -1.52619885e-03 -1.15318273e-03 1.48570651e+02] [ 1.52616163e-03 9.99998835e-01 -3.31535860e-05 5.57431321e-01] [ 1.15323198e-03 3.13935821e-05 9.99999335e-01 7.31152812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:0.56, Z:0.07 [[ 9.99999035e-01 7.75191750e-04 -1.15322919e-03 1.48600954e+02] [-7.75228649e-04 9.99999699e-01 -3.15491872e-05 5.61240641e-01] [ 1.15320438e-03 3.24431730e-05 9.99999335e-01 6.60841176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:0.57, Z:0.07 [[ 9.99998904e-01 -9.28882616e-04 -1.15316818e-03 1.48630596e+02] [ 9.28844440e-04 9.99999568e-01 -3.36404315e-05 5.65272319e-01] [ 1.15319893e-03 3.25692807e-05 9.99999335e-01 6.55363294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:0.57, Z:0.07 [[ 9.99998115e-01 -1.56211176e-03 -1.15316599e-03 1.48660467e+02] [ 1.56207392e-03 9.99998779e-01 -3.37154378e-05 5.66262490e-01] [ 1.15321725e-03 3.19140438e-05 9.99999335e-01 6.60170019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:0.57, Z:0.07 [[ 9.99993913e-01 -3.29316497e-03 -1.15316379e-03 1.48690545e+02] [ 3.29312819e-03 9.99994577e-01 -3.37906309e-05 5.68378823e-01] [ 1.15326881e-03 2.99929090e-05 9.99999335e-01 6.53083518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:0.57, Z:0.07 [[ 9.99990877e-01 -4.11285616e-03 -1.15316158e-03 1.48719794e+02] [ 4.11281984e-03 9.99991542e-01 -3.38656945e-05 5.72535908e-01] [ 1.15329111e-03 2.91226397e-05 9.99999335e-01 6.65601044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:0.58, Z:0.06 [[ 9.99990279e-01 -4.25584523e-03 -1.15315937e-03 1.48749373e+02] [ 4.25580892e-03 9.99990943e-01 -3.39409012e-05 5.82556068e-01] [ 1.15329337e-03 2.90329454e-05 9.99999335e-01 6.40709452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:0.59, Z:0.07 [[ 9.99982611e-01 -5.78340371e-03 -1.15315714e-03 1.48779695e+02] [ 5.78336832e-03 9.99983276e-01 -3.40164844e-05 5.86286684e-01] [ 1.15333458e-03 2.73467604e-05 9.99999335e-01 7.31535277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:0.59, Z:0.06 [[ 9.99966775e-01 -8.06963881e-03 -1.15337712e-03 1.48808678e+02] [ 8.06961351e-03 9.99967440e-01 -2.65917943e-05 5.89066580e-01] [ 1.15355415e-03 1.72836032e-05 9.99999335e-01 6.39233959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.84, Y:0.59, Z:0.06 [[ 9.99940101e-01 -1.08841571e-02 -1.15314698e-03 1.48838753e+02] [ 1.08841247e-02 9.99940766e-01 -3.43236534e-05 5.91596239e-01] [ 1.15345226e-03 2.17706019e-05 9.99999335e-01 6.35361605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.87, Y:0.59, Z:0.06 [[ 9.99889069e-01 -1.48498817e-02 -1.15314585e-03 1.48869121e+02] [ 1.48498519e-02 9.99889734e-01 -3.43617414e-05 5.93453071e-01] [ 1.15352896e-03 1.72338845e-05 9.99999335e-01 6.43417174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.90, Y:0.59, Z:0.06 [[ 9.99689888e-01 -2.48756657e-02 -1.15314585e-03 1.48899974e+02] [ 2.48756426e-02 9.99690553e-01 -3.43617414e-05 5.91194693e-01] [ 1.15364378e-03 5.66584144e-06 9.99999335e-01 6.25027080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:0.59, Z:0.06 [[ 9.99545714e-01 -3.01170359e-02 -1.15314585e-03 1.48931723e+02] [ 3.01170163e-02 9.99546379e-01 -3.43617414e-05 5.89548516e-01] [ 1.15365763e-03 -3.83180903e-07 9.99999335e-01 6.08418757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:0.59, Z:0.06 [[ 9.99378666e-01 -3.52271627e-02 -1.15314810e-03 1.48963483e+02] [ 3.52271466e-02 9.99379331e-01 -3.42858425e-05 5.88981176e-01] [ 1.15364017e-03 -6.35757777e-06 9.99999335e-01 5.96763541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.392320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:148.99, Y:0.59, Z:0.07 [[ 9.99178517e-01 -4.05087736e-02 -1.15315032e-03 1.48993531e+02] [ 4.05087611e-02 9.99179183e-01 -3.42110576e-05 5.89260453e-01] [ 1.15358964e-03 -1.25297371e-05 9.99999335e-01 6.95931684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:0.59, Z:0.06 [[ 9.99011604e-01 -4.44351959e-02 -1.15294701e-03 1.49025950e+02] [ 4.44351781e-02 9.99012269e-01 -4.10670550e-05 5.86258086e-01] [ 1.15363303e-03 -1.02049413e-05 9.99999335e-01 5.77813537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.06, Y:0.58, Z:0.06 [[ 9.98961476e-01 -4.55482116e-02 -1.15316616e-03 1.49058683e+02] [ 4.55482032e-02 9.98962141e-01 -3.35300629e-05 5.83108917e-01] [ 1.15349657e-03 -1.90294056e-05 9.99999335e-01 5.84748602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.09, Y:0.58, Z:0.06 [[ 9.98981343e-01 -4.51103831e-02 -1.15318080e-03 1.49091365e+02] [ 4.51103751e-02 9.98982008e-01 -3.30189485e-05 5.84329424e-01] [ 1.15349637e-03 -1.90351048e-05 9.99999335e-01 5.85125592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:0.58, Z:0.06 [[ 9.98899501e-01 -4.68877000e-02 -1.15319505e-03 1.49123844e+02] [ 4.68876937e-02 9.98900167e-01 -3.25135273e-05 5.81099566e-01] [ 1.15345121e-03 -2.15929099e-05 9.99999335e-01 5.88366069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.16, Y:0.57, Z:0.06 [[ 9.98745479e-01 -5.00613394e-02 -1.15320905e-03 1.49156574e+02] [ 5.00613358e-02 9.98746145e-01 -3.20091067e-05 5.72163129e-01] [ 1.15336551e-03 -2.57622348e-05 9.99999335e-01 5.93184051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.19, Y:0.57, Z:0.06 [[ 9.98651554e-01 -5.19012901e-02 -1.15322283e-03 1.49188350e+02] [ 5.19012883e-02 9.98652219e-01 -3.15044806e-05 5.67360268e-01] [ 1.15330366e-03 -2.83917523e-05 9.99999335e-01 5.80620141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:0.56, Z:0.06 [[ 9.98567568e-01 -5.34928204e-02 -1.15322478e-03 1.49220156e+02] [ 5.34928198e-02 9.98568234e-01 -3.14329485e-05 5.62978091e-01] [ 1.15325507e-03 -3.03013225e-05 9.99999335e-01 5.86481083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:0.55, Z:0.06 [[ 9.98504579e-01 -5.46559749e-02 -1.15322670e-03 1.49251360e+02] [ 5.46559751e-02 9.98505245e-01 -3.13623559e-05 5.53489019e-01] [ 1.15321705e-03 -3.17152740e-05 9.99999335e-01 5.83254171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:0.55, Z:0.06 [[ 9.98551557e-01 -5.37908716e-02 -1.15322862e-03 1.49282428e+02] [ 5.37908713e-02 9.98552223e-01 -3.12918264e-05 5.49776409e-01] [ 1.15324221e-03 -3.07866701e-05 9.99999335e-01 5.93222298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:0.55, Z:0.06 [[ 9.98649488e-01 -5.19410248e-02 -1.15323054e-03 1.49313099e+02] [ 5.19410234e-02 9.98650154e-01 -3.12207348e-05 5.45891749e-01] [ 1.15329549e-03 -2.87214037e-05 9.99999335e-01 6.07597943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:0.54, Z:0.06 [[ 9.98794510e-01 -4.90733829e-02 -1.15323054e-03 1.49343622e+02] [ 4.90733795e-02 9.98795175e-01 -3.12207348e-05 5.42717144e-01] [ 1.15337321e-03 -2.54098215e-05 9.99999335e-01 6.06521846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.37, Y:0.54, Z:0.06 [[ 9.99147665e-01 -4.12627383e-02 -1.15323054e-03 1.49373225e+02] [ 4.12627297e-02 9.99148330e-01 -3.12207348e-05 5.35557248e-01] [ 1.15353662e-03 -1.63913158e-05 9.99999335e-01 5.99307624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:0.53, Z:0.06 [[ 9.99301650e-01 -3.73481223e-02 -1.15322956e-03 1.49402563e+02] [ 3.73481111e-02 9.99302315e-01 -3.12570225e-05 5.33150977e-01] [ 1.15359236e-03 -1.18357515e-05 9.99999335e-01 5.90049100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.43, Y:0.53, Z:0.06 [[ 9.99442412e-01 -3.33696679e-02 -1.15322855e-03 1.49431942e+02] [ 3.33696540e-02 9.99443078e-01 -3.12942390e-05 5.31729651e-01] [ 1.15363057e-03 -7.20604785e-06 9.99999335e-01 5.87760395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:0.53, Z:0.06 [[ 9.99543296e-01 -3.01971877e-02 -1.15322648e-03 1.49461249e+02] [ 3.01971716e-02 9.99543961e-01 -3.13702072e-05 5.30231229e-01] [ 1.15364786e-03 -3.46829771e-06 9.99999335e-01 5.97114017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:0.53, Z:0.06 [[ 9.99712365e-01 -2.39553060e-02 -1.15322442e-03 1.49491375e+02] [ 2.39552856e-02 9.99713030e-01 -3.14456641e-05 5.25072867e-01] [ 1.15364677e-03 3.81079882e-06 9.99999335e-01 6.14298432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.52, Y:0.52, Z:0.07 [[ 9.99766938e-01 -2.15578354e-02 -1.15322234e-03 1.49520316e+02] [ 2.15578134e-02 9.99767603e-01 -3.15220615e-05 5.24117668e-01] [ 1.15363388e-03 6.65376295e-06 9.99999335e-01 7.24188337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:0.52, Z:0.06 [[ 9.99869509e-01 -1.61131791e-02 -1.15311827e-03 1.49551085e+02] [ 1.61131491e-02 9.99870174e-01 -3.53050497e-05 5.24267057e-01] [ 1.15353744e-03 1.67200762e-05 9.99999335e-01 6.27447161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.58, Y:0.52, Z:0.06 [[ 9.99957745e-01 -9.12024609e-03 -1.15321881e-03 1.49580589e+02] [ 9.12021566e-03 9.99958409e-01 -3.16404728e-05 5.24567781e-01] [ 1.15345942e-03 2.11215316e-05 9.99999335e-01 6.18564026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:0.52, Z:0.06 [[ 9.99985935e-01 -5.17687941e-03 -1.15321670e-03 1.49610774e+02] [ 5.17684627e-03 9.99986600e-01 -3.17172584e-05 5.23756938e-01] [ 1.15336544e-03 2.57467867e-05 9.99999335e-01 6.10700250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:0.52, Z:0.06 [[ 9.99999089e-01 -7.01446611e-04 -1.15321461e-03 1.49640256e+02] [ 7.01410412e-04 9.99999754e-01 -3.17932258e-05 5.23033381e-01] [ 1.15323662e-03 3.09843201e-05 9.99999335e-01 6.15094344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:0.52, Z:0.06 [[ 9.99995331e-01 2.82969037e-03 -1.15321253e-03 1.49670027e+02] [-2.82972901e-03 9.99995996e-01 -3.18682927e-05 5.23292585e-01] [ 1.15311774e-03 3.51314229e-05 9.99999335e-01 6.17696293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:0.53, Z:0.06 [[ 9.99965573e-01 8.21718620e-03 -1.15321049e-03 1.49699484e+02] [-8.21722849e-03 9.99966237e-01 -3.19420331e-05 5.27178955e-01] [ 1.15290908e-03 4.14171275e-05 9.99999335e-01 6.09782120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:0.53, Z:0.06 [[ 9.99952353e-01 9.69336937e-03 -1.15320849e-03 1.49729191e+02] [-9.69341272e-03 9.99953017e-01 -3.20140681e-05 5.29478486e-01] [ 1.15284398e-03 4.31910685e-05 9.99999335e-01 6.01319991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:0.53, Z:0.06 [[ 9.99943995e-01 1.05203047e-02 -1.15320650e-03 1.49758762e+02] [-1.05203487e-02 9.99944659e-01 -3.20856433e-05 5.29727270e-01] [ 1.15280513e-03 4.42159808e-05 9.99999335e-01 5.95770605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:0.53, Z:0.06 [[ 9.99939638e-01 1.09266118e-02 -1.15320449e-03 1.49788323e+02] [-1.09266562e-02 9.99940302e-01 -3.21576780e-05 5.28318506e-01] [ 1.15278427e-03 4.47564058e-05 9.99999335e-01 5.91444628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.82, Y:0.53, Z:0.07 [[ 9.99959990e-01 8.87064176e-03 -1.15320250e-03 1.49818866e+02] [-8.87068482e-03 9.99960654e-01 -3.22287474e-05 5.25261087e-01] [ 1.15287124e-03 4.24571539e-05 9.99999335e-01 7.27685958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.85, Y:0.53, Z:0.06 [[ 9.99967946e-01 7.92316351e-03 -1.15333123e-03 1.49848109e+02] [-7.92320067e-03 9.99968611e-01 -2.76595704e-05 5.26964744e-01] [ 1.15307588e-03 3.67967586e-05 9.99999335e-01 6.11632497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:0.53, Z:0.06 [[ 9.99971387e-01 7.47629102e-03 -1.15318509e-03 1.49877850e+02] [-7.47633381e-03 9.99972051e-01 -3.27980780e-05 5.30207268e-01] [ 1.15290765e-03 4.14187362e-05 9.99999335e-01 5.99607141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.91, Y:0.53, Z:0.06 [[ 9.99981120e-01 6.03568760e-03 -1.15318303e-03 1.49906997e+02] [-6.03572952e-03 9.99981784e-01 -3.28702176e-05 5.33604553e-01] [ 1.15296363e-03 3.98298979e-05 9.99999335e-01 5.95020925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:0.53, Z:0.06 [[ 9.99989298e-01 4.48043003e-03 -1.15318098e-03 1.49936694e+02] [-4.48047100e-03 9.99989962e-01 -3.29419614e-05 5.34881388e-01] [ 1.15302181e-03 3.81084027e-05 9.99999335e-01 5.69105387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:0.53, Z:0.06 [[ 9.99995762e-01 2.67339318e-03 -1.15317891e-03 1.49966196e+02] [-2.67343302e-03 9.99996426e-01 -3.30142201e-05 5.33438635e-01] [ 1.15308653e-03 3.60970268e-05 9.99999335e-01 5.71578660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:0.53, Z:0.06 [[ 9.99996763e-01 -2.26811350e-03 -1.15317683e-03 1.49995822e+02] [ 2.26807685e-03 9.99997427e-01 -3.30866521e-05 5.31011932e-01] [ 1.15324891e-03 3.04710513e-05 9.99999335e-01 5.86519325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:0.53, Z:0.06 [[ 9.99982924e-01 -5.72897279e-03 -1.15317471e-03 1.50025505e+02] [ 5.72893836e-03 9.99983589e-01 -3.31603902e-05 5.30262147e-01] [ 1.15334576e-03 2.65533571e-05 9.99999335e-01 5.84651909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:0.53, Z:0.06 [[ 9.99954623e-01 -9.45629691e-03 -1.15317256e-03 1.50054848e+02] [ 9.45626487e-03 9.99955288e-01 -3.32350969e-05 5.29852824e-01] [ 1.15343528e-03 2.23288836e-05 9.99999335e-01 5.81491192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:0.53, Z:0.06 [[ 9.99918781e-01 -1.26926063e-02 -1.15316931e-03 1.50084166e+02] [ 1.26925763e-02 9.99919445e-01 -3.33475025e-05 5.27867985e-01] [ 1.15349968e-03 1.87081046e-05 9.99999335e-01 5.80628515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:0.52, Z:0.06 [[ 9.99869115e-01 -1.61376125e-02 -1.15316713e-03 1.50113667e+02] [ 1.61375847e-02 9.99869780e-01 -3.34228976e-05 5.23320923e-01] [ 1.15355633e-03 1.48091909e-05 9.99999335e-01 5.90949296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:0.52, Z:0.06 [[ 9.99872792e-01 -1.59081787e-02 -1.15316491e-03 1.50143501e+02] [ 1.59081507e-02 9.99873457e-01 -3.34992911e-05 5.24324500e-01] [ 1.15355189e-03 1.51503087e-05 9.99999335e-01 6.08433330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:0.53, Z:0.06 [[ 9.99892405e-01 -1.46235788e-02 -1.15316270e-03 1.50172651e+02] [ 1.46235498e-02 9.99893070e-01 -3.35751231e-05 5.27404704e-01] [ 1.15353038e-03 1.67081784e-05 9.99999335e-01 6.13587566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.20, Y:0.53, Z:0.06 [[ 9.99920658e-01 -1.25438789e-02 -1.15316050e-03 1.50202166e+02] [ 1.25438485e-02 9.99921322e-01 -3.36505618e-05 5.30586019e-01] [ 1.15349188e-03 1.91828214e-05 9.99999335e-01 6.03346700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:0.53, Z:0.06 [[ 9.99960437e-01 -8.82008685e-03 -1.15315829e-03 1.50232182e+02] [ 8.82005382e-03 9.99961102e-01 -3.37260145e-05 5.29611200e-01] [ 1.15341090e-03 2.35537620e-05 9.99999335e-01 5.89194991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:0.53, Z:0.06 [[ 9.99967271e-01 -8.00791346e-03 -1.15315607e-03 1.50261532e+02] [ 8.00787981e-03 9.99967936e-01 -3.38015835e-05 5.28179841e-01] [ 1.15338978e-03 2.45661420e-05 9.99999335e-01 5.89659890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:0.53, Z:0.06 [[ 9.99971427e-01 -7.47092490e-03 -1.15315387e-03 1.50290945e+02] [ 7.47089080e-03 9.99972092e-01 -3.38764604e-05 5.28288973e-01] [ 1.15337478e-03 2.52604058e-05 9.99999335e-01 6.04881980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:0.53, Z:0.06 [[ 9.99962193e-01 -8.61871216e-03 -1.15315168e-03 1.50319723e+02] [ 8.61867873e-03 9.99962858e-01 -3.39511657e-05 5.32081587e-01] [ 1.15340146e-03 2.40112383e-05 9.99999335e-01 6.21167184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:0.53, Z:0.06 [[ 9.99945242e-01 -1.04011360e-02 -1.15314837e-03 1.50349556e+02] [ 1.04011037e-02 9.99945906e-01 -3.40629288e-05 5.34129860e-01] [ 1.15344029e-03 2.20670478e-05 9.99999335e-01 6.13318399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:0.54, Z:0.06 [[ 9.99925955e-01 -1.21142001e-02 -1.15314613e-03 1.50379644e+02] [ 1.21141687e-02 9.99926620e-01 -3.41387010e-05 5.35174268e-01] [ 1.15347508e-03 2.01667664e-05 9.99999335e-01 6.07593344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.41, Y:0.53, Z:0.06 [[ 9.99920665e-01 -1.25433208e-02 -1.15314390e-03 1.50409318e+02] [ 1.25432897e-02 9.99921329e-01 -3.42138351e-05 5.34762546e-01] [ 1.15348234e-03 1.97469027e-05 9.99999335e-01 6.10874700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:0.53, Z:0.06 [[ 9.99891897e-01 -1.46582731e-02 -1.15314167e-03 1.50439518e+02] [ 1.46582433e-02 9.99892562e-01 -3.42889690e-05 5.31424341e-01] [ 1.15352039e-03 1.73822311e-05 9.99999335e-01 6.05106122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:0.53, Z:0.06 [[ 9.99864894e-01 -1.63971012e-02 -1.15313943e-03 1.50469687e+02] [ 1.63970725e-02 9.99865558e-01 -3.43639875e-05 5.30690436e-01] [ 1.15354787e-03 1.54512338e-05 9.99999335e-01 5.97002492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:0.53, Z:0.06 [[ 9.99820347e-01 -1.89194165e-02 -1.15313717e-03 1.50498230e+02] [ 1.89193894e-02 9.99821012e-01 -3.44395694e-05 5.29806240e-01] [ 1.15358235e-03 1.26167310e-05 9.99999335e-01 5.89538551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.53, Y:0.53, Z:0.06 [[ 9.99762341e-01 -2.17699551e-02 -1.15313260e-03 1.50527430e+02] [ 2.17699297e-02 9.99763006e-01 -3.45919786e-05 5.29317241e-01] [ 1.15361238e-03 9.48014181e-06 9.99999335e-01 5.85239452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:0.53, Z:0.06 [[ 9.99666606e-01 -2.57943127e-02 -1.15312916e-03 1.50556169e+02] [ 2.57942898e-02 9.99667271e-01 -3.47063158e-05 5.28476309e-01] [ 1.15364071e-03 4.95059720e-06 9.99999335e-01 5.86108848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.58, Y:0.53, Z:0.06 [[ 9.99622856e-01 -2.74375002e-02 -1.15312449e-03 1.50584922e+02] [ 2.74374782e-02 9.99623521e-01 -3.48608237e-05 5.28651738e-01] [ 1.15364686e-03 3.20884798e-06 9.99999335e-01 5.88242736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:0.53, Z:0.06 [[ 9.99616235e-01 -2.76776456e-02 -1.15311981e-03 1.50613397e+02] [ 2.76776237e-02 9.99616901e-01 -3.50148152e-05 5.27291331e-01] [ 1.15364718e-03 3.08576146e-06 9.99999335e-01 5.80232286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.64, Y:0.53, Z:0.06 [[ 9.99592803e-01 -2.85113913e-02 -1.15311511e-03 1.50642611e+02] [ 2.85113697e-02 9.99593468e-01 -3.51689273e-05 5.26090617e-01] [ 1.15364905e-03 2.27771531e-06 9.99999335e-01 5.76979902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.67, Y:0.52, Z:0.06 [[ 9.99576085e-01 -2.90915834e-02 -1.15311037e-03 1.50672652e+02] [ 2.90915620e-02 9.99576750e-01 -3.53239524e-05 5.24446744e-01] [ 1.15364994e-03 1.76319637e-06 9.99999335e-01 5.79827351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.70, Y:0.53, Z:0.06 [[ 9.99560083e-01 -2.96363174e-02 -1.15310799e-03 1.50701201e+02] [ 2.96362963e-02 9.99560748e-01 -3.54014585e-05 5.25161645e-01] [ 1.15365065e-03 1.21203484e-06 9.99999335e-01 5.87008803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.73, Y:0.52, Z:0.06 [[ 9.99521769e-01 -3.09015255e-02 -1.15310323e-03 1.50730541e+02] [ 3.09015050e-02 9.99522434e-01 -3.55555691e-05 5.24313909e-01] [ 1.15365127e-03 -9.40600895e-08 9.99999335e-01 5.84584841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:0.52, Z:0.06 [[ 9.99467275e-01 -3.26165075e-02 -1.15309839e-03 1.50759640e+02] [ 3.26164880e-02 9.99467940e-01 -3.57118261e-05 5.19527124e-01] [ 1.15364967e-03 -1.91721839e-06 9.99999335e-01 5.69615120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:0.52, Z:0.06 [[ 9.99378323e-01 -3.52368728e-02 -1.15309359e-03 1.50788848e+02] [ 3.52368549e-02 9.99378989e-01 -3.58663298e-05 5.16963325e-01] [ 1.15364132e-03 -4.78735891e-06 9.99999335e-01 5.54152102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:0.51, Z:0.07 [[ 9.99296954e-01 -3.74735726e-02 -1.15308882e-03 1.50817753e+02] [ 3.74735560e-02 9.99297619e-01 -3.60191189e-05 5.14007145e-01] [ 1.15362867e-03 -7.21654249e-06 9.99999335e-01 6.74275809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:0.51, Z:0.06 [[ 9.99251010e-01 -3.86793222e-02 -1.15286583e-03 1.50849522e+02] [ 3.86792981e-02 9.99251675e-01 -4.31654925e-05 5.10273626e-01] [ 1.15367272e-03 -1.45887915e-06 9.99999335e-01 5.69481599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:0.50, Z:0.06 [[ 9.99127195e-01 -4.17554603e-02 -1.15309496e-03 1.50878777e+02] [ 4.17554468e-02 9.99127860e-01 -3.57816750e-05 5.01306221e-01] [ 1.15358338e-03 -1.23975505e-05 9.99999335e-01 5.75480854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:0.50, Z:0.06 [[ 9.99081901e-01 -4.28255339e-02 -1.15309019e-03 1.50907860e+02] [ 4.28255210e-02 9.99082566e-01 -3.59346126e-05 4.97195495e-01] [ 1.15357123e-03 -1.34800671e-05 9.99999335e-01 5.81138319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:0.49, Z:0.06 [[ 9.99050842e-01 -4.35440735e-02 -1.15308543e-03 1.50936346e+02] [ 4.35440608e-02 9.99051507e-01 -3.60867787e-05 4.93791666e-01] [ 1.15356310e-03 -1.41574954e-05 9.99999335e-01 5.73934459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:0.49, Z:0.06 [[ 9.99061506e-01 -4.32986948e-02 -1.15307945e-03 1.50965281e+02] [ 4.32986818e-02 9.99062172e-01 -3.62768286e-05 4.91366999e-01] [ 1.15356880e-03 -1.36840371e-05 9.99999335e-01 5.94035911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:0.49, Z:0.06 [[ 9.99143446e-01 -4.13647717e-02 -1.15307465e-03 1.50994347e+02] [ 4.13647572e-02 9.99144111e-01 -3.64286107e-05 4.87621731e-01] [ 1.15359461e-03 -1.12992455e-05 9.99999335e-01 6.22808203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:0.49, Z:0.06 [[ 9.99137946e-01 -4.14974193e-02 -1.15306979e-03 1.51023669e+02] [ 4.14974047e-02 9.99138611e-01 -3.65818139e-05 4.88521362e-01] [ 1.15359460e-03 -1.12991255e-05 9.99999335e-01 6.23146485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.05, Y:0.49, Z:0.06 [[ 9.99202070e-01 -3.99235984e-02 -1.15306492e-03 1.51052299e+02] [ 3.99235826e-02 9.99202735e-01 -3.67348967e-05 4.86818711e-01] [ 1.15361221e-03 -9.32889763e-06 9.99999335e-01 6.33956151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:0.48, Z:0.06 [[ 9.99279569e-01 -3.79343308e-02 -1.15306000e-03 1.51080920e+02] [ 3.79343135e-02 9.99280234e-01 -3.68884884e-05 4.84391116e-01] [ 1.15362941e-03 -6.87862674e-06 9.99999335e-01 6.20730646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:0.48, Z:0.06 [[ 9.99427260e-01 -3.38204556e-02 -1.15305502e-03 1.51109836e+02] [ 3.38204354e-02 9.99427925e-01 -3.70435357e-05 4.80288298e-01] [ 1.15364822e-03 -1.97450353e-06 9.99999335e-01 5.98576030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:0.48, Z:0.06 [[ 9.99495060e-01 -3.17536834e-02 -1.15305000e-03 1.51138751e+02] [ 3.17536617e-02 9.99495725e-01 -3.71990751e-05 4.79923347e-01] [ 1.15364976e-03 5.66732142e-07 9.99999335e-01 5.95357555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:0.48, Z:0.06 [[ 9.99562041e-01 -2.95702078e-02 -1.15304499e-03 1.51167207e+02] [ 2.95701844e-02 9.99562706e-01 -3.73539687e-05 4.80462966e-01] [ 1.15364533e-03 3.24185634e-06 9.99999335e-01 6.07042687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:0.48, Z:0.06 [[ 9.99691871e-01 -2.47958174e-02 -1.15303999e-03 1.51196606e+02] [ 2.47957907e-02 9.99692536e-01 -3.75075578e-05 4.80424311e-01] [ 1.15361550e-03 8.90546248e-06 9.99999335e-01 6.11505195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:0.48, Z:0.06 [[ 9.99728248e-01 -2.32830671e-02 -1.15303218e-03 1.51225835e+02] [ 2.32830391e-02 9.99728913e-01 -3.77460234e-05 4.80646454e-01] [ 1.15359845e-03 1.08896725e-05 9.99999335e-01 6.04336664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:0.48, Z:0.06 [[ 9.99749210e-01 -2.23648663e-02 -1.15302722e-03 1.51254847e+02] [ 2.23648375e-02 9.99749875e-01 -3.78969234e-05 4.79970212e-01] [ 1.15358638e-03 1.21001527e-05 9.99999335e-01 5.84897621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.28, Y:0.48, Z:0.06 [[ 9.99777847e-01 -2.10458238e-02 -1.15302226e-03 1.51284061e+02] [ 2.10457940e-02 9.99778512e-01 -3.80473028e-05 4.80194246e-01] [ 1.15356762e-03 1.37725816e-05 9.99999335e-01 5.66874846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:0.48, Z:0.06 [[ 9.99801224e-01 -1.99043688e-02 -1.15301729e-03 1.51312761e+02] [ 1.99043380e-02 9.99801888e-01 -3.81974230e-05 4.81464767e-01] [ 1.15354916e-03 1.52397844e-05 9.99999335e-01 5.68640885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:0.48, Z:0.06 [[ 9.99832396e-01 -1.82715852e-02 -1.15301234e-03 1.51341873e+02] [ 1.82715532e-02 9.99833061e-01 -3.83463175e-05 4.83471326e-01] [ 1.15352050e-03 1.72725643e-05 9.99999335e-01 5.84502489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:0.48, Z:0.06 [[ 9.99855830e-01 -1.69407901e-02 -1.15300737e-03 1.51370739e+02] [ 1.69407569e-02 9.99856494e-01 -3.84950982e-05 4.84802564e-01] [ 1.15349404e-03 1.89567308e-05 9.99999335e-01 5.93113083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.40, Y:0.49, Z:0.06 [[ 9.99859256e-01 -1.67373722e-02 -1.15300240e-03 1.51399679e+02] [ 1.67373388e-02 9.99859920e-01 -3.86432876e-05 4.85412966e-01] [ 1.15348768e-03 1.93396570e-05 9.99999335e-01 5.95687558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.43, Y:0.49, Z:0.06 [[ 9.99876786e-01 -1.56551581e-02 -1.15299742e-03 1.51428139e+02] [ 1.56551237e-02 9.99877450e-01 -3.87914494e-05 4.85874983e-01] [ 1.15346340e-03 2.07363525e-05 9.99999335e-01 5.88598700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.46, Y:0.49, Z:0.06 [[ 9.99809609e-01 -1.94786159e-02 -1.15299243e-03 1.51456816e+02] [ 1.94785840e-02 9.99810274e-01 -3.89392746e-05 4.85519855e-01] [ 1.15353216e-03 1.64732012e-05 9.99999335e-01 5.67450470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.49, Y:0.49, Z:0.06 [[ 9.99752761e-01 -2.22055944e-02 -1.15298746e-03 1.51485636e+02] [ 2.22055641e-02 9.99753425e-01 -3.90857484e-05 4.86503825e-01] [ 1.15357108e-03 1.34733480e-05 9.99999335e-01 5.85734873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:0.49, Z:0.06 [[ 9.99700738e-01 -2.44357173e-02 -1.15298241e-03 1.51514187e+02] [ 2.44356883e-02 9.99701403e-01 -3.92340205e-05 4.87539721e-01] [ 1.15359685e-03 1.10483603e-05 9.99999335e-01 5.88760785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.54, Y:0.49, Z:0.06 [[ 9.99632935e-01 -2.70678204e-02 -1.15297729e-03 1.51542752e+02] [ 2.70677930e-02 9.99633599e-01 -3.93840481e-05 4.87220709e-01] [ 1.15362088e-03 8.16104094e-06 9.99999335e-01 5.96658436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:0.49, Z:0.06 [[ 9.99545080e-01 -3.01380805e-02 -1.15297212e-03 1.51571408e+02] [ 3.01380549e-02 9.99545745e-01 -3.95346805e-05 4.85955342e-01] [ 1.15363988e-03 4.76835821e-06 9.99999335e-01 5.91069637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:0.49, Z:0.06 [[ 9.99506442e-01 -3.13933728e-02 -1.15296693e-03 1.51599894e+02] [ 3.13933479e-02 9.99507107e-01 -3.96854563e-05 4.86816138e-01] [ 1.15364451e-03 3.47037705e-06 9.99999335e-01 5.97047209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:0.49, Z:0.06 [[ 9.99443061e-01 -3.33502545e-02 -1.15296166e-03 1.51628439e+02] [ 3.33502307e-02 9.99443726e-01 -3.98382285e-05 4.87417317e-01] [ 1.15364891e-03 1.36450384e-06 9.99999335e-01 5.89125766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:0.49, Z:0.06 [[ 9.99384789e-01 -3.50530261e-02 -1.15295637e-03 1.51657616e+02] [ 3.50530033e-02 9.99385454e-01 -3.99907620e-05 4.87836020e-01] [ 1.15364962e-03 -4.48423985e-07 9.99999335e-01 6.05303888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.69, Y:0.49, Z:0.07 [[ 9.99303587e-01 -3.72962816e-02 -1.15295106e-03 1.51687402e+02] [ 3.72962601e-02 9.99304252e-01 -4.01430573e-05 4.86723070e-01] [ 1.15364609e-03 -2.88566157e-06 9.99999335e-01 7.14638305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:0.49, Z:0.06 [[ 9.99256395e-01 -3.85399432e-02 -1.15306401e-03 1.51716671e+02] [ 3.85399263e-02 9.99257060e-01 -3.69091784e-05 4.87465825e-01] [ 1.15362983e-03 -7.55726922e-06 9.99999335e-01 6.02563519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.75, Y:0.49, Z:0.06 [[ 9.99152482e-01 -4.11459353e-02 -1.15293932e-03 1.51745461e+02] [ 4.11459160e-02 9.99153147e-01 -4.04621636e-05 4.87116352e-01] [ 1.15362780e-03 -7.01087308e-06 9.99999335e-01 5.90111369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.212320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.77, Y:0.49, Z:0.06 [[ 9.99131651e-01 -4.16487082e-02 -1.15293391e-03 1.51774147e+02] [ 4.16486891e-02 9.99132316e-01 -4.06155891e-05 4.85021738e-01] [ 1.15362512e-03 -7.43786543e-06 9.99999335e-01 5.89362527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.80, Y:0.48, Z:0.06 [[ 9.99054307e-01 -4.34645014e-02 -1.15292843e-03 1.51803084e+02] [ 4.34644833e-02 9.99054972e-01 -4.07705897e-05 4.82082851e-01] [ 1.15361095e-03 -9.37940529e-06 9.99999335e-01 5.86904637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:0.48, Z:0.06 [[ 9.99004312e-01 -4.45988287e-02 -1.15292299e-03 1.51832376e+02] [ 4.45988112e-02 9.99004977e-01 -4.09238935e-05 4.79556361e-01] [ 1.15360096e-03 -1.05358486e-05 9.99999335e-01 5.97800890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.86, Y:0.48, Z:0.06 [[ 9.98965647e-01 -4.54566582e-02 -1.15291750e-03 1.51861423e+02] [ 4.54566410e-02 9.98966312e-01 -4.10779792e-05 4.78750970e-01] [ 1.15359301e-03 -1.13722667e-05 9.99999335e-01 6.10561037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.89, Y:0.48, Z:0.06 [[ 9.99002934e-01 -4.46296826e-02 -1.15291201e-03 1.51890381e+02] [ 4.46296648e-02 9.99003599e-01 -4.12314308e-05 4.80658202e-01] [ 1.15360339e-03 -1.02637562e-05 9.99999335e-01 6.00943386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:0.48, Z:0.06 [[ 9.99041659e-01 -4.37542478e-02 -1.15290650e-03 1.51918697e+02] [ 4.37542292e-02 9.99042324e-01 -4.13849729e-05 4.82436802e-01] [ 1.15361316e-03 -9.09922318e-06 9.99999335e-01 5.91266430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:0.48, Z:0.06 [[ 9.99091108e-01 -4.26101867e-02 -1.15290097e-03 1.51947620e+02] [ 4.26101672e-02 9.99091774e-01 -4.15385143e-05 4.83576553e-01] [ 1.15362383e-03 -7.62454258e-06 9.99999335e-01 5.87000301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.422320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.98, Y:0.48, Z:0.06 [[ 9.99163260e-01 -4.08833723e-02 -1.15289540e-03 1.51976248e+02] [ 4.08833514e-02 9.99163925e-01 -4.16923256e-05 4.78109647e-01] [ 1.15363602e-03 -5.47678791e-06 9.99999335e-01 5.83367971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:0.47, Z:0.06 [[ 9.99177033e-01 -4.05453842e-02 -1.15288833e-03 1.52005140e+02] [ 4.05453629e-02 9.99177698e-01 -4.18870980e-05 4.74461782e-01] [ 1.15363863e-03 -4.89164930e-06 9.99999335e-01 5.83498991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:0.47, Z:0.06 [[ 9.99189472e-01 -4.02376749e-02 -1.15288275e-03 1.52033255e+02] [ 4.02376532e-02 9.99190137e-01 -4.20401566e-05 4.72216142e-01] [ 1.15364067e-03 -4.38321426e-06 9.99999335e-01 5.84856558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:0.47, Z:0.07 [[ 9.99223863e-01 -3.93743777e-02 -1.15287433e-03 1.52062831e+02] [ 3.93743552e-02 9.99224529e-01 -4.22697612e-05 4.72704208e-01] [ 1.15364465e-03 -3.15672916e-06 9.99999335e-01 6.84751869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:0.47, Z:0.06 [[ 9.99201503e-01 -3.99377882e-02 -1.15303226e-03 1.52091263e+02] [ 3.99377710e-02 9.99202168e-01 -3.79862085e-05 4.74129276e-01] [ 1.15362942e-03 -8.09366178e-06 9.99999335e-01 5.80819732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:0.47, Z:0.06 [[ 9.99263344e-01 -3.83593501e-02 -1.15286051e-03 1.52119713e+02] [ 3.83593265e-02 9.99264009e-01 -4.26309734e-05 4.73976168e-01] [ 1.15364731e-03 -1.62338347e-06 9.99999335e-01 5.79621213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:152.15, Y:0.47, Z:0.07 [[ 9.99327762e-01 -3.66428087e-02 -1.15285479e-03 1.52149328e+02] [ 3.66427837e-02 9.99328427e-01 -4.27850508e-05 4.71974935e-01] [ 1.15364833e-03 5.12480424e-07 9.99999335e-01 6.71222301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:152.18, Y:0.47, Z:0.06 [[ 9.99341432e-01 -3.62680760e-02 -1.15303379e-03 1.52177861e+02] [ 3.62680563e-02 9.99342097e-01 -3.79968825e-05 4.69177315e-01] [ 1.15365328e-03 -3.84643539e-06 9.99999335e-01 5.73374040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:0.46, Z:0.06 [[ 9.99447149e-01 -3.32275038e-02 -1.15283679e-03 1.52206250e+02] [ 3.32274760e-02 9.99447814e-01 -4.32481089e-05 4.64051847e-01] [ 1.15363724e-03 4.91834236e-06 9.99999335e-01 5.75991825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:0.46, Z:0.06 [[ 9.99478282e-01 -3.22774646e-02 -1.15282821e-03 1.52235183e+02] [ 3.22774360e-02 9.99478947e-01 -4.34755324e-05 4.62843723e-01] [ 1.15363081e-03 6.24251156e-06 9.99999335e-01 5.99937211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:152.26, Y:0.46, Z:0.06 [[ 9.99509640e-01 -3.12913907e-02 -1.15282255e-03 1.52263802e+02] [ 3.12913612e-02 9.99510305e-01 -4.36251680e-05 4.62296859e-01] [ 1.15362311e-03 7.53038906e-06 9.99999335e-01 6.26128758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:0.46, Z:0.06 [[ 9.99548402e-01 -3.00276993e-02 -1.15281687e-03 1.52292658e+02] [ 3.00276687e-02 9.99549067e-01 -4.37748029e-05 4.61028884e-01] [ 1.15361148e-03 9.13863117e-06 9.99999335e-01 6.14642123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:0.46, Z:0.06 [[ 9.99606316e-01 -2.80336299e-02 -1.15281117e-03 1.52321358e+02] [ 2.80335979e-02 9.99606980e-01 -4.39244370e-05 4.60102537e-01] [ 1.15358945e-03 1.15896999e-05 9.99999335e-01 5.92812488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:0.46, Z:0.06 [[ 9.99678361e-01 -2.53346865e-02 -1.15280551e-03 1.52350736e+02] [ 2.53346525e-02 9.99679025e-01 -4.40725741e-05 4.58588612e-01] [ 1.15355205e-03 1.48524718e-05 9.99999335e-01 5.74923835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:0.46, Z:0.06 [[ 9.99765783e-01 -2.16113440e-02 -1.15279981e-03 1.52379259e+02] [ 2.16113073e-02 9.99766447e-01 -4.42209623e-05 4.57509777e-01] [ 1.15348625e-03 1.92970939e-05 9.99999335e-01 5.82775961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.872320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:152.41, Y:0.46, Z:0.06 [[ 9.99885362e-01 -1.50974974e-02 -1.15279419e-03 1.52407643e+02] [ 1.50974563e-02 9.99886026e-01 -4.43670835e-05 4.60883473e-01] [ 1.15333263e-03 2.69577374e-05 9.99999335e-01 6.12305388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:0.46, Z:0.06 [[ 9.99914170e-01 -1.30508107e-02 -1.15278858e-03 1.52436407e+02] [ 1.30507680e-02 9.99914834e-01 -4.45123917e-05 4.64894693e-01] [ 1.15327132e-03 2.94637949e-05 9.99999335e-01 6.23879876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:0.47, Z:0.06 [[ 9.99938204e-01 -1.10570775e-02 -1.15278303e-03 1.52465583e+02] [ 1.10570334e-02 9.99938868e-01 -4.46557098e-05 4.67685592e-01] [ 1.15320632e-03 3.19065899e-05 9.99999335e-01 6.12018203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:152.49, Y:0.47, Z:0.06 [[ 9.99954417e-01 -9.47809537e-03 -1.15277745e-03 1.52494336e+02] [ 9.47805002e-03 9.99955081e-01 -4.47991577e-05 4.67778167e-01] [ 1.15315028e-03 3.38710333e-05 9.99999335e-01 5.98882483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:152.53, Y:0.47, Z:0.07 [[ 9.99989007e-01 -4.54501831e-03 -1.15277190e-03 1.52527713e+02] [ 4.54496952e-03 9.99989671e-01 -4.49414607e-05 4.66096882e-01] [ 1.15296426e-03 3.97016535e-05 9.99999335e-01 6.96204483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:0.47, Z:0.06 [[ 9.99980340e-01 -6.16353947e-03 -1.15345441e-03 1.52555908e+02] [ 6.16351171e-03 9.99981005e-01 -2.76176239e-05 4.67710673e-01] [ 1.15360272e-03 2.05077512e-05 9.99999334e-01 5.80266216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:0.47, Z:0.06 [[ 9.99976964e-01 -6.68901948e-03 -1.15273560e-03 1.52584447e+02] [ 6.68897120e-03 9.99977628e-01 -4.57348821e-05 4.70156576e-01] [ 1.15301573e-03 3.80232133e-05 9.99999335e-01 5.75311675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:0.47, Z:0.06 [[ 9.99978950e-01 -6.38522335e-03 -1.15273004e-03 1.52612776e+02] [ 6.38517470e-03 9.99979614e-01 -4.58745456e-05 4.71865059e-01] [ 1.15299946e-03 3.85131972e-05 9.99999335e-01 5.86628927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:0.47, Z:0.06 [[ 9.99986682e-01 -5.03053832e-03 -1.15272443e-03 1.52641994e+02] [ 5.03048862e-03 9.99987346e-01 -4.60151080e-05 4.70595309e-01] [ 1.15294133e-03 4.02157281e-05 9.99999335e-01 5.82091664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:0.47, Z:0.07 [[ 9.99993275e-01 -3.48169056e-03 -1.15271880e-03 1.52673249e+02] [ 3.48163966e-03 9.99993938e-01 -4.61558722e-05 4.72347110e-01] [ 1.15287251e-03 4.21422103e-05 9.99999335e-01 6.80947564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:0.47, Z:0.06 [[ 9.99990125e-01 -4.29176463e-03 -1.15333191e-03 1.52701740e+02] [ 4.29173196e-03 9.99990790e-01 -3.07992219e-05 4.74344879e-01] [ 1.15345347e-03 2.58491263e-05 9.99999334e-01 5.72829127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:0.48, Z:0.06 [[ 9.99990247e-01 -4.26357560e-03 -1.15271469e-03 1.52730032e+02] [ 4.26352517e-03 9.99990910e-01 -4.61995295e-05 4.77268156e-01] [ 1.15290118e-03 4.12844508e-05 9.99999335e-01 5.74994476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:0.48, Z:0.06 [[ 9.99991499e-01 -3.95887844e-03 -1.15270909e-03 1.52758714e+02] [ 3.95882765e-03 9.99992163e-01 -4.63387927e-05 4.80504830e-01] [ 1.15288350e-03 4.17750222e-05 9.99999335e-01 5.95449309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:0.48, Z:0.06 [[ 9.99992522e-01 -3.69145519e-03 -1.15270350e-03 1.52787186e+02] [ 3.69140406e-03 9.99993186e-01 -4.64774154e-05 4.81914201e-01] [ 1.15286721e-03 4.22219735e-05 9.99999335e-01 5.95963077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:0.48, Z:0.06 [[ 9.99992071e-01 -3.81179848e-03 -1.15269788e-03 1.52816508e+02] [ 3.81174727e-03 9.99992734e-01 -4.66164316e-05 4.83068008e-01] [ 1.15286719e-03 4.22222690e-05 9.99999335e-01 5.96301390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:0.48, Z:0.06 [[ 9.99992263e-01 -3.76096521e-03 -1.15269225e-03 1.52845233e+02] [ 3.76091381e-03 9.99992927e-01 -4.67551513e-05 4.84238321e-01] [ 1.15285994e-03 4.24196134e-05 9.99999335e-01 5.90747599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:152.87, Y:0.49, Z:0.06 [[ 9.99974722e-01 -7.01615249e-03 -1.15268661e-03 1.52874386e+02] [ 7.01610309e-03 9.99975386e-01 -4.68938704e-05 4.87285248e-01] [ 1.15298725e-03 3.88053170e-05 9.99999335e-01 5.78788842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:0.49, Z:0.06 [[ 9.99966401e-01 -8.11593678e-03 -1.15268088e-03 1.52903057e+02] [ 8.11588795e-03 9.99967065e-01 -4.70341010e-05 4.90074475e-01] [ 1.15302465e-03 3.76774918e-05 9.99999335e-01 5.78058313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:152.93, Y:0.49, Z:0.06 [[ 9.99955912e-01 -9.31905949e-03 -1.15267510e-03 1.52931906e+02] [ 9.31901129e-03 9.99956576e-01 -4.71754173e-05 4.94038736e-01] [ 1.15306468e-03 3.64315451e-05 9.99999335e-01 5.83771885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:0.50, Z:0.06 [[ 9.99941217e-01 -1.07811967e-02 -1.15266932e-03 1.52960825e+02] [ 1.07811493e-02 9.99941881e-01 -4.73163011e-05 5.04457309e-01] [ 1.15311245e-03 3.48864197e-05 9.99999335e-01 6.08847808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.472320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:152.99, Y:0.51, Z:0.06 [[ 9.99935723e-01 -1.12792358e-02 -1.15266348e-03 1.52989537e+02] [ 1.12791886e-02 9.99936387e-01 -4.74581531e-05 5.11180387e-01] [ 1.15312544e-03 3.44539939e-05 9.99999335e-01 6.04553355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:153.02, Y:0.52, Z:0.07 [[ 9.99954702e-01 -9.44803644e-03 -1.15265761e-03 1.53022138e+02] [ 9.44798784e-03 9.99955366e-01 -4.76003386e-05 5.16877560e-01] [ 1.15305589e-03 3.67078874e-05 9.99999335e-01 7.07685085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.532320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:153.05, Y:0.52, Z:0.06 [[ 9.99923521e-01 -1.23134971e-02 -1.15335443e-03 1.53050266e+02] [ 1.23134699e-02 9.99924186e-01 -3.07180798e-05 5.19688810e-01] [ 1.15364524e-03 1.65139355e-05 9.99999334e-01 5.76904027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:0.52, Z:0.06 [[ 9.99899416e-01 -1.41361235e-02 -1.15263319e-03 1.53078554e+02] [ 1.41360775e-02 9.99900080e-01 -4.80275282e-05 5.22072950e-01] [ 1.15319694e-03 3.17289853e-05 9.99999335e-01 5.79612228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.592320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:153.11, Y:0.52, Z:0.06 [[ 9.99848375e-01 -1.73752046e-02 -1.15262727e-03 1.53107302e+02] [ 1.73751606e-02 9.99849039e-01 -4.81691703e-05 5.23624630e-01] [ 1.15329022e-03 2.81347827e-05 9.99999335e-01 5.63005872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:153.14, Y:0.53, Z:0.06 [[ 9.99774894e-01 -2.11856770e-02 -1.15262125e-03 1.53135707e+02] [ 2.11856353e-02 9.99775558e-01 -4.83128348e-05 5.25443637e-01] [ 1.15338609e-03 2.38829459e-05 9.99999335e-01 5.55216291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.16, Y:0.53, Z:0.06 [[ 9.99576239e-01 -2.90863083e-02 -1.15261521e-03 1.53164804e+02] [ 2.90862718e-02 9.99576904e-01 -4.84564986e-05 5.30191548e-01] [ 1.15353696e-03 1.49106855e-05 9.99999335e-01 5.54501124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.19, Y:0.53, Z:0.06 [[ 9.99459652e-01 -3.28492699e-02 -1.15261058e-03 1.53193704e+02] [ 3.28492358e-02 9.99460317e-01 -4.85662104e-05 5.33350011e-01] [ 1.15358390e-03 1.06775910e-05 9.99999335e-01 5.61945671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.712320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:153.22, Y:0.54, Z:0.06 [[ 9.99339429e-01 -3.63232382e-02 -1.15260427e-03 1.53222455e+02] [ 3.63232062e-02 9.99340093e-01 -4.87155341e-05 5.35740451e-01] [ 1.15361317e-03 6.81707139e-06 9.99999335e-01 5.59251752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:153.25, Y:0.54, Z:0.06 [[ 9.99276289e-01 -3.80206548e-02 -1.15259793e-03 1.53252022e+02] [ 3.80206238e-02 9.99276953e-01 -4.88651130e-05 5.36630618e-01] [ 1.15362243e-03 5.00725649e-06 9.99999335e-01 6.49972393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.28, Y:0.53, Z:0.05 [[ 9.98998774e-01 -4.47226958e-02 -1.15291173e-03 1.53279729e+02] [ 4.47226777e-02 9.98999440e-01 -4.14814068e-05 5.33522233e-01] [ 1.15361333e-03 -1.01214251e-05 9.99999335e-01 5.41580770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:0.53, Z:0.05 [[ 9.98930917e-01 -4.62135765e-02 -1.15257093e-03 1.53309170e+02] [ 4.62135502e-02 9.98931582e-01 -4.94280942e-05 5.32512721e-01] [ 1.15362376e-03 -3.88914327e-06 9.99999335e-01 5.41795416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:0.53, Z:0.06 [[ 9.98796058e-01 -4.90418749e-02 -1.15256595e-03 1.53337783e+02] [ 4.90418504e-02 9.98796723e-01 -4.95439819e-05 5.30221836e-01] [ 1.15360883e-03 -7.03963319e-06 9.99999335e-01 5.59946531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:0.53, Z:0.06 [[ 9.98734411e-01 -5.02816900e-02 -1.15255940e-03 1.53366500e+02] [ 5.02816662e-02 9.98735076e-01 -4.96958423e-05 5.31065471e-01] [ 1.15360030e-03 -8.31965947e-06 9.99999335e-01 5.63513778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:0.53, Z:0.06 [[ 9.98706732e-01 -5.08284773e-02 -1.15255282e-03 1.53395339e+02] [ 5.08284536e-02 9.98707397e-01 -4.98480564e-05 5.31998662e-01] [ 1.15359673e-03 -8.79888815e-06 9.99999335e-01 5.63186980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.922320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:153.43, Y:0.53, Z:0.07 [[ 9.98736468e-01 -5.02408189e-02 -1.15254789e-03 1.53426141e+02] [ 5.02407947e-02 9.98737133e-01 -4.99619229e-05 5.31893094e-01] [ 1.15360250e-03 -8.00612733e-06 9.99999335e-01 6.53292984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:0.53, Z:0.06 [[ 9.98697063e-01 -5.10181056e-02 -1.15283491e-03 1.53454860e+02] [ 5.10180895e-02 9.98697728e-01 -4.33558876e-05 5.27749017e-01] [ 1.15354554e-03 -1.55160369e-05 9.99999335e-01 5.57921706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.48, Y:0.53, Z:0.06 [[ 9.98665114e-01 -5.16397248e-02 -1.15252849e-03 1.53483422e+02] [ 5.16397011e-02 9.98665779e-01 -5.03675523e-05 5.26593371e-01] [ 1.15359173e-03 -9.21590911e-06 9.99999335e-01 5.69332201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.51, Y:0.53, Z:0.06 [[ 9.98622509e-01 -5.24571916e-02 -1.15252182e-03 1.53511933e+02] [ 5.24571682e-02 9.98623174e-01 -5.05196440e-05 5.26704362e-01] [ 1.15358512e-03 -1.00079773e-05 9.99999335e-01 5.74915594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:0.53, Z:0.06 [[ 9.98668657e-01 -5.15711606e-02 -1.15251509e-03 1.53539710e+02] [ 5.15711365e-02 9.98669322e-01 -5.06727736e-05 5.28312222e-01] [ 1.15359471e-03 -8.83120204e-06 9.99999335e-01 5.65029305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:0.53, Z:0.06 [[ 9.98683361e-01 -5.12856300e-02 -1.15250492e-03 1.53568257e+02] [ 5.12856054e-02 9.98684026e-01 -5.09030252e-05 5.29562630e-01] [ 1.15359884e-03 -8.27090809e-06 9.99999335e-01 5.58618409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.102320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:153.60, Y:0.53, Z:0.06 [[ 9.98877917e-01 -4.73453211e-02 -1.15249812e-03 1.53599466e+02] [ 4.73452937e-02 9.98878581e-01 -5.10563927e-05 5.28517567e-01] [ 1.15362297e-03 -3.56625895e-06 9.99999335e-01 6.40001530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:0.53, Z:0.06 [[ 9.98876886e-01 -4.73670538e-02 -1.15299566e-03 1.53627050e+02] [ 4.73670393e-02 9.98877551e-01 -3.99180002e-05 5.27587303e-01] [ 1.15359228e-03 -1.47408228e-05 9.99999335e-01 5.63258540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.66, Y:0.53, Z:0.07 [[ 9.99004545e-01 -4.45936227e-02 -1.15245700e-03 1.53657933e+02] [ 4.45935925e-02 9.99005210e-01 -5.18830178e-05 5.28317712e-01] [ 1.15362420e-03 4.39172790e-07 9.99999335e-01 6.65995599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.69, Y:0.53, Z:0.06 [[ 9.99028631e-01 -4.40507172e-02 -1.15276480e-03 1.53687334e+02] [ 4.40506946e-02 9.99029296e-01 -4.50333615e-05 5.29762233e-01] [ 1.15362955e-03 -5.79047240e-06 9.99999335e-01 5.58876531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.72, Y:0.53, Z:0.05 [[ 9.99092633e-01 -4.25744264e-02 -1.15244648e-03 1.53716326e+02] [ 4.25743946e-02 9.99093298e-01 -5.20774992e-05 5.30850874e-01] [ 1.15361872e-03 2.96553461e-06 9.99999335e-01 5.48899505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.252320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:153.75, Y:0.53, Z:0.06 [[ 9.99240858e-01 -3.89407315e-02 -1.15243958e-03 1.53746803e+02] [ 3.89406971e-02 9.99241522e-01 -5.22298455e-05 5.29791453e-01] [ 1.15359934e-03 7.31339517e-06 9.99999335e-01 6.46532024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:0.53, Z:0.06 [[ 9.99211037e-01 -3.96985465e-02 -1.15286404e-03 1.53773871e+02] [ 3.96985234e-02 9.99211702e-01 -4.28577162e-05 5.29679660e-01] [ 1.15365663e-03 -2.94309693e-06 9.99999335e-01 5.59456231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:0.53, Z:0.06 [[ 9.99200203e-01 -3.99703199e-02 -1.15240905e-03 1.53803006e+02] [ 3.99702856e-02 9.99200867e-01 -5.27901182e-05 5.31699386e-01] [ 1.15359816e-03 6.68577800e-06 9.99999335e-01 5.71992892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:153.83, Y:0.53, Z:0.06 [[ 9.99183184e-01 -4.03935247e-02 -1.15240212e-03 1.53831309e+02] [ 4.03934905e-02 9.99183849e-01 -5.29409364e-05 5.34278600e-01] [ 1.15360006e-03 6.34814922e-06 9.99999335e-01 5.59617728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.86, Y:0.53, Z:0.06 [[ 9.99135726e-01 -4.15508605e-02 -1.15239511e-03 1.53860546e+02] [ 4.15508269e-02 9.99136390e-01 -5.30930113e-05 5.34317687e-01] [ 1.15360595e-03 5.16415445e-06 9.99999335e-01 5.62803023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:153.89, Y:0.53, Z:0.06 [[ 9.99112605e-01 -4.21031386e-02 -1.15238811e-03 1.53889344e+02] [ 4.21031052e-02 9.99113270e-01 -5.32445570e-05 5.34245197e-01] [ 1.15360802e-03 4.67819010e-06 9.99999335e-01 5.64417303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.432320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:153.92, Y:0.54, Z:0.07 [[ 9.99050751e-01 -4.35461659e-02 -1.15238110e-03 1.53918746e+02] [ 4.35461332e-02 9.99051416e-01 -5.33958673e-05 5.36051390e-01] [ 1.15361316e-03 3.16344039e-06 9.99999335e-01 6.89786523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:0.54, Z:0.06 [[ 9.99116894e-01 -4.20012334e-02 -1.15238479e-03 1.53949040e+02] [ 4.20011998e-02 9.99117559e-01 -5.33163400e-05 5.37583012e-01] [ 1.15360724e-03 4.86771202e-06 9.99999335e-01 5.79504037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:0.54, Z:0.06 [[ 9.99078554e-01 -4.29035659e-02 -1.15237432e-03 1.53977497e+02] [ 4.29035327e-02 9.99079218e-01 -5.35418461e-05 5.38070766e-01] [ 1.15361037e-03 4.05158095e-06 9.99999335e-01 5.95147987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:154.01, Y:0.54, Z:0.06 [[ 9.99044180e-01 -4.36966742e-02 -1.15236730e-03 1.54005768e+02] [ 4.36966414e-02 9.99044844e-01 -5.36925154e-05 5.38014221e-01] [ 1.15361279e-03 3.28661455e-06 9.99999335e-01 6.01544448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:0.54, Z:0.06 [[ 9.98926902e-01 -4.63002852e-02 -1.15235672e-03 1.54033916e+02] [ 4.63002539e-02 9.98927567e-01 -5.39185353e-05 5.39506232e-01] [ 1.15361734e-03 5.06266723e-07 9.99999335e-01 5.88181090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.04, Y:0.53, Z:0.07 [[ 9.96830528e-01 -7.95460325e-02 -1.15234594e-03 1.54044730e+02] [ 7.95460230e-02 9.96831193e-01 -5.41480347e-05 5.27840270e-01] [ 1.15300164e-03 -3.76881225e-05 9.99999335e-01 6.55144335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:0.54, Z:0.06 [[ 9.98931516e-01 -4.62007613e-02 -1.14724333e-03 1.54092572e+02] [ 4.62006096e-02 9.98932169e-01 -1.58420830e-04 5.42816374e-01] [ 1.15333743e-03 1.05248218e-04 9.99999329e-01 5.82087221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.12, Y:0.54, Z:0.06 [[ 9.98848037e-01 -4.79715825e-02 -1.15205314e-03 1.54121562e+02] [ 4.79715543e-02 9.98848701e-01 -5.21338227e-05 5.42183573e-01] [ 1.15322772e-03 -3.19201325e-06 9.99999335e-01 5.84118011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:0.54, Z:0.06 [[ 9.98722793e-01 -5.05119340e-02 -1.15204621e-03 1.54150411e+02] [ 5.05119073e-02 9.98723457e-01 -5.22864736e-05 5.39476299e-01] [ 1.15321667e-03 -5.97235841e-06 9.99999335e-01 5.95243017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.18, Y:0.54, Z:0.06 [[ 9.98636376e-01 -5.21925460e-02 -1.15203923e-03 1.54179108e+02] [ 5.21925203e-02 9.98637040e-01 -5.24399003e-05 5.38251946e-01] [ 1.15320602e-03 -7.75943872e-06 9.99999335e-01 5.82977848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:0.54, Z:0.06 [[ 9.98607827e-01 -5.27359514e-02 -1.15203230e-03 1.54208449e+02] [ 5.27359258e-02 9.98608492e-01 -5.25916628e-05 5.36034891e-01] [ 1.15320271e-03 -8.23504374e-06 9.99999335e-01 5.89560150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:0.53, Z:0.07 [[ 9.98587321e-01 -5.31228242e-02 -1.15202533e-03 1.54238521e+02] [ 5.31227987e-02 9.98587986e-01 -5.27439544e-05 5.33718277e-01] [ 1.15320056e-03 -8.52936536e-06 9.99999335e-01 6.95356961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:0.53, Z:0.06 [[ 9.98547676e-01 -5.38628984e-02 -1.15216184e-03 1.54267538e+02] [ 5.38628769e-02 9.98548340e-01 -4.97675604e-05 5.31940258e-01] [ 1.15316992e-03 -1.23634698e-05 9.99999335e-01 5.91716185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:0.53, Z:0.06 [[ 9.98625573e-01 -5.23988349e-02 -1.15200921e-03 1.54296487e+02] [ 5.23988086e-02 9.98626237e-01 -5.30800993e-05 5.29802579e-01] [ 1.15320796e-03 -7.35676573e-06 9.99999335e-01 5.95642764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:0.53, Z:0.06 [[ 9.98671393e-01 -5.15181709e-02 -1.15200221e-03 1.54324584e+02] [ 5.15181437e-02 9.98672057e-01 -5.32317402e-05 5.28462215e-01] [ 1.15321482e-03 -6.18799921e-06 9.99999335e-01 5.81930312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:0.53, Z:0.06 [[ 9.98744962e-01 -5.00716902e-02 -1.15199158e-03 1.54352347e+02] [ 5.00716618e-02 9.98745626e-01 -5.34607242e-05 5.25900771e-01] [ 1.15322342e-03 -4.28850391e-06 9.99999335e-01 5.70023558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:0.52, Z:0.06 [[ 9.98789953e-01 -4.91660744e-02 -1.15198083e-03 1.54380637e+02] [ 4.91660451e-02 9.98790617e-01 -5.36914581e-05 5.22739502e-01] [ 1.15322744e-03 -3.01185243e-06 9.99999335e-01 5.69953461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.41, Y:0.52, Z:0.06 [[ 9.98937374e-01 -4.60737999e-02 -1.15197019e-03 1.54408623e+02] [ 4.60737683e-02 9.98938039e-01 -5.39187549e-05 5.17789215e-01] [ 1.15323108e-03 7.85851879e-07 9.99999335e-01 5.65176614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:0.52, Z:0.06 [[ 9.99019275e-01 -4.42624080e-02 -1.15195959e-03 1.54437852e+02] [ 4.42623750e-02 9.99019939e-01 -5.41441757e-05 5.17106561e-01] [ 1.15322715e-03 3.10260772e-06 9.99999335e-01 5.63628714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:154.47, Y:0.52, Z:0.07 [[ 9.99202689e-01 -3.99081313e-02 -1.15195248e-03 1.54470318e+02] [ 3.99080952e-02 9.99203353e-01 -5.42951679e-05 5.17083672e-01] [ 1.15320160e-03 8.27964868e-06 9.99999335e-01 6.81659845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:0.52, Z:0.06 [[ 9.99198732e-01 -4.00070581e-02 -1.15265139e-03 1.54498026e+02] [ 4.00070393e-02 9.99199397e-01 -3.94424684e-05 5.17243978e-01] [ 1.15330655e-03 -6.70330498e-06 9.99999335e-01 5.65694900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:154.53, Y:0.52, Z:0.07 [[ 9.99481513e-01 -3.21772955e-02 -1.15192827e-03 1.54530845e+02] [ 3.21772538e-02 9.99482177e-01 -5.46771292e-05 5.17971420e-01] [ 1.15309113e-03 1.75828916e-05 9.99999335e-01 7.00283577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.092320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:154.56, Y:0.52, Z:0.06 [[ 9.99457280e-01 -3.29213645e-02 -1.15272713e-03 1.54557890e+02] [ 3.29213427e-02 9.99457945e-01 -3.78661824e-05 5.18922784e-01] [ 1.15334890e-03 -1.03693220e-07 9.99999335e-01 5.90676053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:154.59, Y:0.52, Z:0.06 [[ 9.99534877e-01 -3.04746113e-02 -1.15188749e-03 1.54586244e+02] [ 3.04745678e-02 9.99535541e-01 -5.53423199e-05 5.20506536e-01] [ 1.15303902e-03 2.02133055e-05 9.99999335e-01 5.96842118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:0.52, Z:0.06 [[ 9.99620219e-01 -2.75334649e-02 -1.15187872e-03 1.54615414e+02] [ 2.75334192e-02 9.99620882e-01 -5.55242420e-05 5.24483942e-01] [ 1.15297080e-03 2.37879952e-05 9.99999335e-01 5.98422862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.64, Y:0.53, Z:0.06 [[ 9.99621549e-01 -2.74851170e-02 -1.15187176e-03 1.54643920e+02] [ 2.74850711e-02 9.99622213e-01 -5.56683936e-05 5.26359125e-01] [ 1.15296665e-03 2.39880487e-05 9.99999335e-01 5.93554802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.67, Y:0.53, Z:0.06 [[ 9.99622375e-01 -2.74550526e-02 -1.15186473e-03 1.54672427e+02] [ 2.74550065e-02 9.99623039e-01 -5.58133181e-05 5.27060793e-01] [ 1.15296288e-03 2.41677879e-05 9.99999335e-01 5.95567243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.70, Y:0.53, Z:0.06 [[ 9.99618940e-01 -2.75798303e-02 -1.15185773e-03 1.54701746e+02] [ 2.75797841e-02 9.99619604e-01 -5.59574424e-05 5.28451500e-01] [ 1.15296287e-03 2.41681317e-05 9.99999335e-01 5.95905443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.73, Y:0.53, Z:0.06 [[ 9.99613238e-01 -2.77857417e-02 -1.15185073e-03 1.54730432e+02] [ 2.77856955e-02 9.99613901e-01 -5.61012221e-05 5.28886517e-01] [ 1.15296482e-03 2.40745507e-05 9.99999335e-01 6.02512933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:0.53, Z:0.06 [[ 9.99619984e-01 -2.75419995e-02 -1.15184372e-03 1.54758752e+02] [ 2.75419529e-02 9.99620647e-01 -5.62446843e-05 5.33497243e-01] [ 1.15295586e-03 2.44992848e-05 9.99999335e-01 6.17589275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:0.54, Z:0.06 [[ 9.99653590e-01 -2.62939847e-02 -1.15183661e-03 1.54786139e+02] [ 2.62939372e-02 9.99654253e-01 -5.63899545e-05 5.37370852e-01] [ 1.15292108e-03 2.60841009e-05 9.99999335e-01 6.01220075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:0.54, Z:0.06 [[ 9.99675585e-01 -2.54440297e-02 -1.15182583e-03 1.54815110e+02] [ 2.54439813e-02 9.99676248e-01 -5.66092966e-05 5.40162793e-01] [ 1.15289329e-03 2.72838967e-05 9.99999335e-01 5.88891603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:0.54, Z:0.06 [[ 9.99695796e-01 -2.46371375e-02 -1.15181870e-03 1.54844109e+02] [ 2.46370885e-02 9.99696459e-01 -5.67541081e-05 5.41718363e-01] [ 1.15286733e-03 2.83593841e-05 9.99999335e-01 5.82154853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:0.54, Z:0.06 [[ 9.99676371e-01 -2.54131082e-02 -1.15181163e-03 1.54872822e+02] [ 2.54130595e-02 9.99677034e-01 -5.68972006e-05 5.42990094e-01] [ 1.15288557e-03 2.76077296e-05 9.99999335e-01 5.83758835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:0.55, Z:0.06 [[ 9.99611525e-01 -2.78473102e-02 -1.15180453e-03 1.54901714e+02] [ 2.78472629e-02 9.99612188e-01 -5.70405275e-05 5.45551210e-01] [ 1.15294627e-03 2.49437651e-05 9.99999335e-01 5.85773790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:0.54, Z:0.06 [[ 9.99551774e-01 -2.99152962e-02 -1.15179749e-03 1.54930204e+02] [ 2.99152501e-02 9.99552437e-01 -5.71824006e-05 5.44932499e-01] [ 1.15299261e-03 2.27004600e-05 9.99999335e-01 5.91177119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:0.54, Z:0.06 [[ 9.99495854e-01 -3.17287108e-02 -1.15179038e-03 1.54959354e+02] [ 3.17286658e-02 9.99496517e-01 -5.73251769e-05 5.42181105e-01] [ 1.15302933e-03 2.07515045e-05 9.99999335e-01 5.96399424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:0.54, Z:0.06 [[ 9.99449927e-01 -3.31438780e-02 -1.15178322e-03 1.54987978e+02] [ 3.31438338e-02 9.99450591e-01 -5.74686062e-05 5.39135362e-01] [ 1.15305516e-03 1.92624825e-05 9.99999335e-01 5.83826235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.02, Y:0.54, Z:0.07 [[ 9.99326011e-01 -3.66905614e-02 -1.15177603e-03 1.55017042e+02] [ 3.66905193e-02 9.99326675e-01 -5.76124824e-05 5.39110827e-01] [ 1.15311434e-03 1.53143916e-05 9.99999335e-01 6.74551058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.05, Y:0.54, Z:0.06 [[ 9.99367092e-01 -3.55540339e-02 -1.15178589e-03 1.55047190e+02] [ 3.55539913e-02 9.99367755e-01 -5.74158361e-05 5.40947944e-01] [ 1.15309905e-03 1.64289114e-05 9.99999335e-01 5.75146809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.632320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:155.08, Y:0.54, Z:0.06 [[ 9.99383642e-01 -3.50857479e-02 -1.15176672e-03 1.55075705e+02] [ 3.50857045e-02 9.99384305e-01 -5.77979432e-05 5.41953845e-01] [ 1.15308547e-03 1.73517722e-05 9.99999335e-01 5.84256438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:0.54, Z:0.06 [[ 9.99451389e-01 -3.30997748e-02 -1.15175567e-03 1.55104585e+02] [ 3.30997300e-02 9.99452052e-01 -5.80172720e-05 5.38613890e-01] [ 1.15304493e-03 1.98626414e-05 9.99999335e-01 6.23881441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:155.14, Y:0.54, Z:0.07 [[ 9.99533750e-01 -3.05115842e-02 -1.15174829e-03 1.55136340e+02] [ 3.05115375e-02 9.99534413e-01 -5.81633697e-05 5.38680603e-01] [ 1.15298671e-03 2.29946399e-05 9.99999335e-01 7.42323301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:0.54, Z:0.06 [[ 9.99566274e-01 -2.94268104e-02 -1.15213181e-03 1.55165042e+02] [ 2.94267717e-02 9.99566938e-01 -5.05809824e-05 5.39669435e-01] [ 1.15312130e-03 1.66555245e-05 9.99999335e-01 6.14001500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.19, Y:0.54, Z:0.06 [[ 9.99636339e-01 -2.69418566e-02 -1.15173370e-03 1.55192803e+02] [ 2.69418072e-02 9.99637002e-01 -5.84284549e-05 5.41191706e-01] [ 1.15288979e-03 2.73774196e-05 9.99999335e-01 6.10085772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:0.54, Z:0.06 [[ 9.99766153e-01 -2.15942781e-02 -1.15172465e-03 1.55221537e+02] [ 2.15942249e-02 9.99766816e-01 -5.86063140e-05 5.43228010e-01] [ 1.15272164e-03 3.37220080e-05 9.99999335e-01 6.03893822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:0.55, Z:0.06 [[ 9.99829313e-01 -1.84395862e-02 -1.15171732e-03 1.55250520e+02] [ 1.84395307e-02 9.99829976e-01 -5.87498659e-05 5.46323135e-01] [ 1.15260483e-03 3.75027111e-05 9.99999335e-01 6.13115714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.28, Y:0.55, Z:0.06 [[ 9.99863122e-01 -1.65048761e-02 -1.15171012e-03 1.55279056e+02] [ 1.65048192e-02 9.99863784e-01 -5.88907095e-05 5.50971581e-01] [ 1.15252523e-03 3.98738813e-05 9.99999335e-01 6.06691018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:0.56, Z:0.06 [[ 9.99898824e-01 -1.41779850e-02 -1.15170298e-03 1.55308084e+02] [ 1.41779264e-02 9.99899486e-01 -5.90301490e-05 5.55987560e-01] [ 1.15242414e-03 4.26954165e-05 9.99999335e-01 6.01917676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:0.56, Z:0.06 [[ 9.99941928e-01 -1.07151777e-02 -1.15169583e-03 1.55336223e+02] [ 1.07151166e-02 9.99942590e-01 -5.91692659e-05 5.63118301e-01] [ 1.15226372e-03 4.68252747e-05 9.99999335e-01 5.84782427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:0.57, Z:0.06 [[ 9.99964892e-01 -8.29988020e-03 -1.15168873e-03 1.55365329e+02] [ 8.29981739e-03 9.99965554e-01 -5.93070127e-05 5.66850554e-01] [ 1.15214130e-03 4.97461244e-05 9.99999335e-01 5.97639541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:0.57, Z:0.06 [[ 9.99978130e-01 -6.51246572e-03 -1.15168159e-03 1.55393850e+02] [ 6.51240156e-03 9.99978792e-01 -5.94453909e-05 5.70400801e-01] [ 1.15204430e-03 5.19438779e-05 9.99999335e-01 5.91184904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:155.42, Y:0.57, Z:0.06 [[ 9.99989910e-01 -4.34211569e-03 -1.15167456e-03 1.55422268e+02] [ 4.34204995e-03 9.99990571e-01 -5.95813681e-05 5.74368584e-01] [ 1.15192241e-03 5.45801385e-05 9.99999335e-01 6.03667222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:155.45, Y:0.58, Z:0.06 [[ 9.99996646e-01 -2.31995947e-03 -1.15166757e-03 1.55450748e+02] [ 2.31989223e-03 9.99997307e-01 -5.97161288e-05 5.83129095e-01] [ 1.15180301e-03 5.70441839e-05 9.99999335e-01 5.97748158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:0.59, Z:0.06 [[ 9.99996489e-01 -2.38652967e-03 -1.15164272e-03 1.55479445e+02] [ 2.38646193e-03 9.99997151e-01 -6.01915697e-05 5.88536410e-01] [ 1.15178309e-03 5.74430069e-05 9.99999335e-01 5.97563508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:0.59, Z:0.06 [[ 9.99995670e-01 -2.70800699e-03 -1.15163742e-03 1.55508884e+02] [ 2.70793934e-03 9.99996332e-01 -6.02928422e-05 5.92950686e-01] [ 1.15179647e-03 5.71740169e-05 9.99999335e-01 5.99056623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:0.60, Z:0.06 [[ 9.99995598e-01 -2.73471910e-03 -1.15163383e-03 1.55538756e+02] [ 2.73465139e-03 9.99996259e-01 -6.03613346e-05 5.96518902e-01] [ 1.15179459e-03 5.72117518e-05 9.99999335e-01 5.92157758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:0.60, Z:0.06 [[ 9.99993591e-01 -3.38993646e-03 -1.15163025e-03 1.55568504e+02] [ 3.38986910e-03 9.99994253e-01 -6.04294694e-05 6.03728152e-01] [ 1.15182849e-03 5.65252062e-05 9.99999335e-01 6.08861019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:0.61, Z:0.06 [[ 9.99989535e-01 -4.42750199e-03 -1.15162671e-03 1.55597253e+02] [ 4.42743525e-03 9.99990197e-01 -6.04968891e-05 6.09443893e-01] [ 1.15188327e-03 5.53975033e-05 9.99999335e-01 6.23980025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.202320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:155.63, Y:0.62, Z:0.06 [[ 9.99985673e-01 -5.22767250e-03 -1.15161958e-03 1.55626095e+02] [ 5.22760613e-03 9.99986334e-01 -6.06322492e-05 6.15419924e-01] [ 1.15192081e-03 5.46111669e-05 9.99999335e-01 6.36828021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:0.62, Z:0.06 [[ 9.99982851e-01 -5.74206351e-03 -1.15161241e-03 1.55654957e+02] [ 5.74199733e-03 9.99983513e-01 -6.07681246e-05 6.20188982e-01] [ 1.15194236e-03 5.41545270e-05 9.99999335e-01 6.40663979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.68, Y:0.63, Z:0.06 [[ 9.99973046e-01 -7.25133611e-03 -1.15160524e-03 1.55683791e+02] [ 7.25127077e-03 9.99973707e-01 -6.09038103e-05 6.26642507e-01] [ 1.15201659e-03 5.25515672e-05 9.99999335e-01 6.34269073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.71, Y:0.63, Z:0.06 [[ 9.99974772e-01 -7.00917935e-03 -1.15159797e-03 1.55712044e+02] [ 7.00911369e-03 9.99975434e-01 -6.10409198e-05 6.32162246e-01] [ 1.15199753e-03 5.29676988e-05 9.99999335e-01 6.22740591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:0.64, Z:0.06 [[ 9.99964467e-01 -8.35094693e-03 -1.15159073e-03 1.55740373e+02] [ 8.35088201e-03 9.99965129e-01 -6.11772895e-05 6.39063119e-01] [ 1.15206146e-03 5.15583174e-05 9.99999335e-01 6.13533488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.77, Y:0.65, Z:0.06 [[ 9.99947926e-01 -1.01399604e-02 -1.15158339e-03 1.55768759e+02] [ 1.01398965e-02 9.99948588e-01 -6.13151208e-05 6.45584463e-01] [ 1.15214592e-03 4.96349916e-05 9.99999335e-01 6.08447992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:0.65, Z:0.06 [[ 9.99891396e-01 -1.46925027e-02 -1.15157600e-03 1.55796856e+02] [ 1.46924417e-02 9.99892058e-01 -6.14535844e-05 6.53557776e-01] [ 1.15235460e-03 4.45274470e-05 9.99999335e-01 6.05068785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:0.66, Z:0.06 [[ 9.99868606e-01 -1.61692720e-02 -1.15156861e-03 1.55825320e+02] [ 1.61692117e-02 9.99869268e-01 -6.15917533e-05 6.57136567e-01] [ 1.15241396e-03 4.29637038e-05 9.99999335e-01 6.11413040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:0.66, Z:0.06 [[ 9.99842541e-01 -1.77078281e-02 -1.15156116e-03 1.55854344e+02] [ 1.77077687e-02 9.99843203e-01 -6.17306562e-05 6.61990780e-01] [ 1.15247372e-03 4.13293574e-05 9.99999335e-01 6.18160368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:0.67, Z:0.06 [[ 9.99820168e-01 -1.89289759e-02 -1.15155367e-03 1.55883087e+02] [ 1.89289172e-02 9.99820830e-01 -6.18701771e-05 6.68730422e-01] [ 1.15251848e-03 4.00613869e-05 9.99999335e-01 6.21132384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:0.68, Z:0.06 [[ 9.99741764e-01 -2.26953648e-02 -1.15154611e-03 1.55911625e+02] [ 2.26953084e-02 9.99742426e-01 -6.20105716e-05 6.78494316e-01] [ 1.15265685e-03 3.58598641e-05 9.99999335e-01 5.96201605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.532320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:155.94, Y:0.68, Z:0.06 [[ 9.99691897e-01 -2.47948575e-02 -1.15153853e-03 1.55940205e+02] [ 2.47948023e-02 9.99692560e-01 -6.21509894e-05 6.80983153e-01] [ 1.15272552e-03 3.35796704e-05 9.99999335e-01 5.90078305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:0.68, Z:0.06 [[ 9.99644273e-01 -2.66458471e-02 -1.15153084e-03 1.55968529e+02] [ 2.66457930e-02 9.99644936e-01 -6.22930359e-05 6.83360615e-01] [ 1.15278183e-03 3.15874241e-05 9.99999335e-01 5.89918080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:0.69, Z:0.06 [[ 9.99578352e-01 -2.90136423e-02 -1.15152303e-03 1.55997361e+02] [ 2.90135896e-02 9.99579015e-01 -6.24371183e-05 6.91992720e-01] [ 1.15284979e-03 2.90009751e-05 9.99999335e-01 6.14270782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:0.70, Z:0.06 [[ 9.99596678e-01 -2.83752555e-02 -1.15151066e-03 1.56025667e+02] [ 2.83752021e-02 9.99597341e-01 -6.26643849e-05 6.99068535e-01] [ 1.15282512e-03 2.99647632e-05 9.99999335e-01 6.21443917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:0.71, Z:0.06 [[ 9.99622505e-01 -2.74503540e-02 -1.15150272e-03 1.56054495e+02] [ 2.74502998e-02 9.99623168e-01 -6.28100985e-05 7.05425400e-01] [ 1.15279295e-03 3.11772932e-05 9.99999335e-01 6.31142360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:0.71, Z:0.06 [[ 9.99642696e-01 -2.67049426e-02 -1.15149479e-03 1.56083546e+02] [ 2.67048878e-02 9.99643359e-01 -6.29551101e-05 7.10842258e-01] [ 1.15276533e-03 3.21820768e-05 9.99999335e-01 6.36158325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:0.72, Z:0.06 [[ 9.99671258e-01 -2.56134666e-02 -1.15148682e-03 1.56112502e+02] [ 2.56134109e-02 9.99671921e-01 -6.31005784e-05 7.15903325e-01] [ 1.15272526e-03 3.35863296e-05 9.99999335e-01 6.36018747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:0.72, Z:0.06 [[ 9.99643619e-01 -2.66703762e-02 -1.15147898e-03 1.56141221e+02] [ 2.66703210e-02 9.99644282e-01 -6.32433161e-05 7.23260610e-01] [ 1.15275610e-03 3.25104635e-05 9.99999335e-01 6.26537202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.17, Y:0.73, Z:0.06 [[ 9.99614793e-01 -2.77297678e-02 -1.15147108e-03 1.56170218e+02] [ 2.77297132e-02 9.99615456e-01 -6.33867066e-05 7.26591784e-01] [ 1.15278599e-03 3.14323267e-05 9.99999335e-01 6.12517669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.20, Y:0.73, Z:0.06 [[ 9.99573645e-01 -2.91753560e-02 -1.15146509e-03 1.56199112e+02] [ 2.91753022e-02 9.99574308e-01 -6.34953901e-05 7.29177738e-01] [ 1.15282742e-03 2.98739766e-05 9.99999335e-01 5.95058687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:0.73, Z:0.06 [[ 9.99527279e-01 -3.07228248e-02 -1.15145709e-03 1.56228314e+02] [ 3.07227718e-02 9.99527942e-01 -6.36400489e-05 7.32126550e-01] [ 1.15286874e-03 2.82340114e-05 9.99999335e-01 5.99325925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.26, Y:0.74, Z:0.06 [[ 9.99456006e-01 -3.29600697e-02 -1.15144904e-03 1.56256750e+02] [ 3.29600181e-02 9.99456669e-01 -6.37855386e-05 7.36235825e-01] [ 1.15292579e-03 2.57990587e-05 9.99999335e-01 6.03265088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:0.74, Z:0.06 [[ 9.99393718e-01 -3.47975723e-02 -1.15144089e-03 1.56285626e+02] [ 3.47975217e-02 9.99394381e-01 -6.39321718e-05 7.43877767e-01] [ 1.15296824e-03 2.38261214e-05 9.99999335e-01 6.18264747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:0.75, Z:0.06 [[ 9.99385836e-01 -3.50232193e-02 -1.15143477e-03 1.56313846e+02] [ 3.50231688e-02 9.99386499e-01 -6.40422228e-05 7.46669026e-01] [ 1.15297133e-03 2.36759960e-05 9.99999335e-01 6.14414938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.34, Y:0.75, Z:0.06 [[ 9.99420668e-01 -3.40147319e-02 -1.15142450e-03 1.56342345e+02] [ 3.40146805e-02 9.99421331e-01 -6.42264666e-05 7.48865252e-01] [ 1.15294285e-03 2.50239219e-05 9.99999335e-01 5.98523943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:0.75, Z:0.06 [[ 9.99487723e-01 -3.19838439e-02 -1.15141621e-03 1.56370857e+02] [ 3.19837909e-02 9.99488386e-01 -6.43746767e-05 7.52917703e-01] [ 1.15288608e-03 2.75150437e-05 9.99999335e-01 5.69169396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:0.76, Z:0.06 [[ 9.99511063e-01 -3.12459331e-02 -1.15140790e-03 1.56399977e+02] [ 3.12458795e-02 9.99511726e-01 -6.45230254e-05 7.57250228e-01] [ 1.15286178e-03 2.85147253e-05 9.99999335e-01 5.74370388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.43, Y:0.76, Z:0.06 [[ 9.99509368e-01 -3.13001057e-02 -1.15140173e-03 1.56428409e+02] [ 3.13000520e-02 9.99510031e-01 -6.46328884e-05 7.60918326e-01] [ 1.15286059e-03 2.85622435e-05 9.99999335e-01 5.97332848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.46, Y:0.76, Z:0.06 [[ 9.99514553e-01 -3.11341085e-02 -1.15139353e-03 1.56457047e+02] [ 3.11340545e-02 9.99515216e-01 -6.47786968e-05 7.64244890e-01] [ 1.15285218e-03 2.88997013e-05 9.99999335e-01 6.16153408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.49, Y:0.77, Z:0.06 [[ 9.99510609e-01 -3.12604720e-02 -1.15138530e-03 1.56486332e+02] [ 3.12604179e-02 9.99511272e-01 -6.49245042e-05 7.65865874e-01] [ 1.15285216e-03 2.88999449e-05 9.99999335e-01 6.16491564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:0.77, Z:0.06 [[ 9.99506349e-01 -3.13963730e-02 -1.15137708e-03 1.56515635e+02] [ 3.13963189e-02 9.99507012e-01 -6.50700670e-05 7.72196231e-01] [ 1.15285243e-03 2.88889433e-05 9.99999335e-01 6.16934220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:0.78, Z:0.06 [[ 9.99502184e-01 -3.15287080e-02 -1.15137296e-03 1.56543749e+02] [ 3.15286539e-02 9.99502846e-01 -6.51428016e-05 7.77122163e-01] [ 1.15285442e-03 2.88091328e-05 9.99999335e-01 5.97889016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:0.78, Z:0.06 [[ 9.99468334e-01 -3.25841149e-02 -1.15136263e-03 1.56573637e+02] [ 3.25840612e-02 9.99468996e-01 -6.53249461e-05 7.81181384e-01] [ 1.15287981e-03 2.77741447e-05 9.99999335e-01 5.80553984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:0.79, Z:0.06 [[ 9.99415658e-01 -3.41616388e-02 -1.15135847e-03 1.56602730e+02] [ 3.41615862e-02 9.99416321e-01 -6.53980872e-05 7.86542658e-01] [ 1.15292055e-03 2.60276407e-05 9.99999335e-01 5.83861719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:0.79, Z:0.06 [[ 9.99397610e-01 -3.46856002e-02 -1.15135222e-03 1.56631092e+02] [ 3.46855477e-02 9.99398273e-01 -6.55079455e-05 7.90494707e-01] [ 1.15293161e-03 2.55332017e-05 9.99999335e-01 6.03460970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:0.79, Z:0.06 [[ 9.99380518e-01 -3.51746269e-02 -1.15134389e-03 1.56659939e+02] [ 3.51745746e-02 9.99381181e-01 -6.56541275e-05 7.94924607e-01] [ 1.15294077e-03 2.51154245e-05 9.99999335e-01 6.11231716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:0.80, Z:0.06 [[ 9.99383063e-01 -3.51022608e-02 -1.15133547e-03 1.56689738e+02] [ 3.51022083e-02 9.99383725e-01 -6.58014639e-05 7.99637331e-01] [ 1.15293571e-03 2.53464512e-05 9.99999335e-01 6.02651270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.72, Y:0.81, Z:0.06 [[ 9.99307653e-01 -3.71872242e-02 -1.15133122e-03 1.56719359e+02] [ 3.71871730e-02 9.99308316e-01 -6.58756703e-05 8.07938706e-01] [ 1.15298460e-03 2.30153082e-05 9.99999335e-01 5.99110391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:0.81, Z:0.06 [[ 9.99269973e-01 -3.81863234e-02 -1.15132697e-03 1.56748709e+02] [ 3.81862727e-02 9.99270636e-01 -6.59498337e-05 8.13494876e-01] [ 1.15300562e-03 2.19368028e-05 9.99999335e-01 6.03749566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:0.82, Z:0.06 [[ 9.99223210e-01 -3.93909964e-02 -1.15132266e-03 1.56777912e+02] [ 3.93909465e-02 9.99223873e-01 -6.60249644e-05 8.18687171e-01] [ 1.15302988e-03 2.06219875e-05 9.99999335e-01 5.91811199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.81, Y:0.82, Z:0.06 [[ 9.99218920e-01 -3.94996857e-02 -1.15131833e-03 1.56807113e+02] [ 3.94996358e-02 9.99219583e-01 -6.61004271e-05 8.22123064e-01] [ 1.15303077e-03 2.05721426e-05 9.99999335e-01 5.89864846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.84, Y:0.83, Z:0.06 [[ 9.99164539e-01 -4.08521557e-02 -1.15131399e-03 1.56836991e+02] [ 4.08521065e-02 9.99165202e-01 -6.61759478e-05 8.25275436e-01] [ 1.15305631e-03 1.90870586e-05 9.99999335e-01 5.70279090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.87, Y:0.83, Z:0.06 [[ 9.99099431e-01 -4.24146269e-02 -1.15130965e-03 1.56866872e+02] [ 4.24145787e-02 9.99100095e-01 -6.62514099e-05 8.29679708e-01] [ 1.15308361e-03 1.73594323e-05 9.99999335e-01 5.79421347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.90, Y:0.84, Z:0.07 [[ 9.99046718e-01 -4.36386306e-02 -1.15130532e-03 1.56896997e+02] [ 4.36385831e-02 9.99047381e-01 -6.63265535e-05 8.35390503e-01] [ 1.15310296e-03 1.60219927e-05 9.99999335e-01 7.04410595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.93, Y:0.84, Z:0.06 [[ 9.99046679e-01 -4.36395293e-02 -1.15134907e-03 1.56926395e+02] [ 4.36394827e-02 9.99047342e-01 -6.55683169e-05 8.41719307e-01] [ 1.15311360e-03 1.52615312e-05 9.99999335e-01 5.94106535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:0.85, Z:0.06 [[ 9.99030068e-01 -4.40181530e-02 -1.15129932e-03 1.56955955e+02] [ 4.40181057e-02 9.99030731e-01 -6.64305690e-05 8.47462030e-01] [ 1.15310755e-03 1.56881206e-05 9.99999335e-01 6.12147730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.612320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.99, Y:0.85, Z:0.07 [[ 9.99028892e-01 -4.40448306e-02 -1.15129114e-03 1.56986197e+02] [ 4.40447831e-02 9.99029555e-01 -6.65720155e-05 8.54504096e-01] [ 1.15310603e-03 1.57989982e-05 9.99999335e-01 7.11374202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:0.86, Z:0.06 [[ 9.99002402e-01 -4.46416220e-02 -1.15135054e-03 1.57016584e+02] [ 4.46415761e-02 9.99003066e-01 -6.55405047e-05 8.57466774e-01] [ 1.15312855e-03 1.40770189e-05 9.99999335e-01 5.91957392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:0.86, Z:0.07 [[ 9.98880917e-01 -4.72820160e-02 -1.15131183e-03 1.57047043e+02] [ 4.72819711e-02 9.98881580e-01 -6.62135369e-05 8.60885450e-01] [ 1.15315489e-03 1.17031456e-05 9.99999335e-01 7.15636757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:0.86, Z:0.06 [[ 9.98865873e-01 -4.75987671e-02 -1.15126170e-03 1.57077929e+02] [ 4.75987214e-02 9.98866536e-01 -6.70866413e-05 8.64260711e-01] [ 1.15315003e-03 1.22119717e-05 9.99999335e-01 5.75027396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:0.87, Z:0.06 [[ 9.98660986e-01 -5.17195335e-02 -1.15133721e-03 1.57108389e+02] [ 5.17194921e-02 9.98661649e-01 -6.57647216e-05 8.67927890e-01] [ 1.15319763e-03 6.13008613e-06 9.99999335e-01 5.70109481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:0.87, Z:0.06 [[ 9.98628845e-01 -5.23364538e-02 -1.15133721e-03 1.57138761e+02] [ 5.23364128e-02 9.98629509e-01 -6.57647216e-05 8.71930577e-01] [ 1.15320120e-03 5.41768866e-06 9.99999335e-01 5.75803651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:0.88, Z:0.06 [[ 9.98658814e-01 -5.17614519e-02 -1.15133721e-03 1.57169776e+02] [ 5.17614105e-02 9.98659478e-01 -6.57647216e-05 8.77160345e-01] [ 1.15319789e-03 6.08168108e-06 9.99999335e-01 5.73788795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:0.88, Z:0.06 [[ 9.98657314e-01 -5.17903760e-02 -1.15134154e-03 1.57200749e+02] [ 5.17903347e-02 9.98657978e-01 -6.56887363e-05 8.82489850e-01] [ 1.15319846e-03 5.97217318e-06 9.99999335e-01 5.86332448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:0.89, Z:0.06 [[ 9.98697383e-01 -5.10118702e-02 -1.15134588e-03 1.57231345e+02] [ 5.10118284e-02 9.98698047e-01 -6.56127060e-05 8.88416874e-01] [ 1.15319390e-03 6.79497951e-06 9.99999335e-01 6.02070110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.26, Y:0.89, Z:0.07 [[ 9.98711504e-01 -5.07346611e-02 -1.15135021e-03 1.57262298e+02] [ 5.07346193e-02 9.98712168e-01 -6.55366017e-05 8.90246195e-01] [ 1.15319244e-03 7.03884364e-06 9.99999335e-01 7.49317450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:0.89, Z:0.06 [[ 9.98679290e-01 -5.13648583e-02 -1.15160375e-03 1.57292794e+02] [ 5.13648220e-02 9.98679954e-01 -6.10606040e-05 8.90912304e-01] [ 1.15321995e-03 1.82803918e-06 9.99999335e-01 5.74004366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:0.89, Z:0.05 [[ 9.98417394e-01 -5.62261632e-02 -1.15136789e-03 1.57324351e+02] [ 5.62261254e-02 9.98418058e-01 -6.52240601e-05 8.91248509e-01] [ 1.15321379e-03 3.83880663e-07 9.99999335e-01 5.47885115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.36, Y:0.89, Z:0.05 [[ 9.98232167e-01 -5.94240325e-02 -1.15137226e-03 1.57356029e+02] [ 5.94239968e-02 9.98232831e-01 -6.51469204e-05 8.93300260e-01] [ 1.15320888e-03 -3.38738976e-06 9.99999335e-01 5.49505549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:0.90, Z:0.06 [[ 9.98096977e-01 -6.16530525e-02 -1.15137651e-03 1.57386913e+02] [ 6.16530184e-02 9.98097641e-01 -6.50716915e-05 8.95086514e-01] [ 1.15319804e-03 -6.03797848e-06 9.99999335e-01 5.54804037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:0.90, Z:0.06 [[ 9.97969855e-01 -6.36776448e-02 -1.15138072e-03 1.57417917e+02] [ 6.36776122e-02 9.97970519e-01 -6.49970922e-05 8.96346665e-01] [ 1.15318288e-03 -8.45203623e-06 9.99999335e-01 5.54543236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:0.90, Z:0.06 [[ 9.97957101e-01 -6.38772151e-02 -1.15138493e-03 1.57449689e+02] [ 6.38771827e-02 9.97957765e-01 -6.49223785e-05 8.96871680e-01] [ 1.15318059e-03 -8.75747697e-06 9.99999335e-01 5.56938957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:0.90, Z:0.06 [[ 9.97959704e-01 -6.38365334e-02 -1.15138913e-03 1.57480521e+02] [ 6.38365011e-02 9.97960368e-01 -6.48478493e-05 8.98208417e-01] [ 1.15318038e-03 -8.78511290e-06 9.99999335e-01 5.68882002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:0.90, Z:0.06 [[ 9.97995476e-01 -6.32748330e-02 -1.15139334e-03 1.57511338e+02] [ 6.32748004e-02 9.97996140e-01 -6.47730641e-05 9.00987487e-01] [ 1.15318461e-03 -8.21095865e-06 9.99999335e-01 5.74598896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:0.90, Z:0.06 [[ 9.98059802e-01 -6.22519619e-02 -1.15139751e-03 1.57543007e+02] [ 6.22519287e-02 9.98060466e-01 -6.46987610e-05 9.03800632e-01] [ 1.15319196e-03 -7.10348315e-06 9.99999335e-01 5.74216116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:0.90, Z:0.06 [[ 9.98139348e-01 -6.09632402e-02 -1.15140169e-03 1.57574250e+02] [ 6.09632062e-02 9.98140012e-01 -6.46242878e-05 9.04359671e-01] [ 1.15319980e-03 -5.68909427e-06 9.99999335e-01 5.57242727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:0.90, Z:0.05 [[ 9.98179311e-01 -6.03053663e-02 -1.15140586e-03 1.57605395e+02] [ 6.03053319e-02 9.98179975e-01 -6.45499277e-05 9.03548362e-01] [ 1.15320298e-03 -5.00351025e-06 9.99999335e-01 5.40788229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.64, Y:0.90, Z:0.06 [[ 9.98155034e-01 -6.07058679e-02 -1.15141003e-03 1.57637228e+02] [ 6.07058339e-02 9.98155698e-01 -6.44754402e-05 9.01516689e-01] [ 1.15320052e-03 -5.54082092e-06 9.99999335e-01 5.50088580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.67, Y:0.90, Z:0.05 [[ 9.98173990e-01 -6.03933837e-02 -1.15141425e-03 1.57668541e+02] [ 6.03933495e-02 9.98174654e-01 -6.44000927e-05 9.02341044e-01] [ 1.15320186e-03 -5.25526549e-06 9.99999335e-01 5.45750265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.70, Y:0.90, Z:0.06 [[ 9.98114550e-01 -6.13678983e-02 -1.15141843e-03 1.57699616e+02] [ 6.13678649e-02 9.98115214e-01 -6.43251773e-05 9.02648519e-01] [ 1.15319575e-03 -6.45619527e-06 9.99999335e-01 5.61940073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:0.90, Z:0.06 [[ 9.98110424e-01 -6.14349777e-02 -1.15142260e-03 1.57730375e+02] [ 6.14349444e-02 9.98111088e-01 -6.42504612e-05 9.01514617e-01] [ 1.15319489e-03 -6.60852836e-06 9.99999335e-01 5.50798389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.76, Y:0.90, Z:0.06 [[ 9.98063428e-01 -6.21937862e-02 -1.15142260e-03 1.57761297e+02] [ 6.21937535e-02 9.98064093e-01 -6.42504612e-05 8.98045332e-01] [ 1.15318953e-03 -7.48525775e-06 9.99999335e-01 6.19754070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.79, Y:0.89, Z:0.05 [[ 9.98080888e-01 -6.19129651e-02 -1.15142680e-03 1.57791510e+02] [ 6.19129322e-02 9.98081552e-01 -6.41751938e-05 8.91975513e-01] [ 1.15319112e-03 -7.23617489e-06 9.99999335e-01 5.35257773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:0.89, Z:0.05 [[ 9.98170437e-01 -6.04520762e-02 -1.15142252e-03 1.57821715e+02] [ 6.04520423e-02 9.98171101e-01 -6.42519154e-05 8.93359495e-01] [ 1.15320084e-03 -5.47148027e-06 9.99999335e-01 5.31873623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:0.90, Z:0.05 [[ 9.98400129e-01 -5.65319031e-02 -1.15142252e-03 1.57852593e+02] [ 5.65318666e-02 9.98400793e-01 -6.42519154e-05 8.95978864e-01] [ 1.15321344e-03 -9.42943485e-07 9.99999335e-01 5.48185132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:0.90, Z:0.05 [[ 9.98625682e-01 -5.23967680e-02 -1.15142252e-03 1.57883202e+02] [ 5.23967288e-02 9.98626346e-01 -6.42519154e-05 8.98064668e-01] [ 1.15320745e-03 3.83283956e-06 9.99999335e-01 5.44231984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.91, Y:0.90, Z:0.06 [[ 9.98939490e-01 -4.60279117e-02 -1.15142252e-03 1.57913301e+02] [ 4.60278682e-02 9.98940154e-01 -6.42519154e-05 8.97692408e-01] [ 1.15315957e-03 1.11862518e-05 9.99999335e-01 6.37739957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.94, Y:0.90, Z:0.05 [[ 9.99065777e-01 -4.32000865e-02 -1.15142470e-03 1.57942646e+02] [ 4.32000411e-02 9.99066440e-01 -6.42127699e-05 8.98684613e-01] [ 1.15312378e-03 1.44111863e-05 9.99999335e-01 5.48157018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.97, Y:0.90, Z:0.05 [[ 9.99128327e-01 -4.17284075e-02 -1.15141605e-03 1.57972128e+02] [ 4.17283610e-02 9.99128991e-01 -6.43676433e-05 8.99869387e-01] [ 1.15309911e-03 1.62648314e-05 9.99999335e-01 5.49159978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:0.90, Z:0.06 [[ 9.99157661e-01 -4.10200337e-02 -1.15141178e-03 1.58002164e+02] [ 4.10199867e-02 9.99158324e-01 -6.44438018e-05 9.00132208e-01] [ 1.15308615e-03 1.71586223e-05 9.99999335e-01 5.50210899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.03, Y:0.90, Z:0.06 [[ 9.99242759e-01 -3.88919340e-02 -1.15141368e-03 1.58032339e+02] [ 3.88918856e-02 9.99243422e-01 -6.44099730e-05 8.99634322e-01] [ 1.15304757e-03 1.95805502e-05 9.99999335e-01 5.71561276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.06, Y:0.90, Z:0.06 [[ 9.99257266e-01 -3.85174097e-02 -1.15140942e-03 1.58061453e+02] [ 3.85173610e-02 9.99257929e-01 -6.44858661e-05 9.04477713e-01] [ 1.15303883e-03 2.00887178e-05 9.99999335e-01 5.68444851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:0.91, Z:0.06 [[ 9.99343877e-01 -3.62006742e-02 -1.15140520e-03 1.58090596e+02] [ 3.62006238e-02 9.99344541e-01 -6.45611899e-05 9.11395738e-01] [ 1.15298766e-03 2.28372433e-05 9.99999335e-01 5.70193011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.12, Y:0.92, Z:0.06 [[ 9.99376996e-01 -3.52745433e-02 -1.15140094e-03 1.58119618e+02] [ 3.52744922e-02 9.99377659e-01 -6.46370236e-05 9.16848218e-01] [ 1.15296442e-03 2.39816709e-05 9.99999335e-01 5.52068019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:0.92, Z:0.05 [[ 9.99408207e-01 -3.43789180e-02 -1.15139669e-03 1.58149107e+02] [ 3.43788663e-02 9.99408870e-01 -6.47127982e-05 9.15966930e-01] [ 1.15294082e-03 2.50907890e-05 9.99999335e-01 5.44158565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:0.91, Z:0.05 [[ 9.99375224e-01 -3.53247240e-02 -1.15139244e-03 1.58178857e+02] [ 3.53246728e-02 9.99375887e-01 -6.47882657e-05 9.14971613e-01] [ 1.15296247e-03 2.40752264e-05 9.99999335e-01 5.46969957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:0.92, Z:0.06 [[ 9.99294399e-01 -3.75416806e-02 -1.15138823e-03 1.58208209e+02] [ 3.75416308e-02 9.99295062e-01 -6.48629847e-05 9.16907391e-01] [ 1.15301164e-03 2.15922255e-05 9.99999335e-01 5.55193000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:0.92, Z:0.05 [[ 9.99109267e-01 -4.21823132e-02 -1.15138400e-03 1.58237713e+02] [ 4.21822664e-02 9.99109930e-01 -6.49380040e-05 9.22965637e-01] [ 1.15309842e-03 1.63121751e-05 9.99999335e-01 5.41333938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:0.93, Z:0.05 [[ 9.99011904e-01 -4.44284813e-02 -1.15137973e-03 1.58268420e+02] [ 4.44284359e-02 9.99012567e-01 -6.50136460e-05 9.25133763e-01] [ 1.15313127e-03 1.37954059e-05 9.99999335e-01 5.34538027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.30, Y:0.93, Z:0.05 [[ 9.98945629e-01 -4.58944888e-02 -1.15137973e-03 1.58298598e+02] [ 4.58944444e-02 9.98946293e-01 -6.50136460e-05 9.26843509e-01] [ 1.15315028e-03 1.21031647e-05 9.99999335e-01 5.41168921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:0.93, Z:0.05 [[ 9.98859394e-01 -4.77345369e-02 -1.15137973e-03 1.58328849e+02] [ 4.77344937e-02 9.98860057e-01 -6.50136460e-05 9.28447904e-01] [ 1.15317062e-03 9.97896274e-06 9.99999335e-01 5.47231940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:158.36, Y:0.93, Z:0.07 [[ 9.98695815e-01 -5.10425666e-02 -1.15137973e-03 1.58359237e+02] [ 5.10425255e-02 9.98696479e-01 -6.50136460e-05 9.29915767e-01] [ 1.15319734e-03 6.15952708e-06 9.99999335e-01 6.70320733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.39, Y:0.93, Z:0.06 [[ 9.98698877e-01 -5.09826297e-02 -1.15113691e-03 1.58389766e+02] [ 5.09825836e-02 9.98699540e-01 -6.93234647e-05 9.30135018e-01] [ 1.15317420e-03 1.05453323e-05 9.99999335e-01 5.52951984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:0.93, Z:0.06 [[ 9.98698877e-01 -5.09826241e-02 -1.15140775e-03 1.58420710e+02] [ 5.09825836e-02 9.98699540e-01 -6.44877553e-05 9.31863744e-01] [ 1.15319815e-03 5.70210677e-06 9.99999335e-01 5.53309262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:158.45, Y:0.93, Z:0.07 [[ 9.98489539e-01 -5.49300846e-02 -1.15140775e-03 1.58450592e+02] [ 5.49300468e-02 9.98490203e-01 -6.44877553e-05 9.31022046e-01] [ 1.15321168e-03 1.14346743e-06 9.99999335e-01 6.63915934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:0.93, Z:0.05 [[ 9.98393715e-01 -5.66450783e-02 -1.15119250e-03 1.58481404e+02] [ 5.66450371e-02 9.98394379e-01 -6.83319999e-05 9.30728139e-01] [ 1.15321479e-03 3.01289754e-06 9.99999335e-01 5.46235469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:0.93, Z:0.05 [[ 9.97913059e-01 -6.45616043e-02 -1.15141112e-03 1.58512358e+02] [ 6.45615729e-02 9.97913723e-01 -6.44246750e-05 9.30278040e-01] [ 1.15316832e-03 -1.00466886e-05 9.99999335e-01 5.45761663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.54, Y:0.93, Z:0.05 [[ 9.97708142e-01 -6.76545409e-02 -1.15141112e-03 1.58541731e+02] [ 6.76545116e-02 9.97708807e-01 -6.44246750e-05 9.28877772e-01] [ 1.15313164e-03 -1.36211343e-05 9.99999335e-01 5.42820956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:158.57, Y:0.93, Z:0.05 [[ 9.97520439e-01 -7.03679462e-02 -1.15140695e-03 1.58572493e+02] [ 7.03679186e-02 9.97521103e-01 -6.44991399e-05 9.26402542e-01] [ 1.15309140e-03 -1.66829003e-05 9.99999335e-01 5.42488596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:0.92, Z:0.05 [[ 9.97274539e-01 -7.37710588e-02 -1.15140695e-03 1.58603220e+02] [ 7.37710335e-02 9.97275203e-01 -6.44991399e-05 9.21703559e-01] [ 1.15302777e-03 -2.06171308e-05 9.99999335e-01 5.47562128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:0.92, Z:0.06 [[ 9.97143428e-01 -7.55225650e-02 -1.15140695e-03 1.58633616e+02] [ 7.55225408e-02 9.97144093e-01 -6.44991399e-05 9.22085944e-01] [ 1.15298978e-03 -2.26422850e-05 9.99999335e-01 5.54239498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:0.92, Z:0.05 [[ 9.97085506e-01 -7.62834695e-02 -1.15140695e-03 1.58664259e+02] [ 7.62834458e-02 9.97086171e-01 -6.44991399e-05 9.21507645e-01] [ 1.15297217e-03 -2.35221323e-05 9.99999335e-01 5.47229601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:158.69, Y:0.92, Z:0.06 [[ 9.97048064e-01 -7.67713029e-02 -1.15140695e-03 1.58693928e+02] [ 7.67712796e-02 9.97048728e-01 -6.44991399e-05 9.19111873e-01] [ 1.15296052e-03 -2.40862424e-05 9.99999335e-01 6.11774832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.73, Y:0.91, Z:0.05 [[ 9.97071496e-01 -7.64663794e-02 -1.15115580e-03 1.58725226e+02] [ 7.64663507e-02 9.97072160e-01 -6.89926824e-05 9.11651066e-01] [ 1.15306103e-03 -1.92340464e-05 9.99999335e-01 5.42775207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.75, Y:0.91, Z:0.05 [[ 9.97079595e-01 -7.63606991e-02 -1.15143244e-03 1.58753751e+02] [ 7.63606761e-02 9.97080259e-01 -6.40169806e-05 9.09949406e-01] [ 1.15295894e-03 -2.40941347e-05 9.99999335e-01 5.41524690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:0.91, Z:0.05 [[ 9.97095326e-01 -7.61550098e-02 -1.15142435e-03 1.58782958e+02] [ 7.61549865e-02 9.97095990e-01 -6.41621169e-05 9.08543675e-01] [ 1.15296687e-03 -2.37109593e-05 9.99999335e-01 5.46001418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:0.90, Z:0.05 [[ 9.97160889e-01 -7.52916751e-02 -1.15141614e-03 1.58812439e+02] [ 7.52916511e-02 9.97161553e-01 -6.43092418e-05 8.99964675e-01] [ 1.15298985e-03 -2.25653613e-05 9.99999335e-01 5.24215220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.84, Y:0.90, Z:0.05 [[ 9.97225491e-01 -7.44311320e-02 -1.15140794e-03 1.58841368e+02] [ 7.44311071e-02 9.97226156e-01 -6.44556511e-05 8.96893950e-01] [ 1.15301162e-03 -2.14237495e-05 9.99999335e-01 5.25747107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.87, Y:0.90, Z:0.05 [[ 9.97300181e-01 -7.34235814e-02 -1.15139963e-03 1.58869914e+02] [ 7.34235557e-02 9.97300846e-01 -6.46037196e-05 8.95900486e-01] [ 1.15303526e-03 -2.01105538e-05 9.99999335e-01 5.29471432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.90, Y:0.90, Z:0.05 [[ 9.97402074e-01 -7.20262214e-02 -1.15139135e-03 1.58898625e+02] [ 7.20261946e-02 9.97402739e-01 -6.47509522e-05 8.96056974e-01] [ 1.15306466e-03 -1.83476036e-05 9.99999335e-01 5.39175851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.93, Y:0.90, Z:0.05 [[ 9.97720530e-01 -6.74716044e-02 -1.15138302e-03 1.58927221e+02] [ 6.74715745e-02 9.97721195e-01 -6.48987946e-05 8.95441993e-01] [ 1.15313807e-03 -1.29347654e-05 9.99999335e-01 5.45693315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.96, Y:0.89, Z:0.06 [[ 9.97901051e-01 -6.47469366e-02 -1.15137452e-03 1.58956440e+02] [ 6.47469047e-02 9.97901716e-01 -6.50492183e-05 8.94334716e-01] [ 1.15317035e-03 -9.63525308e-06 9.99999335e-01 5.51982453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.99, Y:0.89, Z:0.06 [[ 9.98055609e-01 -6.23191484e-02 -1.15136813e-03 1.58985085e+02] [ 6.23191147e-02 9.98056273e-01 -6.51620952e-05 8.92686708e-01] [ 1.15319103e-03 -6.71684818e-06 9.99999335e-01 5.62430600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.01, Y:0.89, Z:0.06 [[ 9.98238302e-01 -5.93208864e-02 -1.15135944e-03 1.59013967e+02] [ 5.93208505e-02 9.98238966e-01 -6.53153401e-05 8.91788080e-01] [ 1.15320642e-03 -3.09934701e-06 9.99999335e-01 5.58151093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.04, Y:0.89, Z:0.06 [[ 9.98579395e-01 -5.32716245e-02 -1.15135067e-03 1.59043073e+02] [ 5.32715844e-02 9.98580059e-01 -6.54694885e-05 8.92641222e-01] [ 1.15320349e-03 4.04220763e-06 9.99999335e-01 5.57823924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.07, Y:0.90, Z:0.06 [[ 9.98749270e-01 -4.99856956e-02 -1.15134187e-03 1.59072310e+02] [ 4.99856532e-02 9.98749934e-01 -6.56239088e-05 8.95216373e-01] [ 1.15318288e-03 7.99125549e-06 9.99999335e-01 5.52280854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.10, Y:0.90, Z:0.06 [[ 9.98876813e-01 -4.73686175e-02 -1.15133534e-03 1.59100865e+02] [ 4.73685731e-02 9.98877477e-01 -6.57384095e-05 8.98679773e-01] [ 1.15315687e-03 1.11274610e-05 9.99999335e-01 5.55762363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.13, Y:0.91, Z:0.06 [[ 9.99098293e-01 -4.24414345e-02 -1.15132666e-03 1.59128956e+02] [ 4.24413867e-02 9.99098956e-01 -6.58899615e-05 9.06063866e-01] [ 1.15308573e-03 1.69666479e-05 9.99999335e-01 5.77093278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:0.91, Z:0.06 [[ 9.99220980e-01 -3.94475328e-02 -1.15131806e-03 1.59158026e+02] [ 3.94474829e-02 9.99221643e-01 -6.60398883e-05 9.10357126e-01] [ 1.15302704e-03 2.05718423e-05 9.99999335e-01 5.81864624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:0.91, Z:0.07 [[ 9.99271138e-01 -3.81558391e-02 -1.15130942e-03 1.59187636e+02] [ 3.81557882e-02 9.99271801e-01 -6.61901877e-05 9.13984927e-01] [ 1.15299658e-03 2.22128258e-05 9.99999335e-01 6.72334984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.22, Y:0.92, Z:0.06 [[ 9.99335417e-01 -3.64334891e-02 -1.15129629e-03 1.59217474e+02] [ 3.64334368e-02 9.99336080e-01 -6.64183811e-05 9.16076933e-01] [ 1.15295178e-03 2.44285598e-05 9.99999335e-01 5.88562392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.25, Y:0.92, Z:0.06 [[ 9.99244819e-01 -3.88389756e-02 -1.15130639e-03 1.59245859e+02] [ 3.88389250e-02 9.99245482e-01 -6.62428809e-05 9.17353048e-01] [ 1.15301052e-03 2.14773529e-05 9.99999335e-01 5.93734283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.28, Y:0.92, Z:0.06 [[ 9.99134823e-01 -4.15725839e-02 -1.15129785e-03 1.59275047e+02] [ 4.15725350e-02 9.99135486e-01 -6.63909363e-05 9.19268285e-01] [ 1.15306258e-03 1.84711261e-05 9.99999335e-01 5.92091404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:0.92, Z:0.06 [[ 9.99006474e-01 -4.45504197e-02 -1.15128925e-03 1.59304267e+02] [ 4.45503726e-02 9.99007137e-01 -6.65397215e-05 9.21314334e-01] [ 1.15311055e-03 1.51832472e-05 9.99999335e-01 6.10372303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.33, Y:0.92, Z:0.06 [[ 9.98902333e-01 -4.68273883e-02 -1.15128056e-03 1.59332677e+02] [ 4.68273425e-02 9.98902996e-01 -6.66899016e-05 9.23356735e-01] [ 1.15314051e-03 1.27052893e-05 9.99999335e-01 6.07706814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.36, Y:0.93, Z:0.06 [[ 9.98693267e-01 -5.10924027e-02 -1.15127173e-03 1.59360959e+02] [ 5.10923596e-02 9.98693930e-01 -6.68419465e-05 9.25103584e-01] [ 1.15318320e-03 7.93341274e-06 9.99999335e-01 6.06407777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.39, Y:0.93, Z:0.06 [[ 9.98614678e-01 -5.26060753e-02 -1.15126067e-03 1.59389486e+02] [ 5.26060329e-02 9.98615342e-01 -6.70318800e-05 9.26934418e-01] [ 1.15319285e-03 6.37576257e-06 9.99999335e-01 5.95112049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.42, Y:0.93, Z:0.06 [[ 9.98516572e-01 -5.44364832e-02 -1.15125170e-03 1.59418509e+02] [ 5.44364419e-02 9.98517235e-01 -6.71855927e-05 9.28125330e-01] [ 1.15320201e-03 4.41588148e-06 9.99999335e-01 6.09496158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:0.93, Z:0.06 [[ 9.98487018e-01 -5.49759031e-02 -1.15124499e-03 1.59447139e+02] [ 5.49758620e-02 9.98487681e-01 -6.73002853e-05 9.27218685e-01] [ 1.15320384e-03 3.90777525e-06 9.99999335e-01 6.25153451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:0.92, Z:0.06 [[ 9.98315741e-01 -5.80030649e-02 -1.15123587e-03 1.59476207e+02] [ 5.80030257e-02 9.98316405e-01 -6.74559812e-05 9.22317831e-01] [ 1.15321031e-03 5.67204117e-07 9.99999335e-01 6.41120761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:0.92, Z:0.06 [[ 9.98230151e-01 -5.94578938e-02 -1.15122677e-03 1.59505270e+02] [ 5.94578553e-02 9.98230814e-01 -6.76108757e-05 9.22598790e-01] [ 1.15321004e-03 -9.58260363e-07 9.99999335e-01 6.40186836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:0.92, Z:0.06 [[ 9.98098301e-01 -6.16316218e-02 -1.15121997e-03 1.59534596e+02] [ 6.16315847e-02 9.98098965e-01 -6.77265367e-05 9.23432724e-01] [ 1.15320556e-03 -3.35376989e-06 9.99999335e-01 6.29365962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:0.92, Z:0.06 [[ 9.97929405e-01 -6.43084576e-02 -1.15121074e-03 1.59563976e+02] [ 6.43084221e-02 9.97930069e-01 -6.78830377e-05 9.22058526e-01] [ 1.15319327e-03 -6.29006689e-06 9.99999335e-01 5.93665843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:0.92, Z:0.06 [[ 9.97918759e-01 -6.44734431e-02 -1.15120157e-03 1.59592821e+02] [ 6.44734075e-02 9.97919423e-01 -6.80382046e-05 9.19833534e-01] [ 1.15319306e-03 -6.32528729e-06 9.99999335e-01 6.00850325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.62, Y:0.92, Z:0.06 [[ 9.97943034e-01 -6.40966084e-02 -1.15119249e-03 1.59622070e+02] [ 6.40965723e-02 9.97943698e-01 -6.81915476e-05 9.17461741e-01] [ 1.15319613e-03 -5.73621264e-06 9.99999335e-01 6.25741241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:0.91, Z:0.07 [[ 9.97949474e-01 -6.39962613e-02 -1.15118336e-03 1.59650959e+02] [ 6.39962251e-02 9.97950138e-01 -6.83452512e-05 9.14990434e-01] [ 1.15319744e-03 -5.46628201e-06 9.99999335e-01 6.51730398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:0.91, Z:0.07 [[ 9.98134111e-01 -6.10489210e-02 -1.15117417e-03 1.59679694e+02] [ 6.10488826e-02 9.98134775e-01 -6.84997712e-05 9.12514410e-01] [ 1.15320881e-03 -1.90593840e-06 9.99999335e-01 6.53948173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:0.91, Z:0.06 [[ 9.98247039e-01 -5.91736750e-02 -1.15116487e-03 1.59708282e+02] [ 5.91736352e-02 9.98247703e-01 -6.86556117e-05 9.13218724e-01] [ 1.15321029e-03 4.16650926e-07 9.99999335e-01 6.39344594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:0.91, Z:0.06 [[ 9.98374517e-01 -5.69824502e-02 -1.15115561e-03 1.59736699e+02] [ 5.69824088e-02 9.98375180e-01 -6.88104966e-05 9.14862285e-01] [ 1.15320618e-03 3.10302648e-06 9.99999335e-01 6.16333070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.76, Y:0.92, Z:0.06 [[ 9.98477289e-01 -5.51523095e-02 -1.15114638e-03 1.59764974e+02] [ 5.51522666e-02 9.98477953e-01 -6.89646177e-05 9.17025166e-01] [ 1.15319784e-03 5.37127240e-06 9.99999335e-01 6.12697845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:0.92, Z:0.06 [[ 9.98658160e-01 -5.17740711e-02 -1.15113721e-03 1.59793399e+02] [ 5.17740258e-02 9.98658823e-01 -6.91174445e-05 9.19075714e-01] [ 1.15317182e-03 9.42569260e-06 9.99999335e-01 6.03480340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:0.92, Z:0.06 [[ 9.98762988e-01 -4.97108594e-02 -1.15112802e-03 1.59822536e+02] [ 4.97108126e-02 9.98763651e-01 -6.92701219e-05 9.18594988e-01] [ 1.15314830e-03 1.19609247e-05 9.99999335e-01 6.03726013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:0.92, Z:0.06 [[ 9.98838028e-01 -4.81795380e-02 -1.15111884e-03 1.59851036e+02] [ 4.81794900e-02 9.98838692e-01 -6.94222936e-05 9.17633506e-01] [ 1.15312677e-03 1.38813083e-05 9.99999335e-01 6.11925278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.88, Y:0.92, Z:0.06 [[ 9.98978373e-01 -4.51761501e-02 -1.15110980e-03 1.59880014e+02] [ 4.51760999e-02 9.98979036e-01 -6.95719359e-05 9.20950171e-01] [ 1.15307755e-03 1.74982083e-05 9.99999335e-01 6.18200961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.91, Y:0.93, Z:0.06 [[ 9.99013546e-01 -4.43915534e-02 -1.15110077e-03 1.59908243e+02] [ 4.43915026e-02 9.99014209e-01 -6.97209512e-05 9.25882248e-01] [ 1.15306105e-03 1.85530818e-05 9.99999335e-01 6.09891949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:0.93, Z:0.06 [[ 9.99038240e-01 -4.38322981e-02 -1.15109171e-03 1.59936824e+02] [ 4.38322467e-02 9.99038903e-01 -6.98702205e-05 9.30135360e-01] [ 1.15304797e-03 1.93480863e-05 9.99999335e-01 6.15041795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.97, Y:0.93, Z:0.06 [[ 9.99072700e-01 -4.30397031e-02 -1.15108264e-03 1.59965921e+02] [ 4.30396509e-02 9.99073362e-01 -7.00193746e-05 9.33394291e-01] [ 1.15302961e-03 2.04122507e-05 9.99999335e-01 6.14372545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.99, Y:0.94, Z:0.06 [[ 9.99149068e-01 -4.12288234e-02 -1.15107364e-03 1.59994826e+02] [ 4.12287699e-02 9.99149730e-01 -7.01670384e-05 9.39920805e-01] [ 1.15298782e-03 2.26499810e-05 9.99999335e-01 6.00787795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.02, Y:0.95, Z:0.06 [[ 9.99216521e-01 -3.95603231e-02 -1.15106461e-03 1.60022931e+02] [ 3.95602683e-02 9.99217184e-01 -7.03147282e-05 9.45097927e-01] [ 1.15294522e-03 2.47232131e-05 9.99999335e-01 5.78977908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.05, Y:0.95, Z:0.06 [[ 9.99259501e-01 -3.84593883e-02 -1.15105564e-03 1.60051601e+02] [ 3.84593326e-02 9.99260164e-01 -7.04613122e-05 9.49487047e-01] [ 1.15291395e-03 2.61403040e-05 9.99999335e-01 5.63732325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:0.96, Z:0.06 [[ 9.99281535e-01 -3.78825779e-02 -1.15104665e-03 1.60080290e+02] [ 3.78825217e-02 9.99282197e-01 -7.06078118e-05 9.57014690e-01] [ 1.15289524e-03 2.69525327e-05 9.99999335e-01 5.79476671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:0.96, Z:0.06 [[ 9.99270023e-01 -3.81850180e-02 -1.15103772e-03 1.60108307e+02] [ 3.81849618e-02 9.99270686e-01 -7.07531153e-05 9.63585281e-01] [ 1.15289996e-03 2.67491357e-05 9.99999335e-01 5.92857810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.14, Y:0.97, Z:0.06 [[ 9.99183951e-01 -4.03745778e-02 -1.15102872e-03 1.60136470e+02] [ 4.03745229e-02 9.99184614e-01 -7.08993402e-05 9.71742703e-01] [ 1.15295271e-03 2.43692477e-05 9.99999335e-01 6.15178897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:0.97, Z:0.06 [[ 9.99088349e-01 -4.26748833e-02 -1.15101965e-03 1.60164784e+02] [ 4.26748297e-02 9.99089012e-01 -7.10462771e-05 9.74432984e-01] [ 1.15300297e-03 2.18619403e-05 9.99999335e-01 6.15151360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.19, Y:0.98, Z:0.06 [[ 9.98970044e-01 -4.53599644e-02 -1.15101053e-03 1.60193179e+02] [ 4.53599125e-02 9.98970707e-01 -7.11935989e-05 9.77084485e-01] [ 1.15305515e-03 1.89105355e-05 9.99999335e-01 6.01263897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.22, Y:0.98, Z:0.05 [[ 9.98810412e-01 -4.87487066e-02 -1.15100133e-03 1.60221501e+02] [ 4.87486568e-02 9.98811075e-01 -7.13421207e-05 9.84112771e-01] [ 1.15311071e-03 1.51474843e-05 9.99999335e-01 5.46959633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.25, Y:0.99, Z:0.05 [[ 9.98804018e-01 -4.88795243e-02 -1.15099201e-03 1.60250781e+02] [ 4.88794744e-02 9.98804682e-01 -7.14921201e-05 9.85899742e-01] [ 1.15311071e-03 1.51467323e-05 9.99999335e-01 5.47297845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:1.01, Z:0.04 [[ 9.97845985e-01 -6.55901337e-02 -1.15098263e-03 1.60278814e+02] [ 6.55900947e-02 9.97846649e-01 -7.16428688e-05 1.00890862e+00] [ 1.15320322e-03 -4.00451052e-06 9.99999335e-01 4.21494812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:1.01, Z:0.04 [[ 9.98048407e-01 -6.24343841e-02 -1.15097787e-03 1.60308000e+02] [ 6.24343429e-02 9.98049071e-01 -7.17192656e-05 1.01183709e+00] [ 1.15321014e-03 -2.81248093e-07 9.99999335e-01 4.14354509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:1.01, Z:0.04 [[ 9.98044190e-01 -6.25017604e-02 -1.15097307e-03 1.60338109e+02] [ 6.25017192e-02 9.98044854e-01 -7.17960972e-05 1.01369872e+00] [ 1.15321014e-03 -2.82118258e-07 9.99999335e-01 4.14702369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:1.02, Z:0.04 [[ 9.98039968e-01 -6.25691365e-02 -1.15096822e-03 1.60368218e+02] [ 6.25690952e-02 9.98040632e-01 -7.18737969e-05 1.01556239e+00] [ 1.15321013e-03 -2.82118260e-07 9.99999335e-01 4.15050229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:1.02, Z:0.04 [[ 9.98035742e-01 -6.26365122e-02 -1.15096337e-03 1.60398326e+02] [ 6.26364709e-02 9.98036406e-01 -7.19514964e-05 1.01742808e+00] [ 1.15321013e-03 -2.82118257e-07 9.99999335e-01 4.15398089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:1.02, Z:0.04 [[ 9.98161487e-01 -6.05996876e-02 -1.15095850e-03 1.60427661e+02] [ 6.05996448e-02 9.98162150e-01 -7.20291955e-05 1.01878321e+00] [ 1.15320816e-03 2.14909240e-06 9.99999335e-01 3.90763442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:1.02, Z:0.04 [[ 9.98157375e-01 -6.06673667e-02 -1.15095365e-03 1.60457769e+02] [ 6.06673239e-02 9.98158039e-01 -7.21066181e-05 1.02065360e+00] [ 1.15320816e-03 2.14847459e-06 9.99999335e-01 3.91111296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:1.02, Z:0.04 [[ 9.98153260e-01 -6.07350456e-02 -1.15094876e-03 1.60487877e+02] [ 6.07350028e-02 9.98153923e-01 -7.21846569e-05 1.02252603e+00] [ 1.15320816e-03 2.14847459e-06 9.99999335e-01 3.91459150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:160.52, Y:1.02, Z:0.05 [[ 9.98220480e-01 -5.96200425e-02 -1.15094386e-03 1.60517887e+02] [ 5.96199988e-02 9.98221143e-01 -7.22626954e-05 1.02200401e+00] [ 1.15320480e-03 3.51483110e-06 9.99999335e-01 4.69042441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.212320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:160.55, Y:1.02, Z:0.05 [[ 9.98216702e-01 -5.96832587e-02 -1.15086385e-03 1.60546979e+02] [ 5.96832136e-02 9.98217365e-01 -7.35392526e-05 1.02380326e+00] [ 1.15320134e-03 4.72085746e-06 9.99999335e-01 4.69378195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24232058799998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:160.58, Y:1.03, Z:0.05 [[ 9.98212920e-01 -5.97464734e-02 -1.15085917e-03 1.60576070e+02] [ 5.97464282e-02 9.98213584e-01 -7.36137338e-05 1.02560324e+00] [ 1.15320142e-03 4.72245521e-06 9.99999335e-01 4.69714301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.61, Y:1.02, Z:0.04 [[ 9.98238658e-01 -5.93149020e-02 -1.15085355e-03 1.60606884e+02] [ 5.93148564e-02 9.98239321e-01 -7.37032933e-05 1.02380501e+00] [ 1.15319897e-03 5.31076369e-06 9.99999335e-01 3.70633545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.64, Y:1.03, Z:0.04 [[ 9.98234658e-01 -5.93821695e-02 -1.15094173e-03 1.60636991e+02] [ 5.93821256e-02 9.98235322e-01 -7.22995860e-05 1.02567918e+00] [ 1.15320399e-03 3.82658651e-06 9.99999335e-01 3.70981884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.67, Y:1.03, Z:0.04 [[ 9.98230655e-01 -5.94494384e-02 -1.15093685e-03 1.60667099e+02] [ 5.94493945e-02 9.98231318e-01 -7.23771453e-05 1.02755675e+00] [ 1.15320399e-03 3.82658650e-06 9.99999335e-01 3.71329734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.70, Y:1.03, Z:0.04 [[ 9.98226646e-01 -5.95167071e-02 -1.15093197e-03 1.60697206e+02] [ 5.95166631e-02 9.98227310e-01 -7.24547043e-05 1.02943635e+00] [ 1.15320398e-03 3.82658649e-06 9.99999335e-01 3.71677585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:1.03, Z:0.04 [[ 9.98121481e-01 -6.12550841e-02 -1.15092708e-03 1.60726377e+02] [ 6.12550412e-02 9.98122144e-01 -7.25322630e-05 1.02822206e+00] [ 1.15320877e-03 1.89592416e-06 9.99999335e-01 3.87569397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:1.03, Z:0.04 [[ 9.98122516e-01 -6.12382189e-02 -1.15069676e-03 1.60755474e+02] [ 6.12381718e-02 9.98123179e-01 -7.61885143e-05 1.03007119e+00] [ 1.15320276e-03 5.57890558e-06 9.99999335e-01 3.87904312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.79, Y:1.03, Z:0.04 [[ 9.98017613e-01 -6.29247134e-02 -1.15069448e-03 1.60786236e+02] [ 6.29246673e-02 9.98018277e-01 -7.62247352e-05 1.03173888e+00] [ 1.15321054e-03 3.66656110e-06 9.99999335e-01 3.87999799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.82, Y:1.03, Z:0.04 [[ 9.98009012e-01 -6.30609821e-02 -1.15093291e-03 1.60815515e+02] [ 6.30609405e-02 9.98009676e-01 -7.24363603e-05 1.03354644e+00] [ 1.15321008e-03 -2.86771172e-07 9.99999335e-01 3.88339464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.84, Y:1.04, Z:0.04 [[ 9.98000392e-01 -6.31972543e-02 -1.15092299e-03 1.60844793e+02] [ 6.31972126e-02 9.98001056e-01 -7.25935126e-05 1.03536166e+00] [ 1.15321007e-03 -2.86771168e-07 9.99999335e-01 3.88677695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.87, Y:1.04, Z:0.04 [[ 9.97991753e-01 -6.33335252e-02 -1.15091306e-03 1.60874071e+02] [ 6.33334835e-02 9.97992417e-01 -7.27506634e-05 1.03718087e+00] [ 1.15321006e-03 -2.86771167e-07 9.99999335e-01 3.89015926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.572320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:160.90, Y:1.04, Z:0.04 [[ 9.97844039e-01 -6.56197258e-02 -1.15090311e-03 1.60903472e+02] [ 6.56196853e-02 9.97844703e-01 -7.29078129e-05 1.04057190e+00] [ 1.15320676e-03 -2.77127312e-06 9.99999335e-01 4.08526272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:160.93, Y:1.04, Z:0.04 [[ 9.97839641e-01 -6.56865712e-02 -1.15089813e-03 1.60933579e+02] [ 6.56865307e-02 9.97840305e-01 -7.29863177e-05 1.04246477e+00] [ 1.15320676e-03 -2.76986403e-06 9.99999335e-01 4.08874129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:1.05, Z:0.04 [[ 9.97745363e-01 -6.71033949e-02 -1.15089323e-03 1.60962917e+02] [ 6.71033553e-02 9.97746027e-01 -7.30634160e-05 1.04616212e+00] [ 1.15320195e-03 -4.33011299e-06 9.99999335e-01 4.21662649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.99, Y:1.05, Z:0.05 [[ 9.97961948e-01 -6.38014531e-02 -1.15088834e-03 1.60992584e+02] [ 6.38014111e-02 9.97962612e-01 -7.31404383e-05 1.05100306e+00] [ 1.15321000e-03 -4.36925713e-07 9.99999335e-01 4.53821817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.02, Y:1.05, Z:0.05 [[ 9.97957646e-01 -6.38687165e-02 -1.15088345e-03 1.61022690e+02] [ 6.38686745e-02 9.97958309e-01 -7.32172639e-05 1.05290200e+00] [ 1.15320999e-03 -4.37672176e-07 9.99999335e-01 4.54169673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.05, Y:1.05, Z:0.05 [[ 9.97953339e-01 -6.39359797e-02 -1.15087851e-03 1.61052796e+02] [ 6.39359377e-02 9.97954002e-01 -7.32948342e-05 1.05480297e+00] [ 1.15320999e-03 -4.37672175e-07 9.99999335e-01 4.54517529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.08, Y:1.06, Z:0.05 [[ 9.97949027e-01 -6.40032425e-02 -1.15087356e-03 1.61082902e+02] [ 6.40032005e-02 9.97949691e-01 -7.33724041e-05 1.05670597e+00] [ 1.15320999e-03 -4.37672176e-07 9.99999335e-01 4.54865385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.11, Y:1.06, Z:0.05 [[ 9.97950443e-01 -6.39811625e-02 -1.15086861e-03 1.61112597e+02] [ 6.39811204e-02 9.97951106e-01 -7.34499737e-05 1.05746543e+00] [ 1.15321002e-03 -3.34429534e-07 9.99999335e-01 4.58879609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.14, Y:1.06, Z:0.05 [[ 9.97946136e-01 -6.40483057e-02 -1.15086364e-03 1.61142703e+02] [ 6.40482635e-02 9.97946799e-01 -7.35278673e-05 1.05937195e+00] [ 1.15321002e-03 -3.33966433e-07 9.99999335e-01 4.59227471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.17, Y:1.06, Z:0.05 [[ 9.97941824e-01 -6.41154485e-02 -1.15085869e-03 1.61172810e+02] [ 6.41154063e-02 9.97942488e-01 -7.36052984e-05 1.06128049e+00] [ 1.15321002e-03 -3.33966433e-07 9.99999335e-01 4.59575332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.872320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:161.20, Y:1.06, Z:0.06 [[ 9.98114664e-01 -6.13660533e-02 -1.15085373e-03 1.61203403e+02] [ 6.13660091e-02 9.98115328e-01 -7.36827291e-05 1.06302737e+00] [ 1.15320636e-03 2.92051205e-06 9.99999335e-01 5.73095283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:161.23, Y:1.06, Z:0.06 [[ 9.98100098e-01 -6.16025022e-02 -1.15118138e-03 1.61232508e+02] [ 6.16024641e-02 9.98100762e-01 -6.85481465e-05 1.06478758e+00] [ 1.15321775e-03 -2.49769773e-06 9.99999335e-01 5.73433158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.932320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:161.26, Y:1.07, Z:0.06 [[ 9.98085477e-01 -6.18389539e-02 -1.15116234e-03 1.61261612e+02] [ 6.18389156e-02 9.98086140e-01 -6.88453366e-05 1.06655963e+00] [ 1.15321650e-03 -2.47310040e-06 9.99999335e-01 5.73769321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:161.29, Y:1.07, Z:0.06 [[ 9.98070799e-01 -6.20754021e-02 -1.15114482e-03 1.61290716e+02] [ 6.20753637e-02 9.98071463e-01 -6.91178662e-05 1.06833855e+00] [ 1.15321532e-03 -2.47320950e-06 9.99999335e-01 5.74105492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.32, Y:1.07, Z:0.06 [[ 9.98273938e-01 -5.87181355e-02 -1.15112929e-03 1.61321336e+02] [ 5.87180945e-02 9.98274602e-01 -6.93585904e-05 1.07187217e+00] [ 1.15321574e-03 1.64675456e-06 9.99999335e-01 5.85959491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.35, Y:1.07, Z:0.06 [[ 9.98251704e-01 -5.90949199e-02 -1.15146655e-03 1.61350449e+02] [ 5.90948852e-02 9.98252368e-01 -6.41394239e-05 1.07359875e+00] [ 1.15324452e-03 -4.01849433e-06 9.99999335e-01 5.86297396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.38, Y:1.08, Z:0.06 [[ 9.98229328e-01 -5.94717025e-02 -1.15143487e-03 1.61379561e+02] [ 5.94716675e-02 9.98229992e-01 -6.46267928e-05 1.07534149e+00] [ 1.15324029e-03 -3.96539182e-06 9.99999335e-01 5.86633582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.41, Y:1.08, Z:0.06 [[ 9.98206809e-01 -5.98484765e-02 -1.15140651e-03 1.61408672e+02] [ 5.98484413e-02 9.98207473e-01 -6.50606750e-05 1.07709518e+00] [ 1.15323636e-03 -3.96587580e-06 9.99999335e-01 5.86969782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.44, Y:1.08, Z:0.06 [[ 9.98184149e-01 -6.02252420e-02 -1.15137794e-03 1.61437783e+02] [ 6.02252065e-02 9.98184813e-01 -6.54950461e-05 1.07885985e+00] [ 1.15323243e-03 -3.96585762e-06 9.99999335e-01 5.87305981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:1.08, Z:0.05 [[ 9.98254137e-01 -5.90538045e-02 -1.15135503e-03 1.61466243e+02] [ 5.90537679e-02 9.98254801e-01 -6.58415528e-05 1.08339783e+00] [ 1.15323388e-03 -2.26525034e-06 9.99999335e-01 4.77933901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.50, Y:1.09, Z:0.05 [[ 9.98250134e-01 -5.91214480e-02 -1.15065181e-03 1.61496344e+02] [ 5.91213992e-02 9.98250797e-01 -7.64287612e-05 1.08539105e+00] [ 1.15315766e-03 8.26687622e-06 9.99999335e-01 4.78278892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.53, Y:1.09, Z:0.05 [[ 9.98246126e-01 -5.91890792e-02 -1.15064662e-03 1.61526445e+02] [ 5.91890303e-02 9.98246790e-01 -7.65067172e-05 1.08737664e+00] [ 1.15315766e-03 8.26687620e-06 9.99999335e-01 4.78626746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.56, Y:1.09, Z:0.05 [[ 9.98242114e-01 -5.92567100e-02 -1.15064144e-03 1.61556545e+02] [ 5.92566611e-02 9.98242777e-01 -7.65846729e-05 1.08936427e+00] [ 1.15315766e-03 8.26687618e-06 9.99999335e-01 4.78974600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:1.09, Z:0.05 [[ 9.98238097e-01 -5.93243406e-02 -1.15063624e-03 1.61586646e+02] [ 5.93242917e-02 9.98238760e-01 -7.66626283e-05 1.09135394e+00] [ 1.15315766e-03 8.26687617e-06 9.99999335e-01 4.79322454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.62, Y:1.10, Z:0.05 [[ 9.98444236e-01 -5.57474912e-02 -1.15063104e-03 1.61615532e+02] [ 5.57474397e-02 9.98444899e-01 -7.67405833e-05 1.09747570e+00] [ 1.15311979e-03 1.24764584e-05 9.99999335e-01 5.05755788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.65, Y:1.10, Z:0.05 [[ 9.98440486e-01 -5.58146143e-02 -1.15062586e-03 1.61645632e+02] [ 5.58145628e-02 9.98441149e-01 -7.68181982e-05 1.09946967e+00] [ 1.15311979e-03 1.24767198e-05 9.99999335e-01 5.06103642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.68, Y:1.10, Z:0.05 [[ 9.98436732e-01 -5.58817372e-02 -1.15062069e-03 1.61675732e+02] [ 5.58816857e-02 9.98437395e-01 -7.68955519e-05 1.10146566e+00] [ 1.15311978e-03 1.24767197e-05 9.99999335e-01 5.06451496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.71, Y:1.10, Z:0.05 [[ 9.98432973e-01 -5.59488598e-02 -1.15061552e-03 1.61705832e+02] [ 5.59488083e-02 9.98433636e-01 -7.69729053e-05 1.10346367e+00] [ 1.15311978e-03 1.24767197e-05 9.99999335e-01 5.06799351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.412320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:161.74, Y:1.11, Z:0.06 [[ 9.98695779e-01 -5.10432932e-02 -1.15061034e-03 1.61737045e+02] [ 5.10432383e-02 9.98696441e-01 -7.70502583e-05 1.11036964e+00] [ 1.15304335e-03 1.82188901e-05 9.99999335e-01 6.30213645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.442320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:161.77, Y:1.11, Z:0.06 [[ 9.98676557e-01 -5.14179774e-02 -1.15129994e-03 1.61766150e+02] [ 5.14179345e-02 9.98677221e-01 -6.67692965e-05 1.11216531e+00] [ 1.15321016e-03 7.48346637e-06 9.99999335e-01 6.30551817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.472320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:161.80, Y:1.11, Z:0.06 [[ 9.98657196e-01 -5.17926667e-02 -1.15126396e-03 1.61795253e+02] [ 5.17926235e-02 9.98657859e-01 -6.73027247e-05 1.11398169e+00] [ 1.15320458e-03 7.58536970e-06 9.99999335e-01 6.30888000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.82, Y:1.12, Z:0.05 [[ 9.98805717e-01 -4.88447962e-02 -1.15124590e-03 1.61824176e+02] [ 4.88447508e-02 9.98806381e-01 -6.75690456e-05 1.12137996e+00] [ 1.15317215e-03 1.12560299e-05 9.99999335e-01 5.24179543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.85, Y:1.12, Z:0.05 [[ 9.98802498e-01 -4.89105919e-02 -1.15051722e-03 1.61854273e+02] [ 4.89105341e-02 9.98803161e-01 -7.82789449e-05 1.12342229e+00] [ 1.15296891e-03 2.19127939e-05 9.99999335e-01 5.24526041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.88, Y:1.13, Z:0.05 [[ 9.99026653e-01 -4.40956127e-02 -1.15051206e-03 1.61883807e+02] [ 4.40955517e-02 9.99027315e-01 -7.83547201e-05 1.13185590e+00] [ 1.15284808e-03 2.75459896e-05 9.99999335e-01 5.13006077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:1.13, Z:0.05 [[ 9.99023785e-01 -4.41605435e-02 -1.15050693e-03 1.61913904e+02] [ 4.41604824e-02 9.99024447e-01 -7.84299992e-05 1.13389267e+00] [ 1.15284806e-03 2.75464936e-05 9.99999335e-01 5.13353930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:1.17, Z:0.07 [[ 9.98783969e-01 -4.92875249e-02 -1.15050183e-03 1.61943034e+02] [ 4.92874672e-02 9.98784631e-01 -7.85047750e-05 1.17205268e+00] [ 1.15297285e-03 2.17039897e-05 9.99999335e-01 6.62605308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.97, Y:1.18, Z:0.07 [[ 9.98466839e-01 -5.53411809e-02 -1.15088501e-03 1.61974255e+02] [ 5.53411337e-02 9.98467503e-01 -7.28787865e-05 1.17820308e+00] [ 1.15315448e-03 9.07577051e-06 9.99999335e-01 6.66951161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.01, Y:1.18, Z:0.07 [[ 9.98481905e-01 -5.50686974e-02 -1.15087770e-03 1.62005855e+02] [ 5.50686498e-02 9.98482568e-01 -7.29859411e-05 1.18055243e+00] [ 1.15315056e-03 9.49786045e-06 9.99999335e-01 6.67316590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.712320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.04, Y:1.18, Z:0.07 [[ 9.98496896e-01 -5.47962092e-02 -1.15089917e-03 1.62037456e+02] [ 5.47961618e-02 9.98497559e-01 -7.26697902e-05 1.18289277e+00] [ 1.15315204e-03 9.49570257e-06 9.99999335e-01 6.67681876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.07, Y:1.19, Z:0.07 [[ 9.98511812e-01 -5.45237169e-02 -1.15092041e-03 1.62069057e+02] [ 5.45236698e-02 9.98512476e-01 -7.23558092e-05 1.18522449e+00] [ 1.15315350e-03 9.49572570e-06 9.99999335e-01 6.68047164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:1.19, Z:0.05 [[ 9.98178538e-01 -6.03181701e-02 -1.15093805e-03 1.62100291e+02] [ 6.03181270e-02 9.98179202e-01 -7.20940916e-05 1.19160575e+00] [ 1.15319101e-03 2.54034738e-06 9.99999335e-01 5.28057473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:1.19, Z:0.05 [[ 9.98206417e-01 -5.98550285e-02 -1.15058471e-03 1.62132895e+02] [ 5.98549791e-02 9.98207080e-01 -7.73499906e-05 1.19408291e+00] [ 1.15315159e-03 8.34303293e-06 9.99999335e-01 5.28436526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:1.20, Z:0.05 [[ 9.98234082e-01 -5.93918674e-02 -1.15062036e-03 1.62165500e+02] [ 5.93918183e-02 9.98234745e-01 -7.68161181e-05 1.19653964e+00] [ 1.15315147e-03 8.34303203e-06 9.99999335e-01 5.28813376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:1.20, Z:0.05 [[ 9.98261531e-01 -5.89286935e-02 -1.15065575e-03 1.62198107e+02] [ 5.89286447e-02 9.98262195e-01 -7.62822293e-05 1.19898125e+00] [ 1.15315135e-03 8.34303113e-06 9.99999335e-01 5.29190226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.23, Y:1.20, Z:0.05 [[ 9.98288766e-01 -5.84655069e-02 -1.15069090e-03 1.62230715e+02] [ 5.84654585e-02 9.98289429e-01 -7.57483241e-05 1.20140772e+00] [ 1.15315122e-03 8.34303023e-06 9.99999335e-01 5.29567075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.26, Y:1.20, Z:0.05 [[ 9.98315786e-01 -5.80023078e-02 -1.15072579e-03 1.62263323e+02] [ 5.80022596e-02 9.98316449e-01 -7.52144028e-05 1.20381907e+00] [ 1.15315110e-03 8.34302934e-06 9.99999335e-01 5.29943925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:1.21, Z:0.05 [[ 9.98055784e-01 -6.23163566e-02 -1.15076045e-03 1.62295092e+02] [ 6.23163119e-02 9.98056447e-01 -7.46804653e-05 1.20999717e+00] [ 1.15317770e-03 2.82412349e-06 9.99999335e-01 5.24024909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:1.21, Z:0.05 [[ 9.98084362e-01 -6.18569475e-02 -1.15079496e-03 1.62327702e+02] [ 6.18569031e-02 9.98085025e-01 -7.41447061e-05 1.21238390e+00] [ 1.15317759e-03 2.81805917e-06 9.99999335e-01 5.24401739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.36, Y:1.21, Z:0.05 [[ 9.98112729e-01 -6.13975252e-02 -1.15082885e-03 1.62360314e+02] [ 6.13974812e-02 9.98113392e-01 -7.36149829e-05 1.21475562e+00] [ 1.15317746e-03 2.81805887e-06 9.99999335e-01 5.24778571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.39, Y:1.22, Z:0.07 [[ 9.97830216e-01 -6.58296024e-02 -1.15086249e-03 1.62392428e+02] [ 6.58295619e-02 9.97830879e-01 -7.30852441e-05 1.21933418e+00] [ 1.15317730e-03 -2.83410862e-06 9.99999335e-01 6.59757949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.42, Y:1.22, Z:0.07 [[ 9.97861407e-01 -6.53550887e-02 -1.15092781e-03 1.62424886e+02] [ 6.53550491e-02 9.97862071e-01 -7.20503576e-05 1.22165502e+00] [ 1.15317606e-03 -3.32267199e-06 9.99999335e-01 6.60132724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.46, Y:1.22, Z:0.07 [[ 9.97892373e-01 -6.48805609e-02 -1.15096207e-03 1.62457344e+02] [ 6.48805216e-02 9.97893037e-01 -7.15033219e-05 1.22396086e+00] [ 1.15317621e-03 -3.32239986e-06 9.99999335e-01 6.60507714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.49, Y:1.23, Z:0.07 [[ 9.97923113e-01 -6.44060184e-02 -1.15099609e-03 1.62489803e+02] [ 6.44059794e-02 9.97923777e-01 -7.09559977e-05 1.22625127e+00] [ 1.15317636e-03 -3.32240044e-06 9.99999335e-01 6.60882703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.52, Y:1.23, Z:0.07 [[ 9.97953628e-01 -6.39314613e-02 -1.15102985e-03 1.62522264e+02] [ 6.39314226e-02 9.97954292e-01 -7.04086574e-05 1.22852624e+00] [ 1.15317651e-03 -3.32240087e-06 9.99999335e-01 6.61257693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:1.23, Z:0.05 [[ 9.97679874e-01 -6.80701383e-02 -1.15106376e-03 1.62555055e+02] [ 6.80701030e-02 9.97680538e-01 -6.98545870e-05 1.23063318e+00] [ 1.15314893e-03 -8.66051339e-06 9.99999335e-01 5.32476749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:1.23, Z:0.05 [[ 9.97714885e-01 -6.75550436e-02 -1.15104289e-03 1.62588508e+02] [ 6.75550075e-02 9.97715549e-01 -7.01968002e-05 1.23297696e+00] [ 1.15315554e-03 -7.72231884e-06 9.99999335e-01 5.32863604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:1.24, Z:0.05 [[ 9.97749629e-01 -6.70399297e-02 -1.15107883e-03 1.62621962e+02] [ 6.70398940e-02 9.97750293e-01 -6.96025162e-05 1.23530261e+00] [ 1.15315539e-03 -7.72231781e-06 9.99999335e-01 5.33250045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:1.24, Z:0.05 [[ 9.97520386e-01 -7.03687009e-02 -1.15111445e-03 1.62654216e+02] [ 7.03686681e-02 9.97521050e-01 -6.90082138e-05 1.23633496e+00] [ 1.15311692e-03 -1.21652909e-05 9.99999335e-01 5.47759674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.69, Y:1.24, Z:0.06 [[ 9.97272107e-01 -7.38039267e-02 -1.15114518e-03 1.62687601e+02] [ 7.38038968e-02 9.97272771e-01 -6.84917559e-05 1.23807543e+00] [ 1.15306071e-03 -1.66540827e-05 9.99999335e-01 5.57185932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.72, Y:1.25, Z:0.06 [[ 9.96901541e-01 -7.86510746e-02 -1.15117990e-03 1.62719385e+02] [ 7.86510486e-02 9.96902206e-01 -6.79032230e-05 1.24540627e+00] [ 1.15295444e-03 -2.28486785e-05 9.99999335e-01 5.93326924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:1.25, Z:0.06 [[ 9.96853591e-01 -7.92565053e-02 -1.15120946e-03 1.62752619e+02] [ 7.92564803e-02 9.96854255e-01 -6.73982721e-05 1.25092552e+00] [ 1.15292980e-03 -2.40546004e-05 9.99999335e-01 5.97817559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.79, Y:1.25, Z:0.06 [[ 9.96829040e-01 -7.95646866e-02 -1.15124336e-03 1.62786073e+02] [ 7.95646625e-02 9.96829705e-01 -6.68142442e-05 1.25322063e+00] [ 1.15290963e-03 -2.49959101e-05 9.99999335e-01 5.86328795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:1.25, Z:0.06 [[ 9.96895008e-01 -7.87338344e-02 -1.15127646e-03 1.62818735e+02] [ 7.87338104e-02 9.96895673e-01 -6.62388172e-05 1.25268119e+00] [ 1.15291776e-03 -2.46112365e-05 9.99999335e-01 5.89213434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:1.25, Z:0.06 [[ 9.96844597e-01 -7.93695451e-02 -1.15130913e-03 1.62852027e+02] [ 7.93695222e-02 9.96845261e-01 -6.56661075e-05 1.25148207e+00] [ 1.15288894e-03 -2.59199510e-05 9.99999335e-01 5.95017236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.88, Y:1.25, Z:0.07 [[ 9.97628014e-01 -6.88260176e-02 -1.15134166e-03 1.62884110e+02] [ 6.88259884e-02 9.97628678e-01 -6.50906479e-05 1.25426821e+00] [ 1.15309139e-03 -1.43059740e-05 9.99999335e-01 6.53100560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.92, Y:1.25, Z:0.06 [[ 9.97874840e-01 -6.51496622e-02 -1.15137006e-03 1.62917066e+02] [ 6.51496310e-02 9.97875504e-01 -6.45844148e-05 1.25297840e+00] [ 1.15313163e-03 -1.05641719e-05 9.99999335e-01 6.41229571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.95, Y:1.25, Z:0.06 [[ 9.98090216e-01 -6.17624065e-02 -1.15140278e-03 1.62949518e+02] [ 6.17623737e-02 9.98090880e-01 -6.39957681e-05 1.25124369e+00] [ 1.15315714e-03 -7.23981859e-06 9.99999335e-01 6.47643128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.98, Y:1.25, Z:0.06 [[ 9.98316992e-01 -5.79815231e-02 -1.15143123e-03 1.62982281e+02] [ 5.79814885e-02 9.98317656e-01 -6.34796003e-05 1.25037878e+00] [ 1.15317477e-03 -3.38893311e-06 9.99999335e-01 6.46906339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:1.25, Z:0.07 [[ 9.98513094e-01 -5.45002226e-02 -1.15145964e-03 1.63014289e+02] [ 5.45001862e-02 9.98513758e-01 -6.29600275e-05 1.25111769e+00] [ 1.15317963e-03 1.11646971e-07 9.99999335e-01 6.64573572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.05, Y:1.25, Z:0.08 [[ 9.98931732e-01 -4.61959767e-02 -1.15148827e-03 1.63045804e+02] [ 4.61959354e-02 9.98932396e-01 -6.24319946e-05 1.25243699e+00] [ 1.15314304e-03 9.17122272e-06 9.99999335e-01 7.93305964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.07, Y:1.35, Z:0.07 [[ 9.99720329e-01 -2.36207060e-02 -1.15122968e-03 1.63073212e+02] [ 2.36206442e-02 9.99720991e-01 -6.72134727e-05 1.34725057e+00] [ 1.15249611e-03 4.00018883e-05 9.99999335e-01 7.49304834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.702320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:163.10, Y:1.35, Z:0.09 [[ 9.99618551e-01 -2.75939728e-02 -1.15152167e-03 1.63102387e+02] [ 2.75939200e-02 9.99619213e-01 -6.17701770e-05 1.34946956e+00] [ 1.15278767e-03 2.99716180e-05 9.99999335e-01 8.59836446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.13, Y:1.35, Z:0.07 [[ 9.99627486e-01 -2.72683680e-02 -1.15109790e-03 1.63134750e+02] [ 2.72683058e-02 9.99628148e-01 -6.97104699e-05 1.35227456e+00] [ 1.15257075e-03 3.82960123e-05 9.99999335e-01 7.38468097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.762320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:163.17, Y:1.35, Z:0.08 [[ 9.99557914e-01 -2.97094438e-02 -1.15156313e-03 1.63165102e+02] [ 2.97093933e-02 9.99558577e-01 -6.09156399e-05 1.35387124e+00] [ 1.15286457e-03 2.66764680e-05 9.99999335e-01 8.31510004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:163.19, Y:1.39, Z:0.08 [[ 9.97381320e-01 -7.23130538e-02 -1.15140256e-03 1.63194535e+02] [ 7.23130282e-02 9.97381984e-01 -6.39553420e-05 1.38917782e+00] [ 1.15301298e-03 -1.94735425e-05 9.99999335e-01 7.91255274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.23, Y:1.29, Z:0.06 [[ 9.99441051e-01 -3.34104771e-02 -1.15150839e-03 1.63232182e+02] [ 3.34104279e-02 9.99441714e-01 -6.19411016e-05 1.29033248e+00] [ 1.15293500e-03 2.34340916e-05 9.99999335e-01 6.27716832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.852320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:163.26, Y:1.30, Z:0.07 [[ 9.99535676e-01 -3.04484191e-02 -1.15158728e-03 1.63263558e+02] [ 3.04483696e-02 9.99536339e-01 -6.04379129e-05 1.29853399e+00] [ 1.15289358e-03 2.53458948e-05 9.99999335e-01 7.37382086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.29, Y:1.30, Z:0.06 [[ 9.99584732e-01 -2.87930054e-02 -1.15192486e-03 1.63294321e+02] [ 2.87929623e-02 9.99585395e-01 -5.40068481e-05 1.30451333e+00] [ 1.15300229e-03 2.08170916e-05 9.99999335e-01 6.22999898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:1.31, Z:0.06 [[ 9.99608046e-01 -2.79719107e-02 -1.15160342e-03 1.63325019e+02] [ 2.79718599e-02 9.99608709e-01 -6.01599905e-05 1.30959510e+00] [ 1.15283560e-03 2.79239209e-05 9.99999335e-01 6.26167499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:163.36, Y:1.31, Z:0.07 [[ 9.99551867e-01 -2.99121820e-02 -1.15160733e-03 1.63356365e+02] [ 2.99121326e-02 9.99552530e-01 -6.00851340e-05 1.31444174e+00] [ 1.15288930e-03 2.56111768e-05 9.99999335e-01 7.38611194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.39, Y:1.32, Z:0.06 [[ 9.99407293e-01 -3.44054595e-02 -1.15212875e-03 1.63386451e+02] [ 3.44054246e-02 9.99407957e-01 -5.01116354e-05 1.32071094e+00] [ 1.15317075e-03 1.04424552e-05 9.99999335e-01 6.21079983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:163.42, Y:1.33, Z:0.07 [[ 9.99356408e-01 -3.58530852e-02 -1.15161074e-03 1.63418068e+02] [ 3.58530398e-02 9.99357071e-01 -6.00463447e-05 1.32560557e+00] [ 1.15302318e-03 1.87189537e-05 9.99999335e-01 7.42092514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:1.33, Z:0.06 [[ 9.99207545e-01 -3.97863625e-02 -1.15184140e-03 1.63449452e+02] [ 3.97863249e-02 9.99208209e-01 -5.55892035e-05 1.33180502e+00] [ 1.15314108e-03 9.71761545e-06 9.99999335e-01 6.39718737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:163.48, Y:1.34, Z:0.08 [[ 9.99154466e-01 -4.10977657e-02 -1.15163768e-03 1.63481194e+02] [ 4.10977244e-02 9.99155130e-01 -5.95303510e-05 1.33530723e+00] [ 1.15311126e-03 1.21503283e-05 9.99999335e-01 7.74797163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.092320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:163.51, Y:1.34, Z:0.07 [[ 9.98954658e-01 -4.56975350e-02 -1.15188210e-03 1.63511834e+02] [ 4.56975022e-02 9.98955322e-01 -5.47912369e-05 1.33965834e+00] [ 1.15318258e-03 2.09582664e-06 9.99999335e-01 7.33166481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:1.34, Z:0.07 [[ 9.98889881e-01 -4.70922380e-02 -1.15167144e-03 1.63544358e+02] [ 4.70922014e-02 9.98890545e-01 -5.88775759e-05 1.34177028e+00] [ 1.15316639e-03 4.57747124e-06 9.99999335e-01 7.39666920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:1.34, Z:0.06 [[ 9.98700360e-01 -5.09535493e-02 -1.15178149e-03 1.63575301e+02] [ 5.09535178e-02 9.98701024e-01 -5.67312166e-05 1.34340218e+00] [ 1.15317601e-03 -2.02983231e-06 9.99999335e-01 6.19922004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.61, Y:1.35, Z:0.06 [[ 9.98612013e-01 -5.26566381e-02 -1.15167694e-03 1.63607192e+02] [ 5.26566053e-02 9.98612677e-01 -5.87797683e-05 1.34596191e+00] [ 1.15317433e-03 -1.94521521e-06 9.99999335e-01 6.24804633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:1.35, Z:0.06 [[ 9.98531614e-01 -5.41598471e-02 -1.15170301e-03 1.63639607e+02] [ 5.41598160e-02 9.98532278e-01 -5.82643221e-05 1.34888934e+00] [ 1.15316822e-03 -4.19725573e-06 9.99999335e-01 6.15683588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:1.35, Z:0.06 [[ 9.98363242e-01 -5.71796369e-02 -1.15172882e-03 1.63672194e+02] [ 5.71796084e-02 9.98363906e-01 -5.77496967e-05 1.35180819e+00] [ 1.15314659e-03 -8.20022836e-06 9.99999335e-01 6.01413754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27232058799999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:163.70, Y:1.35, Z:0.08 [[ 9.98242680e-01 -5.92471600e-02 -1.15173802e-03 1.63703573e+02] [ 5.92471330e-02 9.98243344e-01 -5.75656758e-05 1.35196813e+00] [ 1.15312541e-03 -1.07726609e-05 9.99999335e-01 7.70872588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:163.73, Y:1.35, Z:0.06 [[ 9.97956299e-01 -6.38897311e-02 -1.15194778e-03 1.63734196e+02] [ 6.38897121e-02 9.97956964e-01 -5.33396796e-05 1.35179388e+00] [ 1.15300216e-03 -2.03669426e-05 9.99999335e-01 6.15064961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:1.35, Z:0.06 [[ 9.97668189e-01 -6.82411767e-02 -1.15175740e-03 1.63767055e+02] [ 6.82411561e-02 9.97668854e-01 -5.71747935e-05 1.34716445e+00] [ 1.15297416e-03 -2.15557837e-05 9.99999335e-01 6.19218604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.80, Y:1.35, Z:0.06 [[ 9.97589428e-01 -6.93830394e-02 -1.15178167e-03 1.63800026e+02] [ 6.93830202e-02 9.97590093e-01 -5.66816358e-05 1.34702642e+00] [ 1.15293872e-03 -2.33690901e-05 9.99999335e-01 6.14041179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:1.35, Z:0.06 [[ 9.97523970e-01 -7.03178719e-02 -1.15180939e-03 1.63833455e+02] [ 7.03178539e-02 9.97524634e-01 -5.61124858e-05 1.34900566e+00] [ 1.15290396e-03 -2.50192151e-05 9.99999335e-01 6.15216362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:1.35, Z:0.06 [[ 9.97448991e-01 -7.13735551e-02 -1.15183683e-03 1.63865658e+02] [ 7.13735385e-02 9.97449655e-01 -5.55435675e-05 1.35178674e+00] [ 1.15286359e-03 -2.68087949e-05 9.99999335e-01 6.23163479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.452320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:163.90, Y:1.35, Z:0.08 [[ 9.97446642e-01 -7.14063690e-02 -1.15186048e-03 1.63896704e+02] [ 7.14063530e-02 9.97447307e-01 -5.50486015e-05 1.35032906e+00] [ 1.15285096e-03 -2.73421135e-05 9.99999335e-01 7.68610701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:163.93, Y:1.34, Z:0.07 [[ 9.97647668e-01 -6.85405364e-02 -1.15164436e-03 1.63929160e+02] [ 6.85405132e-02 9.97648332e-01 -5.95946318e-05 1.34225633e+00] [ 1.15302072e-03 -1.94798499e-05 9.99999335e-01 7.37667535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.512320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:163.96, Y:1.34, Z:0.06 [[ 9.97730674e-01 -6.73214430e-02 -1.15166443e-03 1.63962986e+02] [ 6.73214196e-02 9.97731338e-01 -5.91695373e-05 1.34178487e+00] [ 1.15303508e-03 -1.84964224e-05 9.99999335e-01 6.14780556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:1.34, Z:0.06 [[ 9.97954578e-01 -6.39166119e-02 -1.15191263e-03 1.63995238e+02] [ 6.39165923e-02 9.97955243e-01 -5.38615162e-05 1.34302399e+00] [ 1.15299989e-03 -1.98749831e-05 9.99999335e-01 6.17436074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:1.34, Z:0.06 [[ 9.98073049e-01 -6.20392010e-02 -1.15193593e-03 1.64027056e+02] [ 6.20391807e-02 9.98073713e-01 -5.33584556e-05 1.34391775e+00] [ 1.15302729e-03 -1.82095250e-05 9.99999335e-01 6.16253224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:1.34, Z:0.07 [[ 9.98274908e-01 -5.87016267e-02 -1.15195888e-03 1.64058060e+02] [ 5.87016048e-02 9.98275573e-01 -5.28583606e-05 1.34049847e+00] [ 1.15307528e-03 -1.48546598e-05 9.99999335e-01 7.12202670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.09, Y:1.34, Z:0.06 [[ 9.98314025e-01 -5.80325740e-02 -1.15206480e-03 1.64089928e+02] [ 5.80325543e-02 9.98314690e-01 -5.05450910e-05 1.33983666e+00] [ 1.15305647e-03 -1.63973896e-05 9.99999335e-01 6.01136085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.12, Y:1.34, Z:0.06 [[ 9.98547185e-01 -5.38720040e-02 -1.15197215e-03 1.64122764e+02] [ 5.38719792e-02 9.98547849e-01 -5.25751502e-05 1.33863520e+00] [ 1.15313164e-03 -9.56025128e-06 9.99999335e-01 6.11549961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.16, Y:1.34, Z:0.06 [[ 9.98626751e-01 -5.23763718e-02 -1.15199866e-03 1.64155308e+02] [ 5.23763467e-02 9.98627416e-01 -5.19876330e-05 1.34081622e+00] [ 1.15314037e-03 -8.42124016e-06 9.99999335e-01 6.11321246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.19, Y:1.34, Z:0.06 [[ 9.98653422e-01 -5.18653679e-02 -1.15202512e-03 1.64188802e+02] [ 5.18653432e-02 9.98654086e-01 -5.13945894e-05 1.34261704e+00] [ 1.15314019e-03 -8.42479551e-06 9.99999335e-01 6.11707673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:1.35, Z:0.06 [[ 9.98850650e-01 -4.79171324e-02 -1.15205111e-03 1.64222002e+02] [ 4.79171057e-02 9.98851314e-01 -5.08050855e-05 1.34797622e+00] [ 1.15316220e-03 -4.45626230e-06 9.99999335e-01 6.07518635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.25, Y:1.35, Z:0.06 [[ 9.98937709e-01 -4.60665467e-02 -1.15207684e-03 1.64254449e+02] [ 4.60665194e-02 9.98938373e-01 -5.02149497e-05 1.35175164e+00] [ 1.15316699e-03 -2.91056317e-06 9.99999335e-01 5.98909099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:1.35, Z:0.07 [[ 9.99051711e-01 -4.35241538e-02 -1.15209922e-03 1.64285048e+02] [ 4.35241254e-02 9.99052375e-01 -4.96959431e-05 1.35372045e+00] [ 1.15317044e-03 -4.95294151e-07 9.99999335e-01 7.01707981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:164.32, Y:1.36, Z:0.07 [[ 9.99161642e-01 -4.09229152e-02 -1.15209344e-03 1.64316144e+02] [ 4.09228850e-02 9.99162307e-01 -4.98301706e-05 1.35544555e+00] [ 1.15316754e-03 2.64140771e-06 9.99999335e-01 7.40286557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.35, Y:1.37, Z:0.06 [[ 9.99401321e-01 -3.45784894e-02 -1.15189150e-03 1.64348538e+02] [ 3.45784495e-02 9.99401985e-01 -5.45713873e-05 1.36510579e+00] [ 1.15308965e-03 1.47080945e-05 9.99999335e-01 5.99988979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:164.38, Y:1.37, Z:0.07 [[ 9.99476763e-01 -3.23244796e-02 -1.15214084e-03 1.64379520e+02] [ 3.23244450e-02 9.99477427e-01 -4.86686927e-05 1.37326540e+00] [ 1.15311196e-03 1.14009141e-05 9.99999335e-01 7.35640141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.932320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.41, Y:1.38, Z:0.07 [[ 9.99516770e-01 -3.10628374e-02 -1.15215727e-03 1.64410355e+02] [ 3.10628024e-02 9.99517434e-01 -4.82791568e-05 1.37973352e+00] [ 1.15310097e-03 1.24665931e-05 9.99999335e-01 7.21259079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:164.44, Y:1.38, Z:0.07 [[ 9.99571271e-01 -2.92565716e-02 -1.15209933e-03 1.64441029e+02] [ 2.92565338e-02 9.99571935e-01 -4.96595848e-05 1.38217697e+00] [ 1.15305903e-03 1.59318613e-05 9.99999335e-01 7.12677845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99232058799998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:164.47, Y:1.38, Z:0.07 [[ 9.99606441e-01 -2.80292135e-02 -1.15204962e-03 1.64473749e+02] [ 2.80291735e-02 9.99607104e-01 -5.08515972e-05 1.38293427e+00] [ 1.15302231e-03 1.85405854e-05 9.99999335e-01 7.23199319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02232058799999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:164.51, Y:1.39, Z:0.07 [[ 9.99630368e-01 -2.71624549e-02 -1.15215070e-03 1.64505364e+02] [ 2.71624172e-02 9.99631032e-01 -4.84084734e-05 1.38804098e+00] [ 1.15304049e-03 1.70953822e-05 9.99999335e-01 7.34643726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.052320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:164.54, Y:1.40, Z:0.06 [[ 9.99681694e-01 -2.52028340e-02 -1.15221287e-03 1.64537064e+02] [ 2.52027966e-02 9.99682358e-01 -4.68941870e-05 1.39801071e+00] [ 1.15302875e-03 1.78402737e-05 9.99999335e-01 6.06408365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.082320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:164.57, Y:1.40, Z:0.07 [[ 9.99691932e-01 -2.47934115e-02 -1.15220174e-03 1.64568356e+02] [ 2.47933736e-02 9.99692596e-01 -4.71659707e-05 1.40333207e+00] [ 1.15301696e-03 1.85844720e-05 9.99999335e-01 7.26012376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.112320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:164.60, Y:1.41, Z:0.07 [[ 9.99692315e-01 -2.47779810e-02 -1.15233104e-03 1.64600359e+02] [ 2.47779468e-02 9.99692979e-01 -4.39956066e-05 1.40762707e+00] [ 1.15306737e-03 1.54296726e-05 9.99999335e-01 7.26903784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.63, Y:1.41, Z:0.06 [[ 9.99642539e-01 -2.67107939e-02 -1.15239502e-03 1.64631268e+02] [ 2.67107627e-02 9.99643203e-01 -4.24194709e-05 1.41137613e+00] [ 1.15311690e-03 1.16229578e-05 9.99999335e-01 6.06055216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.66, Y:1.41, Z:0.06 [[ 9.99561270e-01 -2.95962844e-02 -1.15222300e-03 1.64663360e+02] [ 2.95962502e-02 9.99561934e-01 -4.66665750e-05 1.41205891e+00] [ 1.15309941e-03 1.25446206e-05 9.99999335e-01 5.89647033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.202320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:164.69, Y:1.41, Z:0.07 [[ 9.99222276e-01 -3.94146545e-02 -1.15224394e-03 1.64694887e+02] [ 3.94146275e-02 9.99222941e-01 -4.61438610e-05 1.40934440e+00] [ 1.15316732e-03 6.92708232e-07 9.99999335e-01 7.38139792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.73, Y:1.41, Z:0.06 [[ 9.98966075e-01 -4.54472520e-02 -1.15228760e-03 1.64726952e+02] [ 4.54472303e-02 9.98966740e-01 -4.50456151e-05 1.40901315e+00] [ 1.15314419e-03 -7.36923879e-06 9.99999335e-01 5.75160926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.76, Y:1.41, Z:0.06 [[ 9.98479344e-01 -5.51150746e-02 -1.15226356e-03 1.64759398e+02] [ 5.51150586e-02 9.98480009e-01 -4.56523876e-05 1.40853074e+00] [ 1.15302827e-03 -1.79241079e-05 9.99999335e-01 5.81619777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.79, Y:1.41, Z:0.06 [[ 9.98332181e-01 -5.77193875e-02 -1.15228357e-03 1.64791518e+02] [ 5.77193738e-02 9.98332846e-01 -4.51416708e-05 1.40952135e+00] [ 1.15296809e-03 -2.14427035e-05 9.99999335e-01 5.80425446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.82, Y:1.41, Z:0.06 [[ 9.98050060e-01 -6.24079379e-02 -1.15230295e-03 1.64823921e+02] [ 6.24079280e-02 9.98050724e-01 -4.46414264e-05 1.40886458e+00] [ 1.15284278e-03 -2.73584613e-05 9.99999335e-01 5.66430632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.86, Y:1.40, Z:0.06 [[ 9.97895646e-01 -6.48301701e-02 -1.15232179e-03 1.64855900e+02] [ 6.48301623e-02 9.97896311e-01 -4.41497213e-05 1.40344379e+00] [ 1.15275990e-03 -3.06483941e-05 9.99999335e-01 5.61400671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.89, Y:1.40, Z:0.06 [[ 9.97823981e-01 -6.59240080e-02 -1.15234020e-03 1.64888623e+02] [ 6.59240015e-02 9.97824646e-01 -4.36638527e-05 1.40019710e+00] [ 1.15271195e-03 -3.23980378e-05 9.99999335e-01 5.74874508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.92, Y:1.40, Z:0.06 [[ 9.97695959e-01 -6.78339584e-02 -1.15235835e-03 1.64921761e+02] [ 6.78339537e-02 9.97696624e-01 -4.31796440e-05 1.39784085e+00] [ 1.15263308e-03 -3.50888663e-05 9.99999335e-01 5.73139873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.95, Y:1.39, Z:0.06 [[ 9.97466451e-01 -7.11291154e-02 -1.15237895e-03 1.64954455e+02] [ 7.11291136e-02 9.97467116e-01 -4.26226345e-05 1.39485893e+00] [ 1.15249182e-03 -3.94530450e-05 9.99999335e-01 5.90637244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.99, Y:1.39, Z:0.06 [[ 9.97443055e-01 -7.14564533e-02 -1.15239663e-03 1.64987641e+02] [ 7.14564522e-02 9.97443720e-01 -4.21391513e-05 1.39319944e+00] [ 1.15246189e-03 -4.03147707e-05 9.99999335e-01 5.91626692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.02, Y:1.39, Z:0.06 [[ 9.97488574e-01 -7.08181987e-02 -1.15241641e-03 1.65019856e+02] [ 7.08181978e-02 9.97489239e-01 -4.15909797e-05 1.38624484e+00] [ 1.15246837e-03 -4.01255263e-05 9.99999335e-01 5.92041540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.05, Y:1.39, Z:0.06 [[ 9.97566807e-01 -6.97075178e-02 -1.15243360e-03 1.65053373e+02] [ 6.97075167e-02 9.97567472e-01 -4.11089500e-05 1.38509718e+00] [ 1.15249588e-03 -3.93243608e-05 9.99999335e-01 5.96362822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:1.38, Z:0.06 [[ 9.97756792e-01 -6.69332155e-02 -1.15245307e-03 1.65085775e+02] [ 6.69332133e-02 9.97757457e-01 -4.05557350e-05 1.38123021e+00] [ 1.15258317e-03 -3.66726272e-05 9.99999335e-01 6.00412814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:1.38, Z:0.06 [[ 9.97849036e-01 -6.55436752e-02 -1.15246988e-03 1.65119241e+02] [ 6.55436726e-02 9.97849701e-01 -4.00724043e-05 1.37767689e+00] [ 1.15261822e-03 -3.55508984e-05 9.99999335e-01 5.97500399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:165.15, Y:1.37, Z:0.07 [[ 9.97957632e-01 -6.38689046e-02 -1.15248896e-03 1.65149694e+02] [ 6.38689015e-02 9.97958297e-01 -3.95158110e-05 1.36801649e+00] [ 1.15265975e-03 -3.41730989e-05 9.99999335e-01 7.47442948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:1.37, Z:0.06 [[ 9.98033532e-01 -6.26717007e-02 -1.15224724e-03 1.65182076e+02] [ 6.26716887e-02 9.98034196e-01 -4.65697971e-05 1.36703384e+00] [ 1.15290076e-03 -2.57350614e-05 9.99999335e-01 6.18693008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:165.21, Y:1.37, Z:0.06 [[ 9.98296546e-01 -5.83324734e-02 -1.15250605e-03 1.65214511e+02] [ 5.83324673e-02 9.98297211e-01 -3.89023989e-05 1.36541338e+00] [ 1.15281285e-03 -2.83923911e-05 9.99999335e-01 6.19018498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.25, Y:1.36, Z:0.06 [[ 9.98682196e-01 -5.13083060e-02 -1.15252252e-03 1.65246920e+02] [ 5.13082958e-02 9.98682861e-01 -3.84083071e-05 1.36473809e+00] [ 1.15297515e-03 -2.07762737e-05 9.99999335e-01 6.22073300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.28, Y:1.37, Z:0.06 [[ 9.98791024e-01 -4.91443031e-02 -1.15253899e-03 1.65278032e+02] [ 4.91442920e-02 9.98791689e-01 -3.79075674e-05 1.36517051e+00] [ 1.15300930e-03 -1.87789745e-05 9.99999335e-01 6.23418032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:1.36, Z:0.06 [[ 9.98911949e-01 -4.66217775e-02 -1.15254136e-03 1.65309788e+02] [ 4.66217649e-02 9.98912614e-01 -3.78353937e-05 1.36491468e+00] [ 1.15305205e-03 -1.59392852e-05 9.99999335e-01 6.17832544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.34, Y:1.36, Z:0.07 [[ 9.99079483e-01 -4.28819139e-02 -1.15254373e-03 1.65340208e+02] [ 4.28818989e-02 9.99080148e-01 -3.77629266e-05 1.36075550e+00] [ 1.15310291e-03 -1.16950985e-05 9.99999335e-01 7.41329950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.832320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.37, Y:1.36, Z:0.08 [[ 9.99177238e-01 -4.05403353e-02 -1.15239198e-03 1.65370683e+02] [ 4.05403133e-02 9.99177903e-01 -4.24299700e-05 1.35930858e+00] [ 1.15316473e-03 -4.32327183e-06 9.99999335e-01 7.85292490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.862320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:165.40, Y:1.36, Z:0.06 [[ 9.99399566e-01 -3.46291582e-02 -1.15240548e-03 1.65401423e+02] [ 3.46291328e-02 9.99400231e-01 -4.20144074e-05 1.36342675e+00] [ 1.15316922e-03 2.08237823e-06 9.99999335e-01 6.21892359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:1.37, Z:0.06 [[ 9.99459100e-01 -3.28660769e-02 -1.15255462e-03 1.65431913e+02] [ 3.28660556e-02 9.99459765e-01 -3.74206254e-05 1.36806815e+00] [ 1.15316184e-03 -4.79539735e-07 9.99999335e-01 6.19258276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.922320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.46, Y:1.37, Z:0.07 [[ 9.99602316e-01 -2.81759158e-02 -1.15255462e-03 1.65462552e+02] [ 2.81758914e-02 9.99602980e-01 -3.74206254e-05 1.37108245e+00] [ 1.15315140e-03 4.93148992e-06 9.99999335e-01 7.24463122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.49, Y:1.37, Z:0.06 [[ 9.99640702e-01 -2.67794402e-02 -1.15264635e-03 1.65493427e+02] [ 2.67794181e-02 9.99641366e-01 -3.45862604e-05 1.37035363e+00] [ 1.15315918e-03 3.70663496e-06 9.99999335e-01 6.18982928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.52, Y:1.37, Z:0.06 [[ 9.99672967e-01 -2.55466185e-02 -1.15256727e-03 1.65523667e+02] [ 2.55465928e-02 9.99673632e-01 -3.70468237e-05 1.36981838e+00] [ 1.15313752e-03 7.59054157e-06 9.99999335e-01 6.24026469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.012320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:165.55, Y:1.37, Z:0.07 [[ 9.99667597e-01 -2.57559076e-02 -1.15256727e-03 1.65553937e+02] [ 2.57558820e-02 9.99668262e-01 -3.70468237e-05 1.37248864e+00] [ 1.15313909e-03 7.34912270e-06 9.99999335e-01 7.32458985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.042320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.58, Y:1.38, Z:0.07 [[ 9.99600204e-01 -2.82507273e-02 -1.15261646e-03 1.65583574e+02] [ 2.82507051e-02 9.99600869e-01 -3.55073483e-05 1.37665782e+00] [ 1.15315953e-03 2.93092474e-06 9.99999335e-01 6.90234264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.61, Y:1.38, Z:0.07 [[ 9.99556482e-01 -2.97575307e-02 -1.15247346e-03 1.65614057e+02] [ 2.97575044e-02 9.99557147e-01 -3.99953546e-05 1.37813498e+00] [ 1.15315325e-03 5.68288199e-06 9.99999335e-01 6.91431032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.102320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.64, Y:1.38, Z:0.07 [[ 9.99462536e-01 -3.27614128e-02 -1.15256181e-03 1.65644892e+02] [ 3.27613917e-02 9.99463201e-01 -3.72076837e-05 1.37897641e+00] [ 1.15316209e-03 -5.71842924e-07 9.99999335e-01 7.35426078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.68, Y:1.38, Z:0.06 [[ 9.99386003e-01 -3.50184118e-02 -1.15249501e-03 1.65675743e+02] [ 3.50183897e-02 9.99386667e-01 -3.93348973e-05 1.37804488e+00] [ 1.15316559e-03 -1.04777357e-06 9.99999335e-01 5.93276885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.71, Y:1.38, Z:0.07 [[ 9.99296533e-01 -3.74848121e-02 -1.15259666e-03 1.65706162e+02] [ 3.74847954e-02 9.99297197e-01 -3.60883755e-05 1.37647118e+00] [ 1.15313938e-03 -7.14186137e-06 9.99999335e-01 7.12495324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.74, Y:1.38, Z:0.06 [[ 9.99164675e-01 -4.08487836e-02 -1.15264143e-03 1.65737226e+02] [ 4.08487708e-02 9.99165340e-01 -3.46495360e-05 1.37656468e+00] [ 1.15309476e-03 -1.24633933e-05 9.99999335e-01 5.81632146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:1.38, Z:0.06 [[ 9.99111112e-01 -4.21385546e-02 -1.15260825e-03 1.65767826e+02] [ 4.21385414e-02 9.99111777e-01 -3.57201308e-05 1.37658242e+00] [ 1.15308967e-03 -1.28808510e-05 9.99999335e-01 5.66796073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.80, Y:1.37, Z:0.06 [[ 9.99043057e-01 -4.37223292e-02 -1.15260825e-03 1.65798335e+02] [ 4.37223171e-02 9.99043722e-01 -3.57201308e-05 1.37433340e+00] [ 1.15306781e-03 -1.47087549e-05 9.99999335e-01 5.66419880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.83, Y:1.37, Z:0.07 [[ 9.99142117e-01 -4.13968812e-02 -1.15260825e-03 1.65829478e+02] [ 4.13968675e-02 9.99142782e-01 -3.57201308e-05 1.37219183e+00] [ 1.15309892e-03 -1.20248841e-05 9.99999335e-01 7.23184088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:1.37, Z:0.06 [[ 9.99171980e-01 -4.06697115e-02 -1.15268522e-03 1.65860358e+02] [ 4.06697002e-02 9.99172645e-01 -3.32263500e-05 1.37120385e+00] [ 1.15308284e-03 -1.36805242e-05 9.99999335e-01 6.01394403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.89, Y:1.37, Z:0.07 [[ 9.99280421e-01 -3.79118973e-02 -1.15261533e-03 1.65890903e+02] [ 3.79118816e-02 9.99281086e-01 -3.54957389e-05 1.36645857e+00] [ 1.15313241e-03 -8.22761898e-06 9.99999335e-01 6.94359631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.372320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.92, Y:1.36, Z:0.07 [[ 9.99309502e-01 -3.71374691e-02 -1.15264634e-03 1.65921480e+02] [ 3.71374540e-02 9.99310166e-01 -3.44804818e-05 1.36380051e+00] [ 1.15313172e-03 -8.34967739e-06 9.99999335e-01 6.68387039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:165.95, Y:1.36, Z:0.07 [[ 9.99331334e-01 -3.65452523e-02 -1.15275835e-03 1.65951771e+02] [ 3.65452410e-02 9.99331999e-01 -3.08257953e-05 1.36151351e+00] [ 1.15311484e-03 -1.13226485e-05 9.99999335e-01 6.65094020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:1.36, Z:0.06 [[ 9.99332897e-01 -3.65024920e-02 -1.15274270e-03 1.65981636e+02] [ 3.65024801e-02 9.99333562e-01 -3.13357981e-05 1.35668012e+00] [ 1.15311830e-03 -1.07630735e-05 9.99999335e-01 6.03893501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:1.35, Z:0.06 [[ 9.99383447e-01 -3.50912732e-02 -1.15261651e-03 1.66011898e+02] [ 3.50912557e-02 9.99384112e-01 -3.54396904e-05 1.35056938e+00] [ 1.15315025e-03 -5.02892086e-06 9.99999335e-01 6.01552068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:166.04, Y:1.35, Z:0.07 [[ 9.99448834e-01 -3.31768085e-02 -1.15261536e-03 1.66041461e+02] [ 3.31767896e-02 9.99449498e-01 -3.54772751e-05 1.34803379e+00] [ 1.15315786e-03 -2.78235596e-06 9.99999335e-01 7.04735934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.07, Y:1.34, Z:0.07 [[ 9.99637407e-01 -2.69021656e-02 -1.15260316e-03 1.66071899e+02] [ 2.69021422e-02 9.99638071e-01 -3.58735265e-05 1.34401399e+00] [ 1.15315107e-03 4.85302498e-06 9.99999335e-01 6.86186851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.552320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:166.10, Y:1.34, Z:0.07 [[ 9.99722760e-01 -2.35175146e-02 -1.15275663e-03 1.66101608e+02] [ 2.35174946e-02 9.99723425e-01 -3.08668129e-05 1.34448063e+00] [ 1.15316372e-03 3.74830743e-06 9.99999335e-01 7.00449947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.582320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:166.13, Y:1.35, Z:0.07 [[ 9.99884497e-01 -1.51546493e-02 -1.15276189e-03 1.66131326e+02] [ 1.51546240e-02 9.99885162e-01 -3.06963752e-05 1.34710125e+00] [ 1.15309471e-03 1.32231566e-05 9.99999335e-01 7.38700297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.16, Y:1.35, Z:0.06 [[ 9.99931231e-01 -1.16706389e-02 -1.15277110e-03 1.66160523e+02] [ 1.16706116e-02 9.99931896e-01 -3.04007620e-05 1.34885254e+00] [ 1.15304739e-03 1.69451276e-05 9.99999335e-01 6.13808867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.19, Y:1.35, Z:0.06 [[ 9.99930478e-01 -1.17349961e-02 -1.15258661e-03 1.66190668e+02] [ 1.17349621e-02 9.99931142e-01 -3.62645877e-05 1.34979109e+00] [ 1.15293281e-03 2.27365064e-05 9.99999335e-01 6.14155980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.672320588 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:166.22, Y:1.35, Z:0.07 [[ 9.99966983e-01 -8.04394176e-03 -1.15258427e-03 1.66222232e+02] [ 8.04390521e-03 9.99967647e-01 -3.63387622e-05 1.35147964e+00] [ 1.15283928e-03 2.70662838e-05 9.99999335e-01 7.36100907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:1.35, Z:0.06 [[ 9.99992941e-01 -3.57602131e-03 -1.15301919e-03 1.66251771e+02] [ 3.57599766e-03 9.99993606e-01 -2.25763968e-05 1.35293274e+00] [ 1.15309255e-03 1.84530435e-05 9.99999335e-01 6.13511400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.732320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:166.28, Y:1.35, Z:0.06 [[ 9.99997235e-01 -2.04953261e-03 -1.15256934e-03 1.66281456e+02] [ 2.04949167e-03 9.99997899e-01 -3.67029401e-05 1.35470489e+00] [ 1.15264214e-03 3.43406574e-05 9.99999335e-01 6.16250939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.762320588 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:166.31, Y:1.36, Z:0.07 [[ 9.99999259e-01 3.90829664e-04 -1.15256700e-03 1.66312744e+02] [-3.90872310e-04 9.99999923e-01 -3.67762811e-05 1.35951301e+00] [ 1.15255254e-03 3.72267604e-05 9.99999335e-01 7.47513411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.792320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:166.34, Y:1.36, Z:0.07 [[ 9.99997521e-01 1.90483633e-03 -1.15305553e-03 1.66342067e+02] [-1.90486251e-03 9.99998186e-01 -2.16053985e-05 1.36375423e+00] [ 1.15301228e-03 2.38017572e-05 9.99999335e-01 7.45801069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.822320588 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:166.37, Y:1.37, Z:0.07 [[ 9.99996981e-01 2.16984946e-03 -1.15305983e-03 1.66371550e+02] [-2.16987567e-03 9.99997646e-01 -2.14740836e-05 1.37215107e+00] [ 1.15301052e-03 2.39760152e-05 9.99999335e-01 7.40072250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.852320588 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:166.40, Y:1.38, Z:0.07 [[ 9.99998161e-01 1.53215903e-03 -1.15304806e-03 1.66400994e+02] [-1.53218522e-03 9.99998826e-01 -2.18278841e-05 1.37748346e+00] [ 1.15301327e-03 2.35945271e-05 9.99999335e-01 7.17514149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.43, Y:1.38, Z:0.06 [[ 9.99998986e-01 -8.35438576e-04 -1.15301250e-03 1.66429032e+02] [ 8.35412757e-04 9.99999651e-01 -2.28738429e-05 1.37931418e+00] [ 1.15303120e-03 2.19105783e-05 9.99999335e-01 5.97799823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.46, Y:1.38, Z:0.06 [[ 9.99997818e-01 -1.74220310e-03 -1.15243506e-03 1.66458461e+02] [ 1.74215855e-03 9.99998482e-01 -3.96550800e-05 1.38127717e+00] [ 1.15250240e-03 3.76472689e-05 9.99999335e-01 6.04692342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942320588 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:166.49, Y:1.39, Z:0.07 [[ 9.99994910e-01 -2.97530612e-03 -1.15243256e-03 1.66490148e+02] [ 2.97526231e-03 9.99995573e-01 -3.97275318e-05 1.38612058e+00] [ 1.15254566e-03 3.62985404e-05 9.99999335e-01 7.36717241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.972320588 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:166.52, Y:1.39, Z:0.07 [[ 9.99984708e-01 -5.40874805e-03 -1.15285000e-03 1.66519835e+02] [ 5.40871980e-03 9.99985372e-01 -2.76192977e-05 1.39018082e+00] [ 1.15298252e-03 2.13834328e-05 9.99999335e-01 7.40389296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.55, Y:1.40, Z:0.06 [[ 9.99978406e-01 -6.46978424e-03 -1.15270718e-03 1.66549391e+02] [ 6.46975196e-03 9.99979070e-01 -3.17273423e-05 1.39905570e+00] [ 1.15288832e-03 2.42689277e-05 9.99999335e-01 5.92529018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.032320588 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:166.58, Y:1.40, Z:0.07 [[ 9.99975953e-01 -6.83852088e-03 -1.15241668e-03 1.66580222e+02] [ 6.83847922e-03 9.99976617e-01 -4.00800263e-05 1.40330340e+00] [ 1.15266382e-03 3.21982850e-05 9.99999335e-01 7.01795729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:1.40, Z:0.06 [[ 9.99943102e-01 -1.06049048e-02 -1.15280981e-03 1.66610119e+02] [ 1.06048786e-02 9.99943766e-01 -2.88755761e-05 1.40390131e+00] [ 1.15305120e-03 1.66485251e-05 9.99999335e-01 5.86349255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.092320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:166.64, Y:1.40, Z:0.07 [[ 9.99910343e-01 -1.33408113e-02 -1.15239921e-03 1.66639499e+02] [ 1.33407735e-02 9.99911007e-01 -4.05456023e-05 1.40422793e+00] [ 1.15283757e-03 2.51680703e-05 9.99999335e-01 7.14930447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.67, Y:1.41, Z:0.06 [[ 9.99827191e-01 -1.85542310e-02 -1.15257069e-03 1.66669199e+02] [ 1.85542022e-02 9.99827855e-01 -3.56642833e-05 1.40646659e+00] [ 1.15303400e-03 1.42730906e-05 9.99999335e-01 5.99228865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:1.41, Z:0.06 [[ 9.99765182e-01 -2.16391314e-02 -1.15240083e-03 1.66700114e+02] [ 2.16390991e-02 9.99765846e-01 -4.04976988e-05 1.40815476e+00] [ 1.15300733e-03 1.55512734e-05 9.99999335e-01 6.03969964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:166.73, Y:1.41, Z:0.07 [[ 9.99598837e-01 -2.82990604e-02 -1.15240083e-03 1.66730092e+02] [ 2.82990325e-02 9.99599501e-01 -4.04976988e-05 1.40868215e+00] [ 1.15308534e-03 7.86962402e-06 9.99999335e-01 7.29335633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:1.41, Z:0.06 [[ 9.99439465e-01 -3.34578589e-02 -1.15249683e-03 1.66760759e+02] [ 3.34578376e-02 9.99440129e-01 -3.77657753e-05 1.41061213e+00] [ 1.15311514e-03 -8.15445358e-07 9.99999335e-01 5.82632487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:166.79, Y:1.41, Z:0.07 [[ 9.99381754e-01 -3.51394469e-02 -1.15241070e-03 1.66790869e+02] [ 3.51394238e-02 9.99382419e-01 -4.02327427e-05 1.41083495e+00] [ 1.15311275e-03 -2.87179084e-07 9.99999335e-01 7.01875398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:1.41, Z:0.07 [[ 9.99335956e-01 -3.64186528e-02 -1.15248602e-03 1.66821894e+02] [ 3.64186331e-02 9.99336621e-01 -3.80686244e-05 1.40945637e+00] [ 1.15310789e-03 -3.92862027e-06 9.99999335e-01 6.57383987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.85, Y:1.41, Z:0.06 [[ 9.99140153e-01 -4.14442524e-02 -1.15257969e-03 1.66852830e+02] [ 4.14442391e-02 9.99140818e-01 -3.53739255e-05 1.40579174e+00] [ 1.15305546e-03 -1.24242788e-05 9.99999335e-01 5.85328488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.88, Y:1.41, Z:0.06 [[ 9.99081380e-01 -4.28376864e-02 -1.15241956e-03 1.66883740e+02] [ 4.28376688e-02 9.99082045e-01 -3.99884946e-05 1.40572018e+00] [ 1.15307471e-03 -9.41520718e-06 9.99999335e-01 6.00096431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.91, Y:1.40, Z:0.06 [[ 9.98833287e-01 -4.82777083e-02 -1.15241956e-03 1.66914477e+02] [ 4.82776943e-02 9.98833951e-01 -3.99884946e-05 1.40413141e+00] [ 1.15300634e-03 -1.56943199e-05 9.99999335e-01 5.77862599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:1.40, Z:0.06 [[ 9.98653898e-01 -5.18561762e-02 -1.15241956e-03 1.66945026e+02] [ 5.18561645e-02 9.98654563e-01 -3.99884946e-05 1.39514482e+00] [ 1.15294270e-03 -1.98253924e-05 9.99999335e-01 5.64035685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:1.39, Z:0.06 [[ 9.98616529e-01 -5.25709112e-02 -1.15241956e-03 1.66975584e+02] [ 5.25709001e-02 9.98617193e-01 -3.99884946e-05 1.39169212e+00] [ 1.15292822e-03 -2.06505620e-05 9.99999335e-01 5.83813185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:1.39, Z:0.06 [[ 9.98659122e-01 -5.17554828e-02 -1.15241956e-03 1.67006148e+02] [ 5.17554711e-02 9.98659787e-01 -3.99884946e-05 1.39000469e+00] [ 1.15294470e-03 -1.97091425e-05 9.99999335e-01 6.15193972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:1.39, Z:0.06 [[ 9.98723293e-01 -5.05020418e-02 -1.15241956e-03 1.67036981e+02] [ 5.05020293e-02 9.98723958e-01 -3.99884946e-05 1.39019613e+00] [ 1.15296853e-03 -1.82620855e-05 9.99999335e-01 6.10011894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.07, Y:1.39, Z:0.06 [[ 9.98810282e-01 -4.87513406e-02 -1.15241956e-03 1.67066537e+02] [ 4.87513269e-02 9.98810946e-01 -3.99884946e-05 1.38901948e+00] [ 1.15299877e-03 -1.62410633e-05 9.99999335e-01 5.98792449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.542320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.10, Y:1.38, Z:0.06 [[ 9.99007514e-01 -4.45270651e-02 -1.15241702e-03 1.67095952e+02] [ 4.45270485e-02 9.99008178e-01 -4.00615803e-05 1.38302511e+00] [ 1.15305785e-03 -1.12919089e-05 9.99999335e-01 5.83811042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.13, Y:1.38, Z:0.06 [[ 9.99112825e-01 -4.20979086e-02 -1.15241445e-03 1.67125275e+02] [ 4.20978903e-02 9.99113490e-01 -4.01355061e-05 1.38079544e+00] [ 1.15308244e-03 -8.41431815e-06 9.99999335e-01 5.86110420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:1.37, Z:0.06 [[ 9.99247374e-01 -3.87731507e-02 -1.15241184e-03 1.67154363e+02] [ 3.87731302e-02 9.99248039e-01 -4.02102776e-05 1.37483406e+00] [ 1.15310435e-03 -4.50259987e-06 9.99999335e-01 5.92006465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.632320588 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:167.18, Y:1.37, Z:0.07 [[ 9.99270586e-01 -3.81702429e-02 -1.15240658e-03 1.67183638e+02] [ 3.81702217e-02 9.99271251e-01 -4.03603461e-05 1.37279112e+00] [ 1.15310733e-03 -3.65670804e-06 9.99999335e-01 7.17580191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.662320588 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:167.21, Y:1.37, Z:0.07 [[ 9.99387765e-01 -3.49680944e-02 -1.15235284e-03 1.67212081e+02] [ 3.49680693e-02 9.99388429e-01 -4.18987598e-05 1.37122105e+00] [ 1.15311321e-03 1.57755394e-06 9.99999335e-01 7.10503969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.692320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:167.24, Y:1.37, Z:0.06 [[ 9.99514149e-01 -3.11470503e-02 -1.15232687e-03 1.67241672e+02] [ 3.11470219e-02 9.99514813e-01 -4.26409751e-05 1.37296511e+00] [ 1.15309592e-03 6.72870762e-06 9.99999335e-01 5.99876623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.27, Y:1.37, Z:0.06 [[ 9.99727877e-01 -2.32989959e-02 -1.15241189e-03 1.67270301e+02] [ 2.32989650e-02 9.99728541e-01 -4.02041789e-05 1.37280068e+00] [ 1.15303577e-03 1.33432342e-05 9.99999335e-01 5.91855740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.752320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.30, Y:1.37, Z:0.06 [[ 9.99809629e-01 -1.94776069e-02 -1.15240652e-03 1.67299355e+02] [ 1.94775733e-02 9.99810293e-01 -4.03575342e-05 1.37318528e+00] [ 1.15297396e-03 1.79037689e-05 9.99999335e-01 6.00377772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.33, Y:1.38, Z:0.06 [[ 9.99905352e-01 -1.37098262e-02 -1.15240119e-03 1.67328547e+02] [ 1.37097886e-02 9.99906016e-01 -4.05089926e-05 1.37755967e+00] [ 1.15284826e-03 2.47059817e-05 9.99999335e-01 5.94596253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.36, Y:1.38, Z:0.06 [[ 9.99971657e-01 -7.44022858e-03 -1.15239854e-03 1.67358264e+02] [ 7.44018674e-03 9.99972321e-01 -4.05843814e-05 1.38241599e+00] [ 1.15266860e-03 3.20091708e-05 9.99999335e-01 5.87349827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.39, Y:1.39, Z:0.06 [[ 9.99986065e-01 -5.15180863e-03 -1.15239595e-03 1.67387618e+02] [ 5.15176519e-03 9.99986729e-01 -4.06578216e-05 1.38550538e+00] [ 1.15259011e-03 3.47203818e-05 9.99999335e-01 5.91947558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:1.39, Z:0.06 [[ 9.99992530e-01 -3.68934214e-03 -1.15239337e-03 1.67417077e+02] [ 3.68929765e-03 9.99993194e-01 -4.07306206e-05 1.39016111e+00] [ 1.15253580e-03 3.64787942e-05 9.99999335e-01 5.97251524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.45, Y:1.40, Z:0.06 [[ 9.99996681e-01 -2.30425515e-03 -1.15239078e-03 1.67445996e+02] [ 2.30420965e-03 9.99997344e-01 -4.08037594e-05 1.40012234e+00] [ 1.15248175e-03 3.81482740e-05 9.99999335e-01 6.11226855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:1.40, Z:0.06 [[ 9.99997907e-01 -1.69040055e-03 -1.15238820e-03 1.67475170e+02] [ 1.69035456e-03 9.99998571e-01 -4.08765992e-05 1.40409971e+00] [ 1.15245565e-03 3.89285690e-05 9.99999335e-01 6.16743069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.962320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.51, Y:1.41, Z:0.07 [[ 9.99996545e-01 -2.36262727e-03 -1.15238436e-03 1.67505094e+02] [ 2.36258161e-03 9.99997208e-01 -4.09846372e-05 1.40754583e+00] [ 1.15247797e-03 3.82618936e-05 9.99999335e-01 7.22678004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.53, Y:1.42, Z:0.06 [[ 9.99996308e-01 -2.46096274e-03 -1.15243698e-03 1.67534467e+02] [ 2.46091885e-03 9.99996971e-01 -3.94989589e-05 1.41515471e+00] [ 1.15253070e-03 3.66627592e-05 9.99999335e-01 6.09030718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.56, Y:1.42, Z:0.06 [[ 9.99991772e-01 -3.88938320e-03 -1.15239439e-03 1.67563677e+02] [ 3.88933887e-03 9.99992436e-01 -4.07047477e-05 1.42019892e+00] [ 1.15254399e-03 3.62223605e-05 9.99999335e-01 6.15295032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:1.42, Z:0.06 [[ 9.99982315e-01 -5.83447641e-03 -1.15239181e-03 1.67593333e+02] [ 5.83443329e-03 9.99982979e-01 -4.07777096e-05 1.42451359e+00] [ 1.15261011e-03 3.40534353e-05 9.99999335e-01 6.17633668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.082320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.62, Y:1.43, Z:0.07 [[ 9.99962737e-01 -8.55552870e-03 -1.15239051e-03 1.67623368e+02] [ 8.55548734e-03 9.99963400e-01 -4.08143570e-05 1.42996718e+00] [ 1.15269753e-03 3.09535736e-05 9.99999335e-01 7.45940164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:1.43, Z:0.06 [[ 9.99949174e-01 -1.00160738e-02 -1.15266872e-03 1.67653006e+02] [ 1.00160425e-02 9.99949838e-01 -3.29574550e-05 1.43207089e+00] [ 1.15294101e-03 2.14106009e-05 9.99999335e-01 5.99718000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.142320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:167.68, Y:1.44, Z:0.07 [[ 9.99886729e-01 -1.50067152e-02 -1.15238883e-03 1.67682124e+02] [ 1.50066781e-02 9.99887393e-01 -4.08527079e-05 1.43655916e+00] [ 1.15287213e-03 2.35545522e-05 9.99999335e-01 7.16440285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:1.44, Z:0.06 [[ 9.99839187e-01 -1.78961390e-02 -1.15252767e-03 1.67711683e+02] [ 1.78961083e-02 9.99839851e-01 -3.69573783e-05 1.44076934e+00] [ 1.15300449e-03 1.63256751e-05 9.99999335e-01 6.29195481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.202320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.74, Y:1.44, Z:0.08 [[ 9.99794511e-01 -2.02387453e-02 -1.15237820e-03 1.67742075e+02] [ 2.02387114e-02 9.99795175e-01 -4.11437484e-05 1.44438692e+00] [ 1.15297486e-03 1.78126441e-05 9.99999335e-01 7.58379276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.232320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.77, Y:1.45, Z:0.08 [[ 9.99776015e-01 -2.11326978e-02 -1.15241753e-03 1.67772297e+02] [ 2.11326656e-02 9.99776679e-01 -4.00352347e-05 1.44832208e+00] [ 1.15300623e-03 1.56726131e-05 9.99999335e-01 7.56278615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.80, Y:1.45, Z:0.07 [[ 9.99757782e-01 -2.19783854e-02 -1.15234589e-03 1.67802235e+02] [ 2.19783515e-02 9.99758446e-01 -4.20666379e-05 1.45365051e+00] [ 1.15299209e-03 1.67297856e-05 9.99999335e-01 7.24577494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.292320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:167.83, Y:1.46, Z:0.08 [[ 9.99732194e-01 -2.31130545e-02 -1.15231138e-03 1.67832475e+02] [ 2.31130203e-02 9.99732858e-01 -4.30497091e-05 1.45594121e+00] [ 1.15299855e-03 1.64047840e-05 9.99999335e-01 7.71656049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:1.46, Z:0.06 [[ 9.99804799e-01 -1.97240058e-02 -1.15218269e-03 1.67863822e+02] [ 1.97239650e-02 9.99805463e-01 -4.67391146e-05 1.46165454e+00] [ 1.15288043e-03 2.40043800e-05 9.99999335e-01 6.23597400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.89, Y:1.47, Z:0.07 [[ 9.99777786e-01 -2.10487820e-02 -1.15241841e-03 1.67893386e+02] [ 2.10487499e-02 9.99778450e-01 -3.99374755e-05 1.46826542e+00] [ 1.15300372e-03 1.56716340e-05 9.99999335e-01 7.30635194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.92, Y:1.47, Z:0.07 [[ 9.99776879e-01 -2.10917942e-02 -1.15246810e-03 1.67923700e+02] [ 2.10917638e-02 9.99777543e-01 -3.84961822e-05 1.47028779e+00] [ 1.15302368e-03 1.41800079e-05 9.99999335e-01 7.35932922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.95, Y:1.47, Z:0.07 [[ 9.99769631e-01 -2.14326317e-02 -1.15247694e-03 1.67953444e+02] [ 2.14326019e-02 9.99770295e-01 -3.82401161e-05 1.47281672e+00] [ 1.15303180e-03 1.35307273e-05 9.99999335e-01 7.49325147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.98, Y:1.48, Z:0.08 [[ 9.99783065e-01 -2.07965405e-02 -1.15228912e-03 1.67984523e+02] [ 2.07965039e-02 9.99783728e-01 -4.37272674e-05 1.47649441e+00] [ 1.15294928e-03 1.97541963e-05 9.99999335e-01 7.61430983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.02, Y:1.49, Z:0.07 [[ 9.99840649e-01 -1.78142989e-02 -1.15232941e-03 1.68015318e+02] [ 1.78142617e-02 9.99841313e-01 -4.25428014e-05 1.48575261e+00] [ 1.15290442e-03 2.20081245e-05 9.99999335e-01 7.19177939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:1.49, Z:0.06 [[ 9.99877476e-01 -1.56110530e-02 -1.15243843e-03 1.68046111e+02] [ 1.56110181e-02 9.99878140e-01 -3.93240727e-05 1.48955269e+00] [ 1.15291188e-03 2.13285174e-05 9.99999335e-01 6.11073598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.532320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:168.08, Y:1.49, Z:0.07 [[ 9.99845724e-01 -1.75271243e-02 -1.15244830e-03 1.68076114e+02] [ 1.75270909e-02 9.99846388e-01 -3.90325219e-05 1.49172596e+00] [ 1.15295540e-03 1.88274339e-05 9.99999335e-01 7.23153996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:168.11, Y:1.49, Z:0.07 [[ 9.99846606e-01 -1.74767389e-02 -1.15242949e-03 1.68106933e+02] [ 1.74767049e-02 9.99847270e-01 -3.95886405e-05 1.49276590e+00] [ 1.15294536e-03 1.94418977e-05 9.99999335e-01 7.23509935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:1.49, Z:0.08 [[ 9.99797812e-01 -2.00750282e-02 -1.15243157e-03 1.68136803e+02] [ 2.00749959e-02 9.99798476e-01 -3.95270475e-05 1.49403228e+00] [ 1.15299284e-03 1.63839965e-05 9.99999335e-01 7.57699399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:168.17, Y:1.50, Z:0.07 [[ 9.99772985e-01 -2.12756001e-02 -1.15218192e-03 1.68167308e+02] [ 2.12755601e-02 9.99773649e-01 -4.70125266e-05 1.49919180e+00] [ 1.15292134e-03 2.24885384e-05 9.99999335e-01 7.46751810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:1.50, Z:0.07 [[ 9.99779669e-01 -2.09591361e-02 -1.15230752e-03 1.68198873e+02] [ 2.09591002e-02 9.99780333e-01 -4.32262253e-05 1.50355920e+00] [ 1.15296038e-03 1.90653724e-05 9.99999335e-01 7.17426463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.682320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:168.23, Y:1.51, Z:0.07 [[ 9.99772553e-01 -2.12958590e-02 -1.15234533e-03 1.68229474e+02] [ 2.12958246e-02 9.99773217e-01 -4.20711741e-05 1.51265678e+00] [ 1.15297994e-03 1.75214610e-05 9.99999335e-01 7.28376734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:1.52, Z:0.06 [[ 9.99806489e-01 -1.96381321e-02 -1.15229481e-03 1.68261449e+02] [ 1.96380948e-02 9.99807153e-01 -4.36354210e-05 1.51764001e+00] [ 1.15292951e-03 2.09981024e-05 9.99999335e-01 6.16236645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.29, Y:1.52, Z:0.06 [[ 9.99807304e-01 -1.95965892e-02 -1.15250977e-03 1.68292477e+02] [ 1.95965597e-02 9.99807968e-01 -3.69263270e-05 1.52017447e+00] [ 1.15301208e-03 1.43339850e-05 9.99999335e-01 6.25887401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77232058799999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:168.32, Y:1.52, Z:0.08 [[ 9.99734883e-01 -2.29964189e-02 -1.15251219e-03 1.68322759e+02] [ 2.29963917e-02 9.99735547e-01 -3.68506602e-05 1.51936570e+00] [ 1.15305483e-03 1.03372688e-05 9.99999335e-01 7.60692419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:1.53, Z:0.06 [[ 9.99718334e-01 -2.37049441e-02 -1.15229292e-03 1.68354261e+02] [ 2.37049095e-02 9.99718998e-01 -4.37054738e-05 1.52539435e+00] [ 1.15300516e-03 1.63781640e-05 9.99999335e-01 6.39628320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.832320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:168.39, Y:1.53, Z:0.08 [[ 9.99656540e-01 -2.61815345e-02 -1.15251817e-03 1.68385012e+02] [ 2.61815096e-02 9.99657205e-01 -3.66156403e-05 1.53078970e+00] [ 1.15308174e-03 6.42839880e-06 9.99999335e-01 7.52606392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.42, Y:1.54, Z:0.07 [[ 9.99614084e-01 -2.77552765e-02 -1.15234080e-03 1.68417459e+02] [ 2.77552462e-02 9.99614748e-01 -4.22633806e-05 1.53634104e+00] [ 1.15306989e-03 1.02635679e-05 9.99999335e-01 7.19361773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.45, Y:1.54, Z:0.08 [[ 9.99555662e-01 -2.97850705e-02 -1.15256074e-03 1.68449023e+02] [ 2.97850497e-02 9.99556326e-01 -3.52123080e-05 1.53836498e+00] [ 1.15309818e-03 8.67582814e-07 9.99999335e-01 7.51204333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.48, Y:1.54, Z:0.06 [[ 9.99520882e-01 -3.09302174e-02 -1.15244607e-03 1.68481598e+02] [ 3.09301931e-02 9.99521546e-01 -3.89096010e-05 1.54298115e+00] [ 1.15309816e-03 3.24557918e-06 9.99999335e-01 6.41300887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.51, Y:1.55, Z:0.07 [[ 9.99468297e-01 -3.25851922e-02 -1.15255157e-03 1.68513667e+02] [ 3.25851729e-02 9.99468962e-01 -3.54829052e-05 1.54528204e+00] [ 1.15309574e-03 -2.09205332e-06 9.99999335e-01 6.54751808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.982320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:168.55, Y:1.54, Z:0.08 [[ 9.99233673e-01 -3.91246445e-02 -1.15256728e-03 1.68545062e+02] [ 3.91246302e-02 9.99234338e-01 -3.49649611e-05 1.54475807e+00] [ 1.15305280e-03 -1.01556021e-05 9.99999335e-01 7.57919739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.58, Y:1.54, Z:0.06 [[ 9.99122377e-01 -4.18706106e-02 -1.15243493e-03 1.68577343e+02] [ 4.18705931e-02 9.99123041e-01 -3.93553607e-05 1.54498429e+00] [ 1.15307212e-03 -8.93231232e-06 9.99999335e-01 6.06771303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.042320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:168.61, Y:1.54, Z:0.07 [[ 9.98925560e-01 -4.63292185e-02 -1.15258618e-03 1.68607411e+02] [ 4.63292098e-02 9.98926225e-01 -3.42680230e-05 1.54449833e+00] [ 1.15293617e-03 -1.91672030e-05 9.99999335e-01 7.23130470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:1.54, Z:0.06 [[ 9.98880157e-01 -4.72980427e-02 -1.15240883e-03 1.68639485e+02] [ 4.72980278e-02 9.98880821e-01 -4.02166253e-05 1.54296194e+00] [ 1.15302125e-03 -1.43350760e-05 9.99999335e-01 6.26403806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.67, Y:1.54, Z:0.06 [[ 9.98904207e-01 -4.67873542e-02 -1.15259189e-03 1.68672455e+02] [ 4.67873461e-02 9.98904872e-01 -3.40133706e-05 1.54292633e+00] [ 1.15292105e-03 -1.99506168e-05 9.99999335e-01 6.37940892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.132320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.70, Y:1.54, Z:0.08 [[ 9.98956187e-01 -4.56640679e-02 -1.15260852e-03 1.68703723e+02] [ 4.56640597e-02 9.98956852e-01 -3.34403811e-05 1.54247907e+00] [ 1.15293320e-03 -1.92273085e-05 9.99999335e-01 7.57147577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.162320588 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:168.74, Y:1.53, Z:0.07 [[ 9.98917005e-01 -4.65133222e-02 -1.15265981e-03 1.68735626e+02] [ 4.65133167e-02 9.98917669e-01 -3.16567112e-05 1.53491894e+00] [ 1.15288471e-03 -2.19916035e-05 9.99999335e-01 7.29066334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:1.53, Z:0.06 [[ 9.98887170e-01 -4.71496779e-02 -1.15260341e-03 1.68767486e+02] [ 4.71496704e-02 9.98887835e-01 -3.36382772e-05 1.53124953e+00] [ 1.15290756e-03 -2.07440276e-05 9.99999335e-01 6.12354540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:1.53, Z:0.06 [[ 9.98946588e-01 -4.58735781e-02 -1.15263267e-03 1.68800896e+02] [ 4.58735710e-02 9.98947253e-01 -3.26039956e-05 1.53028292e+00] [ 1.15291490e-03 -2.03057264e-05 9.99999335e-01 6.20499188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:1.53, Z:0.07 [[ 9.99049275e-01 -4.35800122e-02 -1.15264861e-03 1.68833240e+02] [ 4.35800043e-02 9.99049940e-01 -3.20303719e-05 1.53410249e+00] [ 1.15294941e-03 -1.82325115e-05 9.99999335e-01 6.52421032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.87, Y:1.54, Z:0.07 [[ 9.99132684e-01 -4.16239205e-02 -1.15266239e-03 1.68865074e+02] [ 4.16239118e-02 9.99133349e-01 -3.15263896e-05 1.53623413e+00] [ 1.15297569e-03 -1.64792716e-05 9.99999335e-01 6.57287907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.89, Y:1.54, Z:0.08 [[ 9.99173620e-01 -4.06293976e-02 -1.15267608e-03 1.68893874e+02] [ 4.06293889e-02 9.99174285e-01 -3.10179584e-05 1.53602028e+00] [ 1.15298454e-03 -1.58401988e-05 9.99999335e-01 7.96550637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.93, Y:1.54, Z:0.06 [[ 9.99330154e-01 -3.65775336e-02 -1.15235265e-03 1.68926616e+02] [ 3.65775081e-02 9.99330818e-01 -4.31987670e-05 1.53564824e+00] [ 1.15316162e-03 1.01964208e-06 9.99999335e-01 6.27734729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.372320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:168.96, Y:1.53, Z:0.08 [[ 9.99272103e-01 -3.81304944e-02 -1.15269475e-03 1.68955559e+02] [ 3.81304851e-02 9.99272768e-01 -3.00962149e-05 1.53449978e+00] [ 1.15300406e-03 -1.38785020e-05 9.99999335e-01 7.50623070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:1.53, Z:0.06 [[ 9.99326157e-01 -3.66865629e-02 -1.15241943e-03 1.68988130e+02] [ 3.66865404e-02 9.99326821e-01 -4.06105363e-05 1.53342768e+00] [ 1.15313350e-03 -1.69511074e-06 9.99999335e-01 6.25067325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:1.53, Z:0.06 [[ 9.99222670e-01 -3.94046658e-02 -1.15270351e-03 1.69020698e+02] [ 3.94046579e-02 9.99223334e-01 -2.95161247e-05 1.53141516e+00] [ 1.15297132e-03 -1.59287065e-05 9.99999335e-01 6.16998190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.462320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.05, Y:1.53, Z:0.08 [[ 9.99109135e-01 -4.21854022e-02 -1.15271627e-03 1.69049963e+02] [ 4.21853968e-02 9.99109799e-01 -2.90088966e-05 1.53183572e+00] [ 1.15291388e-03 -1.96447398e-05 9.99999335e-01 7.55150530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.08, Y:1.53, Z:0.08 [[ 9.99063923e-01 -4.32429156e-02 -1.15254478e-03 1.69081177e+02] [ 4.32429030e-02 9.99064588e-01 -3.58476847e-05 1.52829179e+00] [ 1.15301683e-03 -1.40252535e-05 9.99999335e-01 7.65725834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.11, Y:1.52, Z:0.07 [[ 9.99005686e-01 -4.45680425e-02 -1.15259446e-03 1.69112018e+02] [ 4.45680331e-02 9.99006351e-01 -3.38404459e-05 1.52411353e+00] [ 1.15295738e-03 -1.75620699e-05 9.99999335e-01 7.39092322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.552320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:169.14, Y:1.52, Z:0.08 [[ 9.98898310e-01 -4.69130881e-02 -1.15250047e-03 1.69143807e+02] [ 4.69130759e-02 9.98898975e-01 -3.76765983e-05 1.51500448e+00] [ 1.15299907e-03 -1.64322519e-05 9.99999335e-01 7.59488302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.582320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:169.18, Y:1.51, Z:0.07 [[ 9.98848794e-01 -4.79557885e-02 -1.15250393e-03 1.69175962e+02] [ 4.79557771e-02 9.98849459e-01 -3.75320979e-05 1.51290873e+00] [ 1.15297781e-03 -1.77803310e-05 9.99999335e-01 7.18393843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.21, Y:1.51, Z:0.06 [[ 9.98847567e-01 -4.79813499e-02 -1.15260597e-03 1.69207666e+02] [ 4.79813435e-02 9.98848232e-01 -3.31779779e-05 1.50505623e+00] [ 1.15287036e-03 -2.21638405e-05 9.99999335e-01 5.92194946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:1.50, Z:0.06 [[ 9.98877132e-01 -4.73618723e-02 -1.15275268e-03 1.69238694e+02] [ 4.73618728e-02 9.98877796e-01 -2.68884821e-05 1.50081529e+00] [ 1.15273254e-03 -2.77382357e-05 9.99999335e-01 5.96080005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:1.49, Z:0.06 [[ 9.98991853e-01 -4.48770356e-02 -1.15275433e-03 1.69270455e+02] [ 4.48770345e-02 9.98992518e-01 -2.68174200e-05 1.49499708e+00] [ 1.15279644e-03 -2.49418117e-05 9.99999335e-01 5.80429539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.30, Y:1.49, Z:0.08 [[ 9.99166873e-01 -4.07949802e-02 -1.15275598e-03 1.69301154e+02] [ 4.07949765e-02 9.99167538e-01 -2.67463701e-05 1.48975165e+00] [ 1.15288747e-03 -2.03025659e-05 9.99999335e-01 7.50030834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:1.49, Z:0.06 [[ 9.99269808e-01 -3.81905937e-02 -1.15265131e-03 1.69332647e+02] [ 3.81905830e-02 9.99270473e-01 -3.12912236e-05 1.48641295e+00] [ 1.15300545e-03 -1.27520504e-05 9.99999335e-01 6.02710705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:1.48, Z:0.07 [[ 9.99377877e-01 -3.52495535e-02 -1.15276695e-03 1.69363106e+02] [ 3.52495467e-02 9.99378541e-01 -2.62040009e-05 1.48255377e+00] [ 1.15297423e-03 -1.44468136e-05 9.99999335e-01 7.16632597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.792320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:169.39, Y:1.48, Z:0.07 [[ 9.99457533e-01 -3.29136755e-02 -1.15269052e-03 1.69393882e+02] [ 3.29136633e-02 9.99458198e-01 -2.95777074e-05 1.48305483e+00] [ 1.15303950e-03 -8.37760518e-06 9.99999335e-01 7.29447274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:1.48, Z:0.06 [[ 9.99603135e-01 -2.81468160e-02 -1.15276725e-03 1.69424407e+02] [ 2.81468046e-02 9.99603800e-01 -2.61789344e-05 1.48156430e+00] [ 1.15304738e-03 -6.27816958e-06 9.99999335e-01 5.76949912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.45, Y:1.48, Z:0.07 [[ 9.99639583e-01 -2.68211682e-02 -1.15277103e-03 1.69454180e+02] [ 2.68211560e-02 9.99640248e-01 -2.60113701e-05 1.48060693e+00] [ 1.15305397e-03 -4.91665644e-06 9.99999335e-01 7.30569988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.48, Y:1.48, Z:0.07 [[ 9.99752608e-01 -2.22124580e-02 -1.15267659e-03 1.69483857e+02] [ 2.22124380e-02 9.99753273e-01 -3.02041346e-05 1.47997188e+00] [ 1.15306311e-03 4.59290507e-06 9.99999335e-01 7.21242129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.51, Y:1.48, Z:0.06 [[ 9.99814461e-01 -1.92279850e-02 -1.15272800e-03 1.69514443e+02] [ 1.92279656e-02 9.99815125e-01 -2.79058906e-05 1.48136916e+00] [ 1.15305147e-03 5.73609857e-06 9.99999335e-01 6.08198008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:1.48, Z:0.06 [[ 9.99870849e-01 -1.60298877e-02 -1.15277970e-03 1.69544086e+02] [ 1.60298688e-02 9.99871513e-01 -2.55760334e-05 1.48117580e+00] [ 1.15304156e-03 7.09382294e-06 9.99999335e-01 5.75186435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.57, Y:1.48, Z:0.07 [[ 9.99878707e-01 -1.55319789e-02 -1.15277801e-03 1.69573704e+02] [ 1.55319596e-02 9.99879372e-01 -2.56515777e-05 1.48057340e+00] [ 1.15303738e-03 7.74356474e-06 9.99999335e-01 6.79435387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.60, Y:1.48, Z:0.07 [[ 9.99916708e-01 -1.28548745e-02 -1.15277836e-03 1.69604511e+02] [ 1.28548535e-02 9.99917373e-01 -2.56360398e-05 1.48180234e+00] [ 1.15301266e-03 1.08151075e-05 9.99999335e-01 7.11548188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.63, Y:1.48, Z:0.07 [[ 9.99939391e-01 -1.09492061e-02 -1.15284152e-03 1.69634196e+02] [ 1.09491871e-02 9.99940056e-01 -2.28000910e-05 1.48393424e+00] [ 1.15302206e-03 1.01760316e-05 9.99999335e-01 7.20527076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:1.48, Z:0.07 [[ 9.99938635e-01 -1.10180650e-02 -1.15289925e-03 1.69663385e+02] [ 1.10180490e-02 9.99939299e-01 -2.02155516e-05 1.48487262e+00] [ 1.15305201e-03 7.51161057e-06 9.99999335e-01 7.28533536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:1.48, Z:0.07 [[ 9.99951998e-01 -9.72994945e-03 -1.15284706e-03 1.69693518e+02] [ 9.72992991e-03 9.99952663e-01 -2.25544968e-05 1.48179738e+00] [ 1.15301194e-03 1.13362930e-05 9.99999335e-01 7.20374874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:1.48, Z:0.07 [[ 9.99959898e-01 -8.88105711e-03 -1.15284214e-03 1.69723078e+02] [ 8.88103675e-03 9.99960563e-01 -2.27737018e-05 1.48214803e+00] [ 1.15299893e-03 1.25343552e-05 9.99999335e-01 7.32335103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.75, Y:1.48, Z:0.07 [[ 9.99962054e-01 -8.63491938e-03 -1.15290251e-03 1.69752437e+02] [ 8.63490194e-03 9.99962718e-01 -2.01025750e-05 1.48460407e+00] [ 1.15303311e-03 1.01466121e-05 9.99999335e-01 7.42334634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:1.49, Z:0.06 [[ 9.99973069e-01 -7.24793624e-03 -1.15291295e-03 1.69781959e+02] [ 7.24791840e-03 9.99973733e-01 -1.96474123e-05 1.48648922e+00] [ 1.15302507e-03 1.12906642e-05 9.99999335e-01 6.06521830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.212320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.81, Y:1.49, Z:0.07 [[ 9.99993592e-01 -3.38939496e-03 -1.15275149e-03 1.69813078e+02] [ 3.38936650e-03 9.99994256e-01 -2.66350889e-05 1.49060384e+00] [ 1.15283515e-03 2.27278209e-05 9.99999335e-01 7.18908207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:1.50, Z:0.06 [[ 9.99999068e-01 7.30522052e-04 -1.15297111e-03 1.69842436e+02] [-7.30542463e-04 9.99999733e-01 -1.72815830e-05 1.49715229e+00] [ 1.15295818e-03 1.81238613e-05 9.99999335e-01 6.07595120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:1.50, Z:0.06 [[ 9.99997087e-01 2.12049318e-03 -1.15273129e-03 1.69872475e+02] [-2.12052615e-03 9.99997751e-01 -2.73786813e-05 1.50003434e+00] [ 1.15267064e-03 2.98229984e-05 9.99999335e-01 6.08893737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:1.50, Z:0.06 [[ 9.99994803e-01 3.01090137e-03 -1.15272953e-03 1.69902432e+02] [-3.01093502e-03 9.99995467e-01 -2.74529214e-05 1.50146917e+00] [ 1.15264164e-03 3.09235725e-05 9.99999335e-01 6.30872822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:1.50, Z:0.06 [[ 9.99996081e-01 2.55136618e-03 -1.15272774e-03 1.69932139e+02] [-2.55139960e-03 9.99996745e-01 -2.75278419e-05 1.50340950e+00] [ 1.15265375e-03 3.04688031e-05 9.99999335e-01 6.31665110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.96, Y:1.51, Z:0.08 [[ 9.99997056e-01 2.13505636e-03 -1.15272594e-03 1.69962100e+02] [-2.13508959e-03 9.99997720e-01 -2.76028772e-05 1.50732465e+00] [ 1.15266438e-03 3.00639691e-05 9.99999335e-01 7.60965967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:1.52, Z:0.06 [[ 9.99998766e-01 1.06726010e-03 -1.15287654e-03 1.69990515e+02] [-1.06728554e-03 9.99999430e-01 -2.14502858e-05 1.51619081e+00] [ 1.15285299e-03 2.26807078e-05 9.99999335e-01 6.20574277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:1.52, Z:0.06 [[ 9.99999276e-01 -3.45893019e-04 -1.15270382e-03 1.70019429e+02] [ 3.45860456e-04 9.99999940e-01 -2.84486841e-05 1.51909162e+00] [ 1.15271359e-03 2.80499889e-05 9.99999335e-01 6.11358584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:1.52, Z:0.06 [[ 9.99999251e-01 -4.11755158e-04 -1.15270105e-03 1.70049576e+02] [ 4.11722509e-04 9.99999915e-01 -2.85607659e-05 1.51982514e+00] [ 1.15271271e-03 2.80861515e-05 9.99999335e-01 6.11706342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.08, Y:1.52, Z:0.07 [[ 9.99978490e-01 -6.45690797e-03 -1.15269916e-03 1.70078950e+02] [ 6.45687925e-03 9.99979154e-01 -2.86366851e-05 1.51982740e+00] [ 1.15286003e-03 2.11932298e-05 9.99999335e-01 7.06430923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:1.52, Z:0.07 [[ 9.99963055e-01 -8.51814920e-03 -1.15273864e-03 1.70108687e+02] [ 8.51812368e-03 9.99963720e-01 -2.70427188e-05 1.51921928e+00] [ 1.15292718e-03 1.72225494e-05 9.99999335e-01 7.23456230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:1.52, Z:0.07 [[ 9.99925875e-01 -1.21208492e-02 -1.15279341e-03 1.70138072e+02] [ 1.21208286e-02 9.99926540e-01 -2.48353567e-05 1.52019441e+00] [ 1.15300975e-03 1.08607044e-05 9.99999335e-01 7.42783967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.572320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:170.17, Y:1.52, Z:0.08 [[ 9.99897857e-01 -1.42459748e-02 -1.15270476e-03 1.70167859e+02] [ 1.42459516e-02 9.99898521e-01 -2.83885991e-05 1.52250076e+00] [ 1.15299221e-03 1.19643232e-05 9.99999335e-01 7.52518578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.20, Y:1.53, Z:0.07 [[ 9.99876076e-01 -1.57004265e-02 -1.15273228e-03 1.70198410e+02] [ 1.57004055e-02 9.99876741e-01 -2.72785640e-05 1.52529589e+00] [ 1.15301848e-03 9.17681934e-06 9.99999335e-01 7.32981189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.23, Y:1.53, Z:0.07 [[ 9.99832398e-01 -1.82714661e-02 -1.15271623e-03 1.70229054e+02] [ 1.82714461e-02 9.99833063e-01 -2.79260315e-05 1.52595442e+00] [ 1.15303405e-03 6.85955863e-06 9.99999335e-01 7.25060308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:1.52, Z:0.07 [[ 9.99831749e-01 -1.83069484e-02 -1.15269546e-03 1.70259085e+02] [ 1.83069274e-02 9.99832414e-01 -2.87678449e-05 1.52371619e+00] [ 1.15302894e-03 7.66069248e-06 9.99999335e-01 7.15104164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:1.52, Z:0.06 [[ 9.99852747e-01 -1.71217570e-02 -1.15276461e-03 1.70289603e+02] [ 1.71217385e-02 9.99853412e-01 -2.59597165e-05 1.52148693e+00] [ 1.15304011e-03 6.21855963e-06 9.99999335e-01 6.12743161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.32, Y:1.52, Z:0.08 [[ 9.99845601e-01 -1.75341218e-02 -1.15270966e-03 1.70319714e+02] [ 1.75341009e-02 9.99846265e-01 -2.82056273e-05 1.52336475e+00] [ 1.15302701e-03 7.98954493e-06 9.99999335e-01 7.63883970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:1.52, Z:0.06 [[ 9.99837949e-01 -1.79651328e-02 -1.15275455e-03 1.70350593e+02] [ 1.79651144e-02 9.99838614e-01 -2.63611097e-05 1.52313659e+00] [ 1.15304209e-03 5.64747062e-06 9.99999335e-01 6.08292974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:1.52, Z:0.07 [[ 9.99844766e-01 -1.75816926e-02 -1.15271743e-03 1.70381734e+02] [ 1.75816721e-02 9.99845430e-01 -2.78950243e-05 1.52182893e+00] [ 1.15302969e-03 7.62399415e-06 9.99999335e-01 7.38605962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:1.52, Z:0.06 [[ 9.99840224e-01 -1.78380758e-02 -1.15283818e-03 1.70412157e+02] [ 1.78380613e-02 9.99840889e-01 -2.28989192e-05 1.52052400e+00] [ 1.15306322e-03 2.33086246e-06 9.99999335e-01 5.99722363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:1.52, Z:0.06 [[ 9.99847255e-01 -1.74395222e-02 -1.15271943e-03 1.70441712e+02] [ 1.74395017e-02 9.99847920e-01 -2.78193444e-05 1.52128417e+00] [ 1.15302928e-03 7.71224272e-06 9.99999335e-01 6.05896539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:1.52, Z:0.07 [[ 9.99834002e-01 -1.81835051e-02 -1.15271760e-03 1.70471144e+02] [ 1.81834850e-02 9.99834666e-01 -2.78950157e-05 1.52035878e+00] [ 1.15303424e-03 6.92996201e-06 9.99999335e-01 7.16908878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:170.50, Y:1.52, Z:0.07 [[ 9.99859926e-01 -1.66972947e-02 -1.15264074e-03 1.70501949e+02] [ 1.66972700e-02 9.99860590e-01 -3.10635971e-05 1.51954989e+00] [ 1.15299873e-03 1.18132923e-05 9.99999335e-01 7.35111943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:1.52, Z:0.07 [[ 9.99888789e-01 -1.48687776e-02 -1.15275835e-03 1.70532046e+02] [ 1.48687573e-02 9.99889454e-01 -2.62188735e-05 1.51547206e+00] [ 1.15302076e-03 9.07587346e-06 9.99999335e-01 7.22194964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:1.52, Z:0.07 [[ 9.99927698e-01 -1.19695142e-02 -1.15274969e-03 1.70561929e+02] [ 1.19694915e-02 9.99928363e-01 -2.65748571e-05 1.51511505e+00] [ 1.15298520e-03 1.27751081e-05 9.99999335e-01 7.24025150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:1.52, Z:0.07 [[ 9.99947185e-01 -1.02126595e-02 -1.15284585e-03 1.70591916e+02] [ 1.02126401e-02 9.99947849e-01 -2.26590356e-05 1.51661617e+00] [ 1.15301714e-03 1.08842390e-05 9.99999335e-01 7.26261460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.62, Y:1.52, Z:0.07 [[ 9.99969083e-01 -7.77845917e-03 -1.15284673e-03 1.70621813e+02] [ 7.77843825e-03 9.99969747e-01 -2.26235828e-05 1.52218391e+00] [ 1.15298783e-03 1.36555362e-05 9.99999335e-01 7.16397852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:1.52, Z:0.07 [[ 9.99984470e-01 -5.45267283e-03 -1.15283258e-03 1.70651255e+02] [ 5.45264972e-03 9.99985134e-01 -2.31908927e-05 1.52386520e+00] [ 1.15294189e-03 1.69045403e-05 9.99999335e-01 7.14504255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.68, Y:1.52, Z:0.06 [[ 9.99994817e-01 -3.00608627e-03 -1.15284000e-03 1.70680856e+02] [ 3.00606187e-03 9.99995482e-01 -2.28965201e-05 1.52376719e+00] [ 1.15290362e-03 1.94308931e-05 9.99999335e-01 5.90991720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.71, Y:1.53, Z:0.06 [[ 9.99997383e-01 -1.97616529e-03 -1.15267647e-03 1.70710786e+02] [ 1.97613280e-03 9.99998047e-01 -2.93247039e-05 1.52523681e+00] [ 1.15273216e-03 2.70467854e-05 9.99999335e-01 5.95520460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:1.53, Z:0.06 [[ 9.99991891e-01 -3.85862763e-03 -1.15267456e-03 1.70740399e+02] [ 3.85859630e-03 9.99992555e-01 -2.93993213e-05 1.52961971e+00] [ 1.15277942e-03 2.49513771e-05 9.99999335e-01 5.96635485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:1.53, Z:0.06 [[ 9.99989685e-01 -4.39330842e-03 -1.15267265e-03 1.70769737e+02] [ 4.39327737e-03 9.99990349e-01 -2.94741098e-05 1.53171723e+00] [ 1.15279101e-03 2.44097951e-05 9.99999335e-01 5.82148073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:1.53, Z:0.07 [[ 9.99983499e-01 -5.62779926e-03 -1.15267071e-03 1.70799953e+02] [ 5.62776893e-03 9.99984164e-01 -2.95497053e-05 1.53366060e+00] [ 1.15281876e-03 2.30622533e-05 9.99999335e-01 7.01269387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.83, Y:1.54, Z:0.07 [[ 9.99982600e-01 -5.78540286e-03 -1.15290083e-03 1.70829599e+02] [ 5.78538296e-03 9.99983264e-01 -2.05880810e-05 1.53656707e+00] [ 1.15300065e-03 1.39177500e-05 9.99999335e-01 7.17152389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.86, Y:1.54, Z:0.06 [[ 9.99989962e-01 -4.32971932e-03 -1.15292524e-03 1.70858958e+02] [ 4.32969955e-03 9.99990627e-01 -1.96382658e-05 1.54238693e+00] [ 1.15299946e-03 1.46462488e-05 9.99999335e-01 6.00258781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:1.54, Z:0.06 [[ 9.99990391e-01 -4.22959195e-03 -1.15267118e-03 1.70888619e+02] [ 4.22956070e-03 9.99991055e-01 -2.95487589e-05 1.54410956e+00] [ 1.15278585e-03 2.46731822e-05 9.99999335e-01 5.75385626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:1.55, Z:0.06 [[ 9.99987457e-01 -4.87411462e-03 -1.15266925e-03 1.70918050e+02] [ 4.87408371e-03 9.99988121e-01 -2.96239915e-05 1.54570919e+00] [ 1.15279995e-03 2.40054135e-05 9.99999335e-01 5.66853901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:1.55, Z:0.07 [[ 9.99985056e-01 -5.34403058e-03 -1.15266732e-03 1.70947319e+02] [ 5.34399990e-03 9.99985720e-01 -2.96990230e-05 1.54759011e+00] [ 1.15280957e-03 2.35387251e-05 9.99999335e-01 6.80461999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:1.55, Z:0.06 [[ 9.99976833e-01 -6.70848705e-03 -1.15286330e-03 1.70976419e+02] [ 6.70846596e-03 9.99977498e-01 -2.21589998e-05 1.54914687e+00] [ 1.15298601e-03 1.44245422e-05 9.99999335e-01 5.68327013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:171.01, Y:1.55, Z:0.07 [[ 9.99959985e-01 -8.87127271e-03 -1.15265631e-03 1.71006305e+02] [ 8.87124392e-03 9.99960649e-01 -3.00884827e-05 1.55044697e+00] [ 1.15287788e-03 1.98617834e-05 9.99999335e-01 7.10501259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.04, Y:1.55, Z:0.06 [[ 9.99959818e-01 -8.89008317e-03 -1.15268952e-03 1.71036483e+02] [ 8.89005584e-03 9.99960482e-01 -2.88260574e-05 1.55152847e+00] [ 1.15290024e-03 1.85774249e-05 9.99999335e-01 6.06426023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:1.56, Z:0.06 [[ 9.99938808e-01 -1.10023045e-02 -1.15265343e-03 1.71066020e+02] [ 1.10022770e-02 9.99939473e-01 -3.02035015e-05 1.55544035e+00] [ 1.15291597e-03 1.75198410e-05 9.99999335e-01 5.90281569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:1.56, Z:0.06 [[ 9.99926769e-01 -1.20469108e-02 -1.15265142e-03 1.71095209e+02] [ 1.20468839e-02 9.99927433e-01 -3.02798610e-05 1.55698276e+00] [ 1.15293256e-03 1.63917857e-05 9.99999335e-01 5.82639717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.532320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:171.13, Y:1.56, Z:0.07 [[ 9.99908124e-01 -1.35060873e-02 -1.15264943e-03 1.71125219e+02] [ 1.35060613e-02 9.99908789e-01 -3.03557181e-05 1.55721217e+00] [ 1.15295428e-03 1.47851754e-05 9.99999335e-01 7.05156976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:1.56, Z:0.07 [[ 9.99887997e-01 -1.49219552e-02 -1.15272815e-03 1.71155450e+02] [ 1.49219336e-02 9.99888661e-01 -2.73679039e-05 1.55530562e+00] [ 1.15300819e-03 1.01639058e-05 9.99999335e-01 7.01369963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:1.56, Z:0.07 [[ 9.99834533e-01 -1.81542760e-02 -1.15266965e-03 1.71185425e+02] [ 1.81542539e-02 9.99835198e-01 -2.96023475e-05 1.55535829e+00] [ 1.15301710e-03 8.67159177e-06 9.99999335e-01 7.07079378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:1.56, Z:0.07 [[ 9.99866717e-01 -1.62856049e-02 -1.15248381e-03 1.71216622e+02] [ 1.62855733e-02 9.99867381e-01 -3.67538851e-05 1.55696161e+00] [ 1.15292952e-03 1.79801269e-05 9.99999335e-01 7.03677347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:1.56, Z:0.06 [[ 9.99863021e-01 -1.65109546e-02 -1.15264992e-03 1.71247018e+02] [ 1.65109306e-02 9.99863685e-01 -3.03053247e-05 1.55847039e+00] [ 1.15299317e-03 1.12698507e-05 9.99999335e-01 5.88867152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:1.56, Z:0.06 [[ 9.99876131e-01 -1.56969520e-02 -1.15266376e-03 1.71277490e+02] [ 1.56969282e-02 9.99876795e-01 -2.97693773e-05 1.56055470e+00] [ 1.15298904e-03 1.16724096e-05 9.99999335e-01 5.83536086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.31, Y:1.56, Z:0.07 [[ 9.99879711e-01 -1.54672509e-02 -1.15266376e-03 1.71306860e+02] [ 1.54672268e-02 9.99880375e-01 -2.97693773e-05 1.56103594e+00] [ 1.15298633e-03 1.19372845e-05 9.99999335e-01 7.10756611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:1.56, Z:0.07 [[ 9.99904543e-01 -1.37686686e-02 -1.15267932e-03 1.71337294e+02] [ 1.37686441e-02 9.99905207e-01 -2.91696580e-05 1.56143576e+00] [ 1.15297169e-03 1.32960422e-05 9.99999335e-01 6.91802345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:1.56, Z:0.07 [[ 9.99904025e-01 -1.38062374e-02 -1.15263926e-03 1.71367551e+02] [ 1.38062112e-02 9.99904689e-01 -3.07236185e-05 1.56251357e+00] [ 1.15295358e-03 1.48070887e-05 9.99999335e-01 6.96774709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.802320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:171.40, Y:1.56, Z:0.07 [[ 9.99907207e-01 -1.35738408e-02 -1.15259478e-03 1.71398208e+02] [ 1.35738124e-02 9.99907871e-01 -3.24667918e-05 1.56379360e+00] [ 1.15292929e-03 1.68186738e-05 9.99999335e-01 7.22128647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:1.56, Z:0.06 [[ 9.99904358e-01 -1.37821315e-02 -1.15258214e-03 1.71428653e+02] [ 1.37821027e-02 9.99905022e-01 -3.29657814e-05 1.56382110e+00] [ 1.15292701e-03 1.70776231e-05 9.99999335e-01 5.88970481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:1.56, Z:0.06 [[ 9.99887720e-01 -1.49404985e-02 -1.15267891e-03 1.71458690e+02] [ 1.49404748e-02 9.99888384e-01 -2.91375269e-05 1.56413473e+00] [ 1.15298558e-03 1.19126852e-05 9.99999335e-01 5.78824786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:1.56, Z:0.07 [[ 9.99872039e-01 -1.59554632e-02 -1.15267891e-03 1.71488546e+02] [ 1.59554402e-02 9.99872703e-01 -2.91375269e-05 1.56420778e+00] [ 1.15299708e-03 1.07422990e-05 9.99999335e-01 6.92397158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:1.57, Z:0.07 [[ 9.99892713e-01 -1.46025574e-02 -1.15259604e-03 1.71518607e+02] [ 1.46025298e-02 9.99893377e-01 -3.24136322e-05 1.56502086e+00] [ 1.15294647e-03 1.55793367e-05 9.99999335e-01 6.90120940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:1.57, Z:0.07 [[ 9.99948780e-01 -1.00552453e-02 -1.15260107e-03 1.71549107e+02] [ 1.00552149e-02 9.99949445e-01 -3.22147726e-05 1.57232499e+00] [ 1.15286672e-03 2.06234712e-05 9.99999335e-01 7.05494537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:1.58, Z:0.07 [[ 9.99964518e-01 -8.34475354e-03 -1.15265772e-03 1.71578933e+02] [ 8.34472455e-03 9.99965182e-01 -2.99585040e-05 1.57725104e+00] [ 1.15286758e-03 2.03388299e-05 9.99999335e-01 7.07644982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:1.58, Z:0.06 [[ 9.99989210e-01 -4.50011016e-03 -1.15259931e-03 1.71609875e+02] [ 4.50007590e-03 9.99989874e-01 -3.23117456e-05 1.58099192e+00] [ 1.15273305e-03 2.71246126e-05 9.99999335e-01 5.88952615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:1.58, Z:0.06 [[ 9.99999323e-01 -1.56945425e-04 -1.15269276e-03 1.71640044e+02] [ 1.56912635e-04 9.99999987e-01 -2.85370481e-05 1.58192461e+00] [ 1.15269723e-03 2.83561567e-05 9.99999335e-01 5.81201080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:1.59, Z:0.06 [[ 9.99998241e-01 1.47962804e-03 -1.15268868e-03 1.71669175e+02] [-1.47966210e-03 9.99998905e-01 -2.87009149e-05 1.58546706e+00] [ 1.15264496e-03 3.04064541e-05 9.99999335e-01 6.02411964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:1.59, Z:0.07 [[ 9.99995267e-01 2.85244317e-03 -1.15268682e-03 1.71699800e+02] [-2.85247824e-03 9.99995931e-01 -2.87756471e-05 1.59118113e+00] [ 1.15260005e-03 3.20635250e-05 9.99999335e-01 7.06939133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:171.73, Y:1.60, Z:0.07 [[ 9.99994097e-01 3.23690876e-03 -1.15283303e-03 1.71728415e+02] [-3.23693743e-03 9.99994761e-01 -2.29970701e-05 1.59655977e+00] [ 1.15275255e-03 2.67285827e-05 9.99999335e-01 7.11487621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:1.60, Z:0.06 [[ 9.99973775e-01 7.14980942e-03 -1.15266384e-03 1.71758850e+02] [-7.14984831e-03 9.99974439e-01 -2.96209035e-05 1.60428117e+00] [ 1.15242259e-03 3.78614983e-05 9.99999335e-01 5.98257553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:1.61, Z:0.07 [[ 9.99960793e-01 8.77971252e-03 -1.15266870e-03 1.71790371e+02] [-8.77975227e-03 9.99961457e-01 -2.94305760e-05 1.61219569e+00] [ 1.15236588e-03 3.95495677e-05 9.99999335e-01 7.25974514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:171.82, Y:1.62, Z:0.07 [[ 9.99959971e-01 8.87285999e-03 -1.15298750e-03 1.71818916e+02] [-8.87288564e-03 9.99960635e-01 -1.71347191e-05 1.61678806e+00] [ 1.15279008e-03 2.73643595e-05 9.99999335e-01 7.24862296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.252320588 meters Centerline goodness : 0.881687 Centerline is valid? [True, False] Translation: X:171.84, Y:1.62, Z:0.08 [[ 9.99982216e-01 8.45001163e-04 -5.90375441e-03 1.71842261e+02] [-8.38527871e-04 9.99999045e-01 1.09885965e-03 1.61841862e+00] [ 5.90467731e-03 -1.09388964e-03 9.99981969e-01 7.53390514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:171.82, Y:1.64, Z:0.07 [[ 9.99999606e-01 4.78384826e-04 7.47958674e-04 1.71816991e+02] [-4.69870766e-04 9.99935566e-01 -1.13420979e-02 1.63520781e+00] [-7.53336368e-04 1.13417420e-02 9.99935397e-01 7.41598467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.312320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:171.85, Y:1.63, Z:0.08 [[ 9.99998675e-01 -1.58408221e-03 3.76013722e-04 1.71847394e+02] [ 1.58407769e-03 9.99998745e-01 1.23181623e-05 1.62792718e+00] [-3.76032764e-04 -1.17225110e-05 9.99999929e-01 8.23158797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:1.63, Z:0.08 [[ 9.99980397e-01 -6.25005778e-03 3.76103455e-04 1.71877236e+02] [ 6.25005461e-03 9.99980468e-01 9.60637973e-06 1.63362082e+00] [-3.76156150e-04 -7.25552429e-06 9.99999929e-01 8.36614097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:1.63, Z:0.08 [[ 9.99979700e-01 -6.36073576e-03 3.76061589e-04 1.71908045e+02] [ 6.36073213e-03 9.99979770e-01 1.08595399e-05 1.63458905e+00] [-3.76123056e-04 -8.46729245e-06 9.99999929e-01 8.36496843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:1.64, Z:0.07 [[ 9.99964818e-01 -8.37985489e-03 3.76060453e-04 1.71938239e+02] [ 8.37985138e-03 9.99964888e-01 1.08934799e-05 1.63837348e+00] [-3.76138535e-04 -7.74176596e-06 9.99999929e-01 7.40214367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:1.64, Z:0.09 [[ 9.99902721e-01 -1.39429637e-02 3.76005292e-04 1.71969670e+02] [ 1.39429600e-02 9.99902792e-01 1.25465778e-05 1.64188550e+00] [-3.76143678e-04 -7.30273051e-06 9.99999929e-01 8.50015762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:1.64, Z:0.09 [[ 9.99862922e-01 -1.65528053e-02 3.76030877e-04 1.72001461e+02] [ 1.65528021e-02 9.99862993e-01 1.17769038e-05 1.64378958e+00] [-3.76174298e-04 -5.55092478e-06 9.99999929e-01 8.52050115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:1.65, Z:0.09 [[ 9.99835613e-01 -1.81274590e-02 3.76041466e-04 1.72033909e+02] [ 1.81274560e-02 9.99835684e-01 1.14554864e-05 1.64634991e+00] [-3.76187335e-04 -4.63692811e-06 9.99999929e-01 8.53660971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:1.65, Z:0.07 [[ 9.99724910e-01 -2.34512690e-02 3.76051860e-04 1.72065220e+02] [ 2.34512665e-02 9.99724981e-01 1.11376523e-05 1.64922736e+00] [-3.76209631e-04 -2.31569611e-06 9.99999929e-01 7.20059553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.10, Y:1.65, Z:0.07 [[ 9.99601993e-01 -2.82083893e-02 3.76018664e-04 1.72097419e+02] [ 2.82083867e-02 9.99602064e-01 1.21638312e-05 1.64550699e+00] [-3.76212155e-04 -1.55210998e-06 9.99999929e-01 7.11558036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:1.64, Z:0.07 [[ 9.99566472e-01 -2.94402136e-02 3.76024143e-04 1.72130693e+02] [ 2.94402111e-02 9.99566543e-01 1.19920429e-05 1.64400698e+00] [-3.76214201e-04 -9.16613889e-07 9.99999929e-01 7.17478887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.16, Y:1.64, Z:0.08 [[ 9.99520793e-01 -3.09522646e-02 3.76030299e-04 1.72160703e+02] [ 3.09522624e-02 9.99520864e-01 1.17957926e-05 1.64373492e+00] [-3.76215236e-04 -1.51151549e-07 9.99999929e-01 8.38826815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:1.65, Z:0.07 [[ 9.99498065e-01 -3.16776979e-02 3.76017169e-04 1.72192225e+02] [ 3.16776956e-02 9.99498136e-01 1.22160304e-05 1.64544469e+00] [-3.76215435e-04 -2.98541318e-07 9.99999929e-01 7.22000085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:1.65, Z:0.07 [[ 9.99517227e-01 -3.10672225e-02 3.76035088e-04 1.72224135e+02] [ 3.10672204e-02 9.99517297e-01 1.16370005e-05 1.64686508e+00] [-3.76215104e-04 5.09824461e-08 9.99999929e-01 7.28357086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:1.65, Z:0.08 [[ 9.99621912e-01 -2.74934692e-02 3.76040233e-04 1.72255681e+02] [ 2.74934668e-02 9.99621983e-01 1.14682913e-05 1.64573151e+00] [-3.76213387e-04 -1.12530557e-06 9.99999929e-01 8.41160594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:1.65, Z:0.08 [[ 9.99681742e-01 -2.52244490e-02 3.76044255e-04 1.72286481e+02] [ 2.52244465e-02 9.99681813e-01 1.13363332e-05 1.64525829e+00] [-3.76210555e-04 -1.84721718e-06 9.99999929e-01 8.44226035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.32, Y:1.65, Z:0.08 [[ 9.99758966e-01 -2.19514804e-02 3.76047496e-04 1.72319645e+02] [ 2.19514778e-02 9.99759037e-01 1.12298904e-05 1.64652117e+00] [-3.76203395e-04 -2.97238538e-06 9.99999929e-01 8.30869539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:1.65, Z:0.09 [[ 9.99793956e-01 -2.02954131e-02 3.76092077e-04 1.72351742e+02] [ 2.02954109e-02 9.99794027e-01 9.74211209e-06 1.64920467e+00] [-3.76212333e-04 -2.10716155e-06 9.99999929e-01 8.55270751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:1.65, Z:0.09 [[ 9.99831711e-01 -1.83414350e-02 3.76076543e-04 1.72383782e+02] [ 1.83414324e-02 9.99831782e-01 1.02638881e-05 1.65201419e+00] [-3.76201535e-04 -3.36437829e-06 9.99999929e-01 8.71497791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.852320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:172.42, Y:1.66, Z:0.07 [[ 9.99923504e-01 -1.23630576e-02 3.76071459e-04 1.72415899e+02] [ 1.23630545e-02 9.99923574e-01 1.04353329e-05 1.65634027e+00] [-3.76171730e-04 -5.78514264e-06 9.99999929e-01 7.43064980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:1.66, Z:0.07 [[ 9.99951765e-01 -9.81457536e-03 3.76053838e-04 1.72447711e+02] [ 9.81457191e-03 9.99951836e-01 1.10357734e-05 1.65983592e+00] [-3.76144037e-04 -7.34443361e-06 9.99999929e-01 7.21517667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:1.67, Z:0.08 [[ 9.99979660e-01 -6.36695133e-03 3.76058777e-04 1.72478705e+02] [ 6.36694770e-03 9.99979731e-01 1.08648217e-05 1.66626149e+00] [-3.76120331e-04 -8.47025416e-06 9.99999929e-01 8.10090106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:1.67, Z:0.07 [[ 9.99986020e-01 -5.27437975e-03 3.76094103e-04 1.72508744e+02] [ 5.27437650e-03 9.99986090e-01 9.63949268e-06 1.66838499e+00] [-3.76139714e-04 -7.65569602e-06 9.99999929e-01 6.84271063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.54, Y:1.67, Z:0.08 [[ 9.99988509e-01 -4.77924696e-03 3.76058852e-04 1.72538556e+02] [ 4.77924322e-03 9.99988579e-01 1.08601425e-05 1.67157760e+00] [-3.76106461e-04 -9.06274101e-06 9.99999929e-01 8.29104287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:172.57, Y:1.68, Z:0.09 [[ 9.99996794e-01 -2.50405655e-03 3.76023907e-04 1.72570059e+02] [ 2.50405219e-03 9.99996865e-01 1.20702332e-05 1.67599487e+00] [-3.76052952e-04 -1.11286110e-05 9.99999929e-01 8.67413510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:1.69, Z:0.08 [[ 9.99999896e-01 2.58116826e-04 3.76064915e-04 1.72601066e+02] [-2.58120848e-04 9.99999967e-01 1.06464988e-05 1.68543838e+00] [-3.76062154e-04 -1.07435679e-05 9.99999929e-01 8.46410794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:1.69, Z:0.07 [[ 9.99997829e-01 2.04958094e-03 3.76085859e-04 1.72631311e+02] [-2.04958481e-03 9.99997900e-01 9.92400972e-06 1.68991117e+00] [-3.76064729e-04 -1.06948080e-05 9.99999929e-01 7.22571865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:1.69, Z:0.08 [[ 9.99998428e-01 1.73264021e-03 3.76056669e-04 1.72661302e+02] [-1.73264444e-03 9.99998499e-01 1.09284412e-05 1.69400874e+00] [-3.76037170e-04 -1.15799965e-05 9.99999929e-01 8.29211896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:1.70, Z:0.08 [[ 9.99998297e-01 1.80666454e-03 3.76063674e-04 1.72691608e+02] [-1.80666869e-03 9.99998368e-01 1.06884226e-05 1.70069363e+00] [-3.76043750e-04 -1.13678268e-05 9.99999929e-01 8.38268493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.72, Y:1.71, Z:0.08 [[ 9.99998845e-01 1.47237209e-03 3.76060672e-04 1.72721837e+02] [-1.47237626e-03 9.99998916e-01 1.07913319e-05 1.70517948e+00] [-3.76044376e-04 -1.13450223e-05 9.99999929e-01 8.29873628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:1.72, Z:0.07 [[ 9.99999576e-01 8.40516707e-04 3.76069605e-04 1.72752650e+02] [-8.40520710e-04 9.99999647e-01 1.04859940e-05 1.71637070e+00] [-3.76060658e-04 -1.08020839e-05 9.99999929e-01 7.13633652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.78, Y:1.72, Z:0.08 [[ 9.99998585e-01 -1.63960441e-03 3.76056181e-04 1.72782752e+02] [ 1.63960041e-03 9.99998656e-01 1.09471090e-05 1.72255573e+00] [-3.76073625e-04 -1.03305117e-05 9.99999929e-01 8.44062093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:1.73, Z:0.08 [[ 9.99982942e-01 -5.82875913e-03 3.76066346e-04 1.72812973e+02] [ 5.82875556e-03 9.99983013e-01 1.05954431e-05 1.73045982e+00] [-3.76121716e-04 -8.40326352e-06 9.99999929e-01 8.45809424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.84, Y:1.73, Z:0.09 [[ 9.99965208e-01 -8.33311788e-03 3.76037807e-04 1.72844174e+02] [ 8.33311411e-03 9.99965279e-01 1.15841602e-05 1.73302536e+00] [-3.76121283e-04 -8.45019118e-06 9.99999929e-01 8.74094034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:1.74, Z:0.07 [[ 9.99929022e-01 -1.19083600e-02 3.76040901e-04 1.72876446e+02] [ 1.19083565e-02 9.99929093e-01 1.14767057e-05 1.73913414e+00] [-3.76150906e-04 -6.99786196e-06 9.99999929e-01 7.37940414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.332320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:172.91, Y:1.74, Z:0.09 [[ 9.99875476e-01 -1.57763011e-02 3.76062762e-04 1.72907891e+02] [ 1.57762981e-02 9.99875546e-01 1.07090434e-05 1.74327790e+00] [-3.76184909e-04 -4.77483165e-06 9.99999929e-01 8.62181607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:1.75, Z:0.07 [[ 9.99811907e-01 -1.93909523e-02 3.76043925e-04 1.72939737e+02] [ 1.93909494e-02 9.99811978e-01 1.13778861e-05 1.74889904e+00] [-3.76193849e-04 -4.08389733e-06 9.99999929e-01 7.08738698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:1.75, Z:0.07 [[ 9.99786937e-01 -2.06383131e-02 3.76068475e-04 1.72971475e+02] [ 2.06383106e-02 9.99787007e-01 1.04984990e-05 1.75089308e+00] [-3.76205046e-04 -2.73484417e-06 9.99999929e-01 7.00626141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:1.75, Z:0.09 [[ 9.99758144e-01 -2.19889296e-02 3.76072773e-04 1.73002592e+02] [ 2.19889273e-02 9.99758214e-01 1.03421917e-05 1.75412198e+00] [-3.76209258e-04 -2.07025347e-06 9.99999929e-01 8.78914299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:1.76, Z:0.07 [[ 9.99748004e-01 -2.24452025e-02 3.76064369e-04 1.73033649e+02] [ 2.24452001e-02 9.99748075e-01 1.06496518e-05 1.75738164e+00] [-3.76208662e-04 -2.20612809e-06 9.99999929e-01 7.05949082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.482320588 meters Centerline goodness : 0.890386 Centerline is valid? [True, False] Translation: X:173.04, Y:1.77, Z:0.07 [[ 9.99852466e-01 -1.58319754e-02 -6.66297507e-03 1.73040669e+02] [ 1.57207543e-02 9.99741485e-01 -1.64262439e-02 1.77473222e+00] [ 6.92131248e-03 1.63190735e-02 9.99842879e-01 7.45360677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:173.04, Y:1.77, Z:0.07 [[ 9.99909692e-01 -1.16302046e-02 -6.73397862e-03 1.73040789e+02] [ 1.15484467e-02 9.99860642e-01 -1.20552867e-02 1.77363738e+00] [ 6.87324564e-03 1.19764310e-02 9.99904657e-01 7.48769892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:1.76, Z:0.09 [[ 9.99861176e-01 -1.51844421e-02 -6.86006402e-03 1.73071844e+02] [ 1.51843062e-02 9.99884709e-01 -7.18973578e-05 1.76006258e+00] [ 6.86036484e-03 -3.22779359e-05 9.99976467e-01 8.50571469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:1.76, Z:0.07 [[ 9.99773509e-01 -2.01460848e-02 -6.86051879e-03 1.73101571e+02] [ 2.01463633e-02 9.99797041e-01 -2.85233417e-05 1.75910533e+00] [ 6.85970102e-03 -1.09697622e-04 9.99976466e-01 7.02206129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:1.76, Z:0.07 [[ 9.99717241e-01 -2.27678966e-02 -6.86004900e-03 1.73130366e+02] [ 2.27679331e-02 9.99740774e-01 -7.27958202e-05 1.75921637e+00] [ 6.85992810e-03 -8.34138998e-05 9.99976467e-01 7.07937153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:1.76, Z:0.08 [[ 9.99678716e-01 -2.44008979e-02 -6.86003989e-03 1.73160976e+02] [ 2.44009669e-02 9.99702249e-01 -7.36440548e-05 1.76012603e+00] [ 6.85979429e-03 -9.37712123e-05 9.99976467e-01 8.42733193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:1.76, Z:0.09 [[ 9.99616502e-01 -2.68288039e-02 -6.86027657e-03 1.73190100e+02] [ 2.68290818e-02 9.99640034e-01 -5.15447108e-05 1.75785293e+00] [ 6.85918999e-03 -1.32529978e-04 9.99976467e-01 8.67863410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:1.76, Z:0.07 [[ 9.99611949e-01 -2.69980416e-02 -6.85987023e-03 1.73220902e+02] [ 2.69980665e-02 9.99635482e-01 -8.89839041e-05 1.75593382e+00] [ 6.85977207e-03 -9.62538590e-05 9.99976467e-01 7.30457985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:1.75, Z:0.07 [[ 9.99630627e-01 -2.62973394e-02 -6.86003670e-03 1.73250548e+02] [ 2.62974545e-02 9.99654159e-01 -7.34317111e-05 1.75390823e+00] [ 6.85959528e-03 -1.06996916e-04 9.99976467e-01 7.34236447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:1.75, Z:0.07 [[ 9.99713096e-01 -2.29491809e-02 -6.86003220e-03 1.73280490e+02] [ 2.29492143e-02 9.99736629e-01 -7.38498717e-05 1.75261430e+00] [ 6.85992026e-03 -8.36036655e-05 9.99976467e-01 7.19205827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:1.75, Z:0.07 [[ 9.99719803e-01 -2.26551393e-02 -6.86002765e-03 1.73309498e+02] [ 2.26551629e-02 9.99743336e-01 -7.42703652e-05 1.75223231e+00] [ 6.85994953e-03 -8.11654893e-05 9.99976467e-01 7.27226756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:1.75, Z:0.07 [[ 9.99727096e-01 -2.23309828e-02 -6.86001837e-03 1.73338743e+02] [ 2.23309930e-02 9.99750629e-01 -7.51179796e-05 1.74678550e+00] [ 6.85998514e-03 -7.80935427e-05 9.99976467e-01 7.15738228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:1.74, Z:0.07 [[ 9.99737197e-01 -2.18741350e-02 -6.86000892e-03 1.73367257e+02] [ 2.18741286e-02 9.99760730e-01 -7.59710108e-05 1.74418230e+00] [ 6.86002932e-03 -7.41056722e-05 9.99976467e-01 7.28817127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:1.74, Z:0.09 [[ 9.99768837e-01 -2.03767969e-02 -6.85999947e-03 1.73395891e+02] [ 2.03767495e-02 9.99792370e-01 -7.68152528e-05 1.74110487e+00] [ 6.86014037e-03 -6.29869945e-05 9.99976467e-01 8.59093008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:1.74, Z:0.07 [[ 9.99815834e-01 -1.79232780e-02 -6.85960694e-03 1.73427843e+02] [ 1.79229365e-02 9.99839365e-01 -1.11265206e-04 1.74134435e+00] [ 6.86049928e-03 -1.16995846e-05 9.99976466e-01 7.32835951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:1.74, Z:0.09 [[ 9.99802352e-01 -1.86600522e-02 -6.85999582e-03 1.73456672e+02] [ 1.86599679e-02 9.99825885e-01 -7.63027573e-05 1.74058738e+00] [ 6.86022521e-03 -5.17196253e-05 9.99976467e-01 8.60214704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:1.74, Z:0.07 [[ 9.99865670e-01 -1.48859418e-02 -6.85939309e-03 1.73489286e+02] [ 1.48853988e-02 9.99889198e-01 -1.30213877e-04 1.73678104e+00] [ 6.86057141e-03 2.80915840e-05 9.99976466e-01 7.19646537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:1.73, Z:0.08 [[ 9.99874094e-01 -1.43085857e-02 -6.85999869e-03 1.73518950e+02] [ 1.43084127e-02 9.99897627e-01 -7.43022777e-05 1.73338906e+00] [ 6.86035957e-03 -2.38627699e-05 9.99976467e-01 8.28143706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:1.73, Z:0.07 [[ 9.99907909e-01 -1.17097047e-02 -6.85979704e-03 1.73549598e+02] [ 1.17093442e-02 9.99931439e-01 -9.27160194e-05 1.72962676e+00] [ 6.86041241e-03 1.23837561e-05 9.99976467e-01 7.22766262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:1.73, Z:0.07 [[ 9.99917445e-01 -1.08648207e-02 -6.85999616e-03 1.73578854e+02] [ 1.08645663e-02 9.99940976e-01 -7.43428101e-05 1.73071279e+00] [ 6.86039898e-03 -1.94210592e-07 9.99976467e-01 7.30616986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:1.73, Z:0.08 [[ 9.99936967e-01 -8.88837841e-03 -6.85998661e-03 1.73608235e+02] [ 8.88807158e-03 9.99960497e-01 -7.52136610e-05 1.73089069e+00] [ 6.86038415e-03 1.42368680e-05 9.99976467e-01 8.41120742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:1.73, Z:0.07 [[ 9.99953508e-01 -6.77655018e-03 -6.86000812e-03 1.73638618e+02] [ 6.77620697e-03 9.99977039e-01 -7.32718596e-05 1.73000684e+00] [ 6.86034714e-03 2.67836182e-05 9.99976467e-01 7.27346592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.67, Y:1.73, Z:0.09 [[ 9.99957212e-01 -6.20608776e-03 -6.85997911e-03 1.73666844e+02] [ 6.20571314e-03 9.99980741e-01 -7.58940404e-05 1.72928402e+00] [ 6.86031800e-03 3.33197305e-05 9.99976467e-01 8.82665122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.172320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:173.70, Y:1.73, Z:0.09 [[ 9.99975563e-01 -1.34952198e-03 -6.85948596e-03 1.73696421e+02] [ 1.34872971e-03 9.99999083e-01 -1.20124501e-04 1.73004783e+00] [ 6.85964178e-03 1.10869973e-04 9.99976466e-01 8.88868385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.73, Y:1.73, Z:0.09 [[ 9.99973975e-01 2.23486330e-03 -6.85967772e-03 1.73725067e+02] [-2.23562422e-03 9.99997496e-01 -1.03261441e-04 1.73017138e+00] [ 6.85942976e-03 1.18594415e-04 9.99976467e-01 8.90182359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:1.73, Z:0.07 [[ 9.99963473e-01 5.09904240e-03 -6.85954155e-03 1.73756360e+02] [-5.09995110e-03 9.99986989e-01 -1.14987010e-04 1.73084618e+00] [ 6.85886598e-03 1.49966136e-04 9.99976466e-01 7.45046771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:1.73, Z:0.07 [[ 9.99965988e-01 4.57874399e-03 -6.85994766e-03 1.73784760e+02] [-4.57940250e-03 9.99989511e-01 -8.02899957e-05 1.73085719e+00] [ 6.85950808e-03 1.11701726e-04 9.99976467e-01 7.46941950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.81, Y:1.73, Z:0.09 [[ 9.99963258e-01 5.14052948e-03 -6.85990400e-03 1.73813986e+02] [-5.14122571e-03 9.99986780e-01 -8.38610358e-05 1.73204739e+00] [ 6.85938223e-03 1.19126269e-04 9.99976467e-01 8.63649980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:1.73, Z:0.07 [[ 9.99958515e-01 5.99269542e-03 -6.85980019e-03 1.73843877e+02] [-5.99346842e-03 9.99982035e-01 -9.21340715e-05 1.73249328e+00] [ 6.85912482e-03 1.33244245e-04 9.99976467e-01 7.38817289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:1.73, Z:0.09 [[ 9.99964932e-01 4.80393026e-03 -6.85986726e-03 1.73873004e+02] [-4.80463896e-03 9.99988454e-01 -8.68355474e-05 1.73132454e+00] [ 6.85937091e-03 1.19791688e-04 9.99976467e-01 8.82568641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:1.73, Z:0.09 [[ 9.99962395e-01 5.30610497e-03 -6.85960767e-03 1.73902146e+02] [-5.30696526e-03 9.99985912e-01 -1.07217791e-04 1.73027672e+00] [ 6.85894212e-03 1.43617458e-04 9.99976467e-01 8.96290124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.93, Y:1.73, Z:0.09 [[ 9.99954321e-01 6.65596692e-03 -6.85966071e-03 1.73932039e+02] [-6.65683064e-03 9.99977838e-01 -1.03088491e-04 1.73341464e+00] [ 6.85882253e-03 1.48747381e-04 9.99976467e-01 8.84017062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:173.96, Y:1.74, Z:0.09 [[ 9.99931743e-01 9.45790580e-03 -6.85978568e-03 1.73961845e+02] [-9.45876966e-03 9.99955260e-01 -9.34981330e-05 1.74131730e+00] [ 6.85859448e-03 1.58376884e-04 9.99976467e-01 8.93741309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:1.74, Z:0.09 [[ 9.99915441e-01 1.10478485e-02 -6.85969235e-03 1.73993414e+02] [-1.10487978e-02 9.99938955e-01 -1.00500920e-04 1.74331840e+00] [ 6.85816328e-03 1.76283775e-04 9.99976467e-01 8.75122515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.02, Y:1.75, Z:0.09 [[ 9.99894567e-01 1.27981638e-02 -6.86014853e-03 1.74020683e+02] [-1.27989218e-02 9.99918088e-01 -6.65978707e-05 1.74590238e+00] [ 6.85873427e-03 1.54393354e-04 9.99976467e-01 8.77120272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:1.75, Z:0.09 [[ 9.99893645e-01 1.28701807e-02 -6.85981533e-03 1.74049644e+02] [-1.28711022e-02 9.99917160e-01 -9.02102486e-05 1.74956268e+00] [ 6.85808604e-03 1.78494039e-04 9.99976467e-01 8.75939209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:174.08, Y:1.76, Z:0.09 [[ 9.99900760e-01 1.23050776e-02 -6.85969985e-03 1.74078771e+02] [-1.23060404e-02 9.99924273e-01 -9.81626358e-05 1.75738052e+00] [ 6.85797249e-03 1.82568638e-04 9.99976467e-01 8.83601195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.592320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:174.11, Y:1.76, Z:0.09 [[ 9.99907243e-01 1.17664044e-02 -6.85978442e-03 1.74108227e+02] [-1.17673150e-02 9.99930758e-01 -9.23927233e-05 1.75996622e+00] [ 6.85822231e-03 1.73105397e-04 9.99976467e-01 8.74936020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:1.76, Z:0.09 [[ 9.99944164e-01 8.03830498e-03 -6.85967365e-03 1.74135817e+02] [-8.03917848e-03 9.99967680e-01 -9.97744884e-05 1.76444897e+00] [ 6.85864993e-03 1.54915058e-04 9.99976467e-01 9.08270493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.652320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:174.16, Y:1.77, Z:0.09 [[ 9.99946625e-01 7.72642372e-03 -6.85933574e-03 1.74164873e+02] [-7.72743901e-03 9.99970136e-01 -1.21525306e-04 1.76899389e+00] [ 6.85819193e-03 1.74523918e-04 9.99976467e-01 9.23235029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:174.19, Y:1.77, Z:0.09 [[ 9.99954387e-01 6.64616551e-03 -6.85941261e-03 1.74193668e+02] [-6.64712185e-03 9.99977901e-01 -1.16631434e-04 1.77345969e+00] [ 6.85848587e-03 1.62221466e-04 9.99976467e-01 9.23519080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:1.78, Z:0.08 [[ 9.99966748e-01 4.41033899e-03 -6.85948081e-03 1.74224165e+02] [-4.41121334e-03 9.99990264e-01 -1.12341192e-04 1.77700245e+00] [ 6.85891856e-03 1.42596089e-04 9.99976467e-01 7.81492024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:174.25, Y:1.78, Z:0.09 [[ 9.99972190e-01 -2.92694576e-03 -6.85952692e-03 1.74251858e+02] [ 2.92626381e-03 9.99995712e-01 -1.09451234e-04 1.78025355e+00] [ 6.85981787e-03 8.93754051e-05 9.99976467e-01 9.41719601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:1.78, Z:0.08 [[ 9.99974683e-01 -1.89518286e-03 -6.85872478e-03 1.74282970e+02] [ 1.89413905e-03 9.99998194e-01 -1.58679580e-04 1.78335791e+00] [ 6.85901311e-03 1.45684184e-04 9.99976466e-01 8.18134176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.802320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:174.31, Y:1.79, Z:0.10 [[ 9.99963183e-01 -5.15566439e-03 -6.85949488e-03 1.74311444e+02] [ 5.15502317e-03 9.99986707e-01 -1.11157198e-04 1.78531751e+00] [ 6.85997678e-03 7.57922506e-05 9.99976467e-01 9.64824369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:1.79, Z:0.08 [[ 9.99959668e-01 -5.79800641e-03 -6.85893628e-03 1.74342781e+02] [ 5.79714683e-03 9.99983186e-01 -1.45197293e-04 1.78632207e+00] [ 6.85966281e-03 1.05429176e-04 9.99976467e-01 7.91705881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:1.79, Z:0.08 [[ 9.99949307e-01 -7.37098001e-03 -6.85949010e-03 1.74371975e+02] [ 7.37039225e-03 9.99972832e-01 -1.10961111e-04 1.78617040e+00] [ 6.86012163e-03 6.03983529e-05 9.99976467e-01 7.94711213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:1.79, Z:0.08 [[ 9.99905638e-01 -1.19022002e-02 -6.85947592e-03 1.74400803e+02] [ 1.19017131e-02 9.99929166e-01 -1.11830439e-04 1.78574129e+00] [ 6.86032107e-03 3.01803716e-05 9.99976467e-01 8.26359542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:1.79, Z:0.08 [[ 9.99886219e-01 -1.34349025e-02 -6.85946162e-03 1.74429349e+02] [ 1.34344455e-02 9.99909747e-01 -1.12701223e-04 1.78543557e+00] [ 6.86035666e-03 2.05353365e-05 9.99976467e-01 8.34674349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:1.79, Z:0.08 [[ 9.99835592e-01 -1.67850433e-02 -6.85944721e-03 1.74458304e+02] [ 1.67846591e-02 9.99859121e-01 -1.13571355e-04 1.78627985e+00] [ 6.86038716e-03 -1.58080080e-06 9.99976467e-01 8.39832900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.982320588 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:174.49, Y:1.79, Z:0.10 [[ 9.99813546e-01 -1.80505472e-02 -6.85943254e-03 1.74487124e+02] [ 1.80501868e-02 9.99837076e-01 -1.14450823e-04 1.78720503e+00] [ 6.86038087e-03 -9.38455569e-06 9.99976467e-01 9.61330064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:1.79, Z:0.08 [[ 9.99850118e-01 -1.58964431e-02 -6.85887714e-03 1.74518782e+02] [ 1.58958057e-02 9.99873643e-01 -1.47441102e-04 1.78853309e+00] [ 6.86035426e-03 3.83916248e-05 9.99976467e-01 8.33100562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.55, Y:1.79, Z:0.08 [[ 9.99838482e-01 -1.66120092e-02 -6.85943838e-03 1.74547315e+02] [ 1.66116212e-02 9.99862011e-01 -1.13531686e-04 1.78797492e+00] [ 6.86037784e-03 -4.33043278e-07 9.99976467e-01 8.37091225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:1.79, Z:0.09 [[ 9.99805412e-01 -1.84955554e-02 -6.85942381e-03 1.74575963e+02] [ 1.84952057e-02 9.99828943e-01 -1.14405395e-04 1.78664089e+00] [ 6.86036644e-03 -1.24833209e-05 9.99976467e-01 8.51660913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:1.79, Z:0.09 [[ 9.99781879e-01 -1.97267195e-02 -6.85940905e-03 1.74605074e+02] [ 1.97263928e-02 9.99805409e-01 -1.15283214e-04 1.78638323e+00] [ 6.86034844e-03 -2.00533290e-05 9.99976467e-01 8.57955954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.63, Y:1.78, Z:0.09 [[ 9.99666312e-01 -2.49040965e-02 -6.85939440e-03 1.74634392e+02] [ 2.49038858e-02 9.99689843e-01 -1.16148500e-04 1.78341605e+00] [ 6.86015949e-03 -5.47158326e-05 9.99976467e-01 8.51875169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:1.78, Z:0.09 [[ 9.99635230e-01 -2.61219482e-02 -6.85938712e-03 1.74663740e+02] [ 2.61217632e-02 9.99658762e-01 -1.16576904e-04 1.78151855e+00] [ 6.86009165e-03 -6.26449065e-05 9.99976467e-01 8.51909970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:1.78, Z:0.09 [[ 9.99598274e-01 -2.74998186e-02 -6.85937988e-03 1.74693414e+02] [ 2.74996632e-02 9.99621806e-01 -1.17001258e-04 1.78032538e+00] [ 6.86000322e-03 -7.16763811e-05 9.99976467e-01 8.60269556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:174.72, Y:1.78, Z:0.09 [[ 9.99487189e-01 -3.12779081e-02 -6.85937261e-03 1.74722749e+02] [ 3.12778386e-02 9.99510722e-01 -1.17426306e-04 1.77856361e+00] [ 6.85968931e-03 -9.71802612e-05 9.99976467e-01 8.68609383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:174.75, Y:1.78, Z:0.09 [[ 9.99445053e-01 -3.25965648e-02 -6.85936532e-03 1.74752836e+02] [ 3.25965235e-02 9.99468585e-01 -1.17850350e-04 1.77665698e+00] [ 6.85956167e-03 -1.05806513e-04 9.99976467e-01 8.57538441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:1.77, Z:0.09 [[ 9.99376763e-01 -3.46270896e-02 -6.85936532e-03 1.74783217e+02] [ 3.46270961e-02 9.99400295e-01 -1.17850350e-04 1.77033495e+00] [ 6.85933254e-03 -1.19743001e-04 9.99976467e-01 8.50574841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.81, Y:1.77, Z:0.09 [[ 9.99364494e-01 -3.49793836e-02 -6.85936532e-03 1.74813913e+02] [ 3.49793984e-02 9.99388027e-01 -1.17850350e-04 1.76723282e+00] [ 6.85928991e-03 -1.22161017e-04 9.99976467e-01 8.50401330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.84, Y:1.76, Z:0.09 [[ 9.99349611e-01 -3.54020452e-02 -6.85936532e-03 1.74844384e+02] [ 3.54020699e-02 9.99373143e-01 -1.17850350e-04 1.75994684e+00] [ 6.85923763e-03 -1.25062029e-04 9.99976467e-01 8.58505157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.372320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:174.87, Y:1.76, Z:0.10 [[ 9.99302063e-01 -3.67196850e-02 -6.85936532e-03 1.74873518e+02] [ 3.67197407e-02 9.99325596e-01 -1.17850350e-04 1.75657040e+00] [ 6.85906677e-03 -1.34106018e-04 9.99976467e-01 9.93646500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.91, Y:1.75, Z:0.09 [[ 9.99284214e-01 -3.72024574e-02 -6.85832751e-03 1.74905661e+02] [ 3.72021077e-02 9.99307746e-01 -1.78596193e-04 1.75185548e+00] [ 6.86022403e-03 -7.66758829e-05 9.99976465e-01 8.79308670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.432320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:174.94, Y:1.75, Z:0.09 [[ 9.99262441e-01 -3.77825697e-02 -6.85940199e-03 1.74936169e+02] [ 3.77826778e-02 9.99285973e-01 -1.13873602e-04 1.74936748e+00] [ 6.85880664e-03 -1.45376962e-04 9.99976468e-01 8.83357697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.97, Y:1.74, Z:0.09 [[ 9.99199856e-01 -3.94030105e-02 -6.85940199e-03 1.74966713e+02] [ 3.94031568e-02 9.99223388e-01 -1.13873602e-04 1.74233673e+00] [ 6.85856186e-03 -1.56499606e-04 9.99976468e-01 8.73445640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:175.00, Y:1.74, Z:0.10 [[ 9.99149854e-01 -4.06511767e-02 -6.85940199e-03 1.74995856e+02] [ 4.06513524e-02 9.99173386e-01 -1.13873602e-04 1.73789931e+00] [ 6.85836101e-03 -1.65067175e-04 9.99976468e-01 9.96402446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.03, Y:1.74, Z:0.09 [[ 9.99178004e-01 -3.99534224e-02 -6.85862566e-03 1.75028356e+02] [ 3.99532574e-02 9.99201537e-01 -1.61126899e-04 1.73545260e+00] [ 6.85958687e-03 -1.13029983e-04 9.99976466e-01 8.74440783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.06, Y:1.73, Z:0.10 [[ 9.99277384e-01 -3.73852578e-02 -6.85944475e-03 1.75060281e+02] [ 3.73853824e-02 9.99300916e-01 -1.10093921e-04 1.73003707e+00] [ 6.85876531e-03 -1.46428600e-04 9.99976468e-01 9.75296508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.09, Y:1.72, Z:0.09 [[ 9.99241052e-01 -3.83438799e-02 -6.86053939e-03 1.75089916e+02] [ 3.83445036e-02 9.99264578e-01 -4.06461593e-05 1.72243423e+00] [ 6.85705253e-03 -2.22448667e-04 9.99976465e-01 8.71913824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:175.12, Y:1.72, Z:0.09 [[ 9.99272404e-01 -3.75181286e-02 -6.85946110e-03 1.75119528e+02] [ 3.75182660e-02 9.99295936e-01 -1.08695241e-04 1.72027658e+00] [ 6.85870964e-03 -1.48738931e-04 9.99976468e-01 8.75726618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:1.72, Z:0.10 [[ 9.99374341e-01 -3.46968824e-02 -6.85945437e-03 1.75148684e+02] [ 3.46969504e-02 9.99397874e-01 -1.09118292e-04 1.71925925e+00] [ 6.85911017e-03 -1.28952127e-04 9.99976468e-01 1.00679250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.18, Y:1.72, Z:0.09 [[ 9.99522805e-01 -3.01183396e-02 -6.85914919e-03 1.75180151e+02] [ 3.01181691e-02 9.99546337e-01 -1.28185448e-04 1.71681530e+00] [ 6.85989818e-03 -7.84607366e-05 9.99976468e-01 8.79210240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:1.71, Z:0.09 [[ 9.99587720e-01 -2.78807716e-02 -6.85945321e-03 1.75209148e+02] [ 2.78806795e-02 9.99611252e-01 -1.09064681e-04 1.71480200e+00] [ 6.85982742e-03 -8.22265010e-05 9.99976468e-01 8.74319543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.24, Y:1.71, Z:0.09 [[ 9.99683899e-01 -2.41878288e-02 -6.85943945e-03 1.75238425e+02] [ 2.41876439e-02 9.99707430e-01 -1.09923609e-04 1.71218655e+00] [ 6.86009140e-03 -5.60248168e-05 9.99976468e-01 8.71541012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.762320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:175.27, Y:1.71, Z:0.10 [[ 9.99746234e-01 -2.14573210e-02 -6.85942548e-03 1.75267864e+02] [ 2.14570659e-02 9.99769765e-01 -1.10788255e-04 1.71310331e+00] [ 6.86022342e-03 -3.64230041e-05 9.99976468e-01 1.01174246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:175.30, Y:1.71, Z:0.10 [[ 9.99761999e-01 -2.07096634e-02 -6.85965182e-03 1.75296390e+02] [ 2.07094874e-02 9.99785531e-01 -9.67008854e-05 1.71337025e+00] [ 6.86018328e-03 -4.53820024e-05 9.99976468e-01 1.02443460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.33, Y:1.71, Z:0.10 [[ 9.99788933e-01 -1.93660393e-02 -6.85895480e-03 1.75327148e+02] [ 1.93655347e-02 9.99812461e-01 -1.39979527e-04 1.71269559e+00] [ 6.86037932e-03 7.12265462e-06 9.99976467e-01 9.81280738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.36, Y:1.71, Z:0.09 [[ 9.99796372e-01 -1.89778644e-02 -6.85975212e-03 1.75357199e+02] [ 1.89776963e-02 9.99819903e-01 -8.96001705e-05 1.70787433e+00] [ 6.86021712e-03 -4.06003669e-05 9.99976468e-01 8.77712531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.39, Y:1.71, Z:0.10 [[ 9.99842363e-01 -1.63767244e-02 -6.85943394e-03 1.75388131e+02] [ 1.63763584e-02 9.99865892e-01 -1.09526873e-04 1.70681305e+00] [ 6.86030773e-03 -2.82294093e-06 9.99976468e-01 9.99460663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:175.42, Y:1.71, Z:0.09 [[ 9.99804637e-01 -1.85371543e-02 -6.86012331e-03 1.75416806e+02] [ 1.85371357e-02 9.99828170e-01 -6.62981417e-05 1.70697130e+00] [ 6.86017352e-03 -6.08818474e-05 9.99976467e-01 9.09266167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:1.71, Z:0.09 [[ 9.99789716e-01 -1.93254333e-02 -6.85940229e-03 1.75445712e+02] [ 1.93251273e-02 9.99813246e-01 -1.10896639e-04 1.70738013e+00] [ 6.86026440e-03 -2.16855036e-05 9.99976468e-01 9.07516989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:175.48, Y:1.71, Z:0.10 [[ 9.99815327e-01 -1.79516412e-02 -6.85938797e-03 1.75475979e+02] [ 1.79512968e-02 9.99838856e-01 -1.11775278e-04 1.70592601e+00] [ 6.86028917e-03 -1.13802734e-05 9.99976468e-01 1.01817478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.51, Y:1.71, Z:0.10 [[ 9.99819142e-01 -1.77377485e-02 -6.85975298e-03 1.75505756e+02] [ 1.77375526e-02 9.99842673e-01 -8.94091803e-05 1.70630577e+00] [ 6.86025967e-03 -3.22822191e-05 9.99976468e-01 1.00816960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.54, Y:1.71, Z:0.09 [[ 9.99786349e-01 -1.94986991e-02 -6.85974586e-03 1.75535009e+02] [ 1.94985416e-02 9.99809881e-01 -8.98412215e-05 1.70699282e+00] [ 6.86019348e-03 -4.39330134e-05 9.99976468e-01 8.74450842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:1.71, Z:0.10 [[ 9.99784318e-01 -1.96027423e-02 -6.85934466e-03 1.75564486e+02] [ 1.96024216e-02 9.99807848e-01 -1.13984872e-04 1.70551176e+00] [ 6.86026103e-03 -2.04994786e-05 9.99976468e-01 1.01753999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.59, Y:1.70, Z:0.09 [[ 9.99707862e-01 -2.31762226e-02 -6.85961305e-03 1.75593779e+02] [ 2.31760967e-02 9.99731393e-01 -9.78627506e-05 1.70078799e+00] [ 6.86003860e-03 -6.11448939e-05 9.99976468e-01 8.98073907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.62, Y:1.70, Z:0.09 [[ 9.99654730e-01 -2.53647377e-02 -6.85931135e-03 1.75622601e+02] [ 2.53645406e-02 9.99678262e-01 -1.15742834e-04 1.69957869e+00] [ 6.86004023e-03 -5.82804092e-05 9.99976468e-01 8.95794334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.65, Y:1.70, Z:0.09 [[ 9.99572330e-01 -2.84272147e-02 -6.85929656e-03 1.75651303e+02] [ 2.84270837e-02 9.99595862e-01 -1.16612297e-04 1.69831431e+00] [ 6.85983943e-03 -7.84273724e-05 9.99976468e-01 8.90790635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.68, Y:1.70, Z:0.09 [[ 9.99568725e-01 -2.85537083e-02 -6.85928172e-03 1.75680610e+02] [ 2.85535743e-02 9.99592257e-01 -1.17478856e-04 1.69878238e+00] [ 6.85983935e-03 -7.84288202e-05 9.99976468e-01 8.92802323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:1.70, Z:0.09 [[ 9.99440933e-01 -3.27226467e-02 -6.85926675e-03 1.75709364e+02] [ 3.27226050e-02 9.99464465e-01 -1.18346862e-04 1.69608674e+00] [ 6.85946599e-03 -1.06172378e-04 9.99976468e-01 8.91710805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:175.74, Y:1.69, Z:0.10 [[ 9.99348361e-01 -3.54373390e-02 -6.85925176e-03 1.75738453e+02] [ 3.54373552e-02 9.99371893e-01 -1.19209255e-04 1.69405566e+00] [ 6.85916787e-03 -1.23942167e-04 9.99976468e-01 1.03831283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:1.69, Z:0.09 [[ 9.99198640e-01 -3.94339057e-02 -6.85892119e-03 1.75768896e+02] [ 3.94338863e-02 9.99222172e-01 -1.38121036e-04 1.68817257e+00] [ 6.85903278e-03 -1.32463567e-04 9.99976468e-01 9.10100763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:1.68, Z:0.09 [[ 9.99095083e-01 -4.19757784e-02 -6.85924828e-03 1.75797921e+02] [ 4.19759479e-02 9.99118614e-01 -1.19317512e-04 1.68425875e+00] [ 6.85821108e-03 -1.68713909e-04 9.99976468e-01 8.98577959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:1.68, Z:0.09 [[ 9.98958223e-01 -4.51156323e-02 -6.85923363e-03 1.75826646e+02] [ 4.51158700e-02 9.98981754e-01 -1.20153796e-04 1.67591783e+00] [ 6.85767005e-03 -1.89431670e-04 9.99976468e-01 8.62098674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:175.86, Y:1.67, Z:0.09 [[ 9.98853376e-01 -4.73802150e-02 -6.85921887e-03 1.75855668e+02] [ 4.73805003e-02 9.98876906e-01 -1.20990681e-04 1.67239156e+00] [ 6.85724788e-03 -2.04141272e-04 9.99976468e-01 8.68862199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.89, Y:1.66, Z:0.09 [[ 9.98662011e-01 -5.12556266e-02 -6.85920403e-03 1.75885034e+02] [ 5.12559975e-02 9.98685540e-01 -1.21825762e-04 1.66459330e+00] [ 6.85643214e-03 -2.29912584e-04 9.99976468e-01 8.96901049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.91, Y:1.66, Z:0.09 [[ 9.98551534e-01 -5.33646430e-02 -6.85918925e-03 1.75913891e+02] [ 5.33650578e-02 9.98575063e-01 -1.22652558e-04 1.66040634e+00] [ 6.85596064e-03 -2.43566131e-04 9.99976468e-01 8.97851874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:1.66, Z:0.09 [[ 9.98453079e-01 -5.51760943e-02 -6.85917448e-03 1.75942366e+02] [ 5.51765462e-02 9.98476606e-01 -1.23472963e-04 1.65565865e+00] [ 6.85553801e-03 -2.55183598e-04 9.99976468e-01 9.05131512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.482320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:175.97, Y:1.65, Z:0.11 [[ 9.98503843e-01 -5.42496798e-02 -6.85915966e-03 1.75971966e+02] [ 5.42501043e-02 9.98527371e-01 -1.24290782e-04 1.64670073e+00] [ 6.85580140e-03 -2.48005304e-04 9.99976468e-01 1.05674001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.00, Y:1.64, Z:0.09 [[ 9.98373683e-01 -5.65945575e-02 -6.85893855e-03 1.76001992e+02] [ 5.65949540e-02 9.98397212e-01 -1.36430354e-04 1.64409742e+00] [ 6.85566634e-03 -2.51972836e-04 9.99976468e-01 8.81877273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:1.64, Z:0.09 [[ 9.98383043e-01 -5.64291708e-02 -6.85916129e-03 1.76030936e+02] [ 5.64296478e-02 9.98406570e-01 -1.24121420e-04 1.63743285e+00] [ 6.85523576e-03 -2.63139335e-04 9.99976468e-01 9.02206353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:1.63, Z:0.09 [[ 9.98414541e-01 -5.58690927e-02 -6.85914640e-03 1.76059933e+02] [ 5.58695509e-02 9.98438069e-01 -1.24938664e-04 1.63445060e+00] [ 6.85541310e-03 -2.58476850e-04 9.99976468e-01 9.13762226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.09, Y:1.63, Z:0.09 [[ 9.98401753e-01 -5.60971680e-02 -6.85913509e-03 1.76089117e+02] [ 5.60976274e-02 9.98425280e-01 -1.25556651e-04 1.62793249e+00] [ 6.85537725e-03 -2.59425223e-04 9.99976468e-01 9.15924527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.12, Y:1.62, Z:0.09 [[ 9.98418425e-01 -5.57996546e-02 -6.85911970e-03 1.76118212e+02] [ 5.58001013e-02 9.98441953e-01 -1.26391722e-04 1.62316842e+00] [ 6.85548548e-03 -2.56547749e-04 9.99976468e-01 9.04891259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:1.61, Z:0.09 [[ 9.98292045e-01 -5.80167716e-02 -6.85910433e-03 1.76147523e+02] [ 5.80172648e-02 9.98315572e-01 -1.27220416e-04 1.60985011e+00] [ 6.85493158e-03 -2.70943343e-04 9.99976468e-01 9.12615961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.692320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.18, Y:1.60, Z:0.11 [[ 9.98188970e-01 -5.97639767e-02 -6.85908897e-03 1.76175042e+02] [ 5.97645054e-02 9.98212496e-01 -1.28043270e-04 1.60404234e+00] [ 6.85448070e-03 -2.82118680e-04 9.99976468e-01 1.05149109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:1.60, Z:0.09 [[ 9.98259966e-01 -5.85663134e-02 -6.85765947e-03 1.76207225e+02] [ 5.85662898e-02 9.98283501e-01 -2.04423107e-04 1.59930905e+00] [ 6.85786062e-03 -1.97560269e-04 9.99976465e-01 9.04413980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:1.59, Z:0.09 [[ 9.98289683e-01 -5.80574001e-02 -6.85909847e-03 1.76236151e+02] [ 5.80579010e-02 9.98313209e-01 -1.26235127e-04 1.58998766e+00] [ 6.85485749e-03 -2.72205635e-04 9.99976468e-01 8.98015227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:1.58, Z:0.09 [[ 9.98572485e-01 -5.29711724e-02 -6.85908314e-03 1.76265631e+02] [ 5.29715478e-02 9.98596014e-01 -1.27062498e-04 1.58093826e+00] [ 6.85618374e-03 -2.36455136e-04 9.99976468e-01 9.26347213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.812320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:176.30, Y:1.58, Z:0.10 [[ 9.98777054e-01 -4.89627463e-02 -6.85906758e-03 1.76295528e+02] [ 4.89630215e-02 9.98800584e-01 -1.27896964e-04 1.57786818e+00] [ 6.85710289e-03 -2.08100120e-04 9.99976468e-01 1.03174111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:1.57, Z:0.09 [[ 9.98832297e-01 -4.78224514e-02 -6.85970144e-03 1.76323944e+02] [ 4.78229330e-02 9.98855825e-01 -9.38967661e-05 1.57481045e+00] [ 6.85634311e-03 -2.34263920e-04 9.99976468e-01 9.30901747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:1.57, Z:0.09 [[ 9.99091373e-01 -4.20640327e-02 -6.85901183e-03 1.76352178e+02] [ 4.20641295e-02 9.99114904e-01 -1.30220470e-04 1.56541766e+00] [ 6.85841854e-03 -1.58416213e-04 9.99976468e-01 9.15267662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:176.38, Y:1.55, Z:0.11 [[ 9.99250302e-01 -3.81023460e-02 -6.85898708e-03 1.76381552e+02] [ 3.81023406e-02 9.99273834e-01 -1.31511010e-04 1.55470433e+00] [ 6.85901719e-03 -1.29931045e-04 9.99976468e-01 1.08827251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.932320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:176.41, Y:1.55, Z:0.10 [[ 9.99287034e-01 -3.71265413e-02 -6.85878827e-03 1.76411511e+02] [ 3.71264427e-02 9.99310566e-01 -1.41740319e-04 1.55115312e+00] [ 6.85932191e-03 -1.13003147e-04 9.99976468e-01 1.02659623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:1.55, Z:0.09 [[ 9.99472683e-01 -3.17382333e-02 -6.85866798e-03 1.76442041e+02] [ 3.17379651e-02 9.99496213e-01 -1.47973703e-04 1.54722332e+00] [ 6.85990909e-03 -6.97844906e-05 9.99976468e-01 9.44319858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:176.47, Y:1.55, Z:0.10 [[ 9.99569955e-01 -2.85106939e-02 -6.85894386e-03 1.76472097e+02] [ 2.85104467e-02 9.99593486e-01 -1.33834598e-04 1.54713304e+00] [ 6.85997132e-03 -6.17745104e-05 9.99976468e-01 1.02419839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:176.50, Y:1.55, Z:0.10 [[ 9.99667327e-01 -2.48633955e-02 -6.85902260e-03 1.76501704e+02] [ 2.48630899e-02 9.99690857e-01 -1.29827057e-04 1.54782311e+00] [ 6.86013012e-03 -4.07526284e-05 9.99976468e-01 1.03853013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:176.53, Y:1.55, Z:0.10 [[ 9.99836230e-01 -1.67471847e-02 -6.85891947e-03 1.76532063e+02] [ 1.67466521e-02 9.99859756e-01 -1.35079786e-04 1.54936449e+00] [ 6.86021975e-03 2.01937251e-05 9.99976468e-01 9.51735662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.082320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:176.56, Y:1.55, Z:0.12 [[ 9.99881214e-01 -1.38026565e-02 -6.85892750e-03 1.76560507e+02] [ 1.38020574e-02 9.99904738e-01 -1.34670766e-04 1.55016655e+00] [ 6.86013292e-03 3.99874581e-05 9.99976468e-01 1.17133363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.112320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.59, Y:1.55, Z:0.11 [[ 9.99960135e-01 -5.71776617e-03 -6.85818141e-03 1.76591977e+02] [ 5.71671560e-03 9.99983645e-01 -1.72777532e-04 1.54950429e+00] [ 6.85905714e-03 1.33564372e-04 9.99976467e-01 1.07300727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.62, Y:1.55, Z:0.10 [[ 9.99966205e-01 -4.53119772e-03 -6.85981584e-03 1.76621135e+02] [ 4.53069662e-03 9.99989732e-01 -8.85869452e-05 1.54979607e+00] [ 6.86014681e-03 5.75042069e-05 9.99976467e-01 9.50085721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:176.65, Y:1.55, Z:0.10 [[ 9.99968692e-01 -3.94603028e-03 -6.85892058e-03 1.76650036e+02] [ 3.94520185e-03 9.99992209e-01 -1.34307238e-04 1.55463095e+00] [ 6.85939712e-03 1.07243207e-04 9.99976468e-01 9.55712950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.202320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.68, Y:1.56, Z:0.11 [[ 9.99957483e-01 -6.16347072e-03 -6.85890300e-03 1.76680058e+02] [ 6.16268833e-03 9.99981001e-01 -1.35198904e-04 1.55884847e+00] [ 6.85960599e-03 9.29238738e-05 9.99976468e-01 1.09275507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.232320588 meters Centerline goodness : 0.800729 Centerline is valid? [True, False] Translation: X:176.68, Y:1.56, Z:0.11 [[ 9.99956864e-01 -6.08621143e-03 -7.01634321e-03 1.76680460e+02] [ 6.08223222e-03 9.99981330e-01 -5.88333691e-04 1.56089801e+00] [ 7.01979294e-03 5.45633284e-04 9.99975212e-01 1.09137548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:176.68, Y:1.56, Z:0.11 [[ 9.99956808e-01 -6.09188484e-03 -7.01932621e-03 1.76680459e+02] [ 6.08850265e-03 9.99981338e-01 -5.03108029e-04 1.56056233e+00] [ 7.02226009e-03 4.60349113e-04 9.99975238e-01 1.09106015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.71, Y:1.56, Z:0.10 [[ 9.99946319e-01 -7.61561435e-03 -7.02575199e-03 1.76711092e+02] [ 7.61481060e-03 9.99970997e-01 -1.41144060e-04 1.56175766e+00] [ 7.02662312e-03 8.76367120e-05 9.99975309e-01 9.89462759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.74, Y:1.56, Z:0.11 [[ 9.99933370e-01 -9.15915203e-03 -7.02605906e-03 1.76740361e+02] [ 9.15850891e-03 9.99958052e-01 -1.23703342e-04 1.56343114e+00] [ 7.02689735e-03 5.93468749e-05 9.99975309e-01 1.12177327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:1.56, Z:0.11 [[ 9.99871189e-01 -1.44301870e-02 -7.02673606e-03 1.76768684e+02] [ 1.44299420e-02 9.99895879e-01 -8.55599588e-05 1.56367657e+00] [ 7.02723907e-03 -1.58464561e-05 9.99975309e-01 1.08231410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.80, Y:1.56, Z:0.11 [[ 9.99833502e-01 -1.68406172e-02 -7.02585751e-03 1.76799191e+02] [ 1.68400867e-02 9.99858187e-01 -1.34658945e-04 1.56398931e+00] [ 7.02712889e-03 1.63204749e-05 9.99975309e-01 1.10771928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.83, Y:1.56, Z:0.10 [[ 9.99800223e-01 -1.87121839e-02 -7.02619586e-03 1.76828812e+02] [ 1.87118331e-02 9.99824912e-01 -1.15662272e-04 1.56367586e+00] [ 7.02712995e-03 -1.58338388e-05 9.99975309e-01 9.86159252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:176.86, Y:1.56, Z:0.11 [[ 9.99677863e-01 -2.43886299e-02 -7.02603431e-03 1.76858246e+02] [ 2.43883553e-02 9.99702552e-01 -1.24760210e-04 1.56040151e+00] [ 7.02698716e-03 -4.66334015e-05 9.99975309e-01 1.12310797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:1.56, Z:0.10 [[ 9.99559967e-01 -2.88184662e-02 -7.02625558e-03 1.76888381e+02] [ 2.88183888e-02 9.99584658e-01 -1.12273977e-04 1.55555655e+00] [ 7.02657285e-03 -9.02607930e-05 9.99975309e-01 9.75361936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:1.55, Z:0.11 [[ 9.99484086e-01 -3.13400208e-02 -7.02600875e-03 1.76918460e+02] [ 3.13399091e-02 9.99508776e-01 -1.26034466e-04 1.55483156e+00] [ 7.02650733e-03 -9.42250317e-05 9.99975309e-01 1.08474776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:1.55, Z:0.11 [[ 9.99431522e-01 -3.29737642e-02 -7.02586330e-03 1.76948309e+02] [ 3.29736366e-02 9.99456213e-01 -1.34027696e-04 1.55393194e+00] [ 7.02646213e-03 -9.77167587e-05 9.99975309e-01 1.12820080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.98, Y:1.55, Z:0.10 [[ 9.99371372e-01 -3.47491238e-02 -7.02566880e-03 1.76979162e+02] [ 3.47489650e-02 9.99396062e-01 -1.44700637e-04 1.54821378e+00] [ 7.02645395e-03 -9.95250448e-05 9.99975309e-01 9.91068457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.592320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:177.01, Y:1.54, Z:0.11 [[ 9.99326868e-01 -3.60062033e-02 -7.02598808e-03 1.77008186e+02] [ 3.60061998e-02 9.99351558e-01 -1.27043417e-04 1.53990166e+00] [ 7.02600649e-03 -1.26021231e-04 9.99975309e-01 1.10816614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:177.04, Y:1.54, Z:0.10 [[ 9.99314237e-01 -3.63551315e-02 -7.02567783e-03 1.77039370e+02] [ 3.63550171e-02 9.99338927e-01 -1.44032192e-04 1.53700401e+00] [ 7.02626965e-03 -1.11485218e-04 9.99975309e-01 9.86685247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.07, Y:1.53, Z:0.11 [[ 9.99407036e-01 -3.37077340e-02 -7.02598255e-03 1.77070200e+02] [ 3.37076725e-02 9.99431727e-01 -1.27200519e-04 1.53476420e+00] [ 7.02627752e-03 -1.09704425e-04 9.99975309e-01 1.09126897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.10, Y:1.53, Z:0.10 [[ 9.99432623e-01 -3.29402477e-02 -7.02659824e-03 1.77099151e+02] [ 3.29404043e-02 9.99457313e-01 -9.34653707e-05 1.53075936e+00] [ 7.02586377e-03 -1.38046647e-04 9.99975309e-01 1.00296546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:177.13, Y:1.53, Z:0.11 [[ 9.99491213e-01 -3.11119330e-02 -7.02590535e-03 1.77129823e+02] [ 3.11117827e-02 9.99515903e-01 -1.30709769e-04 1.52874376e+00] [ 7.02657077e-03 -8.79451755e-05 9.99975309e-01 1.12071470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:177.16, Y:1.52, Z:0.11 [[ 9.99548843e-01 -2.92017444e-02 -7.02632399e-03 1.77159114e+02] [ 2.92017053e-02 9.99573533e-01 -1.08179514e-04 1.52169367e+00] [ 7.02648653e-03 -9.70499341e-05 9.99975309e-01 1.11391308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.19, Y:1.52, Z:0.11 [[ 9.99601594e-01 -2.73365139e-02 -7.02623718e-03 1.77187950e+02] [ 2.73363963e-02 9.99626285e-01 -1.12791524e-04 1.51801981e+00] [ 7.02669470e-03 -7.93254173e-05 9.99975309e-01 1.12275595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.802320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:177.22, Y:1.51, Z:0.11 [[ 9.99722449e-01 -2.24868456e-02 -7.02617113e-03 1.77217933e+02] [ 2.24865839e-02 9.99747138e-01 -1.16265184e-04 1.51362656e+00] [ 7.02700892e-03 -4.17616722e-05 9.99975309e-01 1.13176604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:177.25, Y:1.51, Z:0.11 [[ 9.99804053e-01 -1.85063697e-02 -7.02640243e-03 1.77248892e+02] [ 1.85060930e-02 9.99828742e-01 -1.04393576e-04 1.51392185e+00] [ 7.02713105e-03 -2.56581365e-05 9.99975309e-01 1.14326442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.28, Y:1.51, Z:0.10 [[ 9.99818070e-01 -1.77326709e-02 -7.02702999e-03 1.77276455e+02] [ 1.77325960e-02 9.99842762e-01 -7.29626635e-05 1.51426240e+00] [ 7.02721890e-03 -5.16580947e-05 9.99975307e-01 1.02702946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.892320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:177.31, Y:1.51, Z:0.11 [[ 9.99910478e-01 -1.13875791e-02 -7.02561380e-03 1.77307504e+02] [ 1.13868576e-02 9.99935157e-01 -1.42691638e-04 1.51125198e+00] [ 7.02678315e-03 6.26791999e-05 9.99975310e-01 1.14558107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.34, Y:1.50, Z:0.12 [[ 9.99940284e-01 -8.36939297e-03 -7.02716036e-03 1.77336001e+02] [ 8.36913021e-03 9.99964976e-01 -6.67979858e-05 1.50388620e+00] [ 7.02747330e-03 7.98277684e-06 9.99975307e-01 1.17389053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.952320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:177.37, Y:1.50, Z:0.12 [[ 9.99951624e-01 -6.88285459e-03 -7.02677993e-03 1.77365816e+02] [ 6.88242920e-03 9.99976312e-01 -8.47165887e-05 1.50315649e+00] [ 7.02719657e-03 3.63511751e-05 9.99975308e-01 1.16182854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:1.50, Z:0.10 [[ 9.99947799e-01 -7.41775215e-03 -7.02676521e-03 1.77394190e+02] [ 7.41733521e-03 9.99972488e-01 -8.53952567e-05 1.50404926e+00] [ 7.02720532e-03 3.32709260e-05 9.99975308e-01 1.03780485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.012320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:177.43, Y:1.51, Z:0.12 [[ 9.99958921e-01 -5.72728574e-03 -7.02525048e-03 1.77425164e+02] [ 5.72634271e-03 9.99983592e-01 -1.54342402e-04 1.50803408e+00] [ 7.02601917e-03 1.14107070e-04 9.99975311e-01 1.15186484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:177.45, Y:1.51, Z:0.12 [[ 9.99958253e-01 -5.84083707e-03 -7.02687708e-03 1.77452766e+02] [ 5.84041679e-03 9.99982941e-01 -8.03294774e-05 1.50705805e+00] [ 7.02722640e-03 3.92862330e-05 9.99975308e-01 1.17010434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.072320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:177.48, Y:1.51, Z:0.12 [[ 9.99955968e-01 -6.22040569e-03 -7.02629466e-03 1.77481132e+02] [ 6.21981345e-03 9.99980651e-01 -1.06137369e-04 1.50757817e+00] [ 7.02681893e-03 6.24304532e-05 9.99975310e-01 1.17206435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:177.51, Y:1.50, Z:0.12 [[ 9.99957548e-01 -5.96103745e-03 -7.02623645e-03 1.77509478e+02] [ 5.96042099e-03 9.99982231e-01 -1.08673110e-04 1.50373449e+00] [ 7.02675940e-03 6.67891695e-05 9.99975310e-01 1.20361823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.132320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:177.54, Y:1.50, Z:0.12 [[ 9.99956219e-01 -6.18039072e-03 -7.02589735e-03 1.77538962e+02] [ 6.17967840e-03 9.99980898e-01 -1.23090093e-04 1.50388350e+00] [ 7.02652389e-03 7.96669177e-05 9.99975311e-01 1.19354853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:177.57, Y:1.51, Z:0.10 [[ 9.99966414e-01 -4.22113327e-03 -7.02515924e-03 1.77568337e+02] [ 4.22015584e-03 9.99991083e-01 -1.53950706e-04 1.50512121e+00] [ 7.02574645e-03 1.24298269e-04 9.99975311e-01 1.04840158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:177.60, Y:1.51, Z:0.12 [[ 9.99969523e-01 -3.40665374e-03 -7.02478273e-03 1.77599307e+02] [ 3.40554667e-03 9.99994187e-01 -1.69550261e-04 1.50589535e+00] [ 7.02531949e-03 1.45621868e-04 9.99975312e-01 1.18734039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:177.63, Y:1.51, Z:0.12 [[ 9.99963652e-01 -4.82982101e-03 -7.02616106e-03 1.77628220e+02] [ 4.82915003e-03 9.99988333e-01 -1.12460505e-04 1.50564008e+00] [ 7.02662225e-03 7.85260311e-05 9.99975310e-01 1.17296261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.66, Y:1.50, Z:0.11 [[ 9.99945367e-01 -7.73918410e-03 -7.02622123e-03 1.77656681e+02] [ 7.73860208e-03 9.99970051e-01 -1.10018029e-04 1.50371423e+00] [ 7.02686224e-03 5.56388887e-05 9.99975310e-01 1.07030759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:177.69, Y:1.50, Z:0.12 [[ 9.99926049e-01 -9.92726493e-03 -7.02460100e-03 1.77686669e+02] [ 9.92628016e-03 9.99950718e-01 -1.75040482e-04 1.50393182e+00] [ 7.02599248e-03 1.05299380e-04 9.99975312e-01 1.19173682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.312320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:177.72, Y:1.50, Z:0.12 [[ 9.99898834e-01 -1.23679447e-02 -7.02542919e-03 1.77716044e+02] [ 1.23672512e-02 9.99923513e-01 -1.42151112e-04 1.50406004e+00] [ 7.02664995e-03 5.52514839e-05 9.99975311e-01 1.21670794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:177.75, Y:1.50, Z:0.12 [[ 9.99892109e-01 -1.29007172e-02 -7.02438654e-03 1.77746589e+02] [ 1.28997485e-02 9.99916778e-01 -1.83200741e-04 1.50423460e+00] [ 7.02616538e-03 9.25681553e-05 9.99975312e-01 1.22461808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.372320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:177.78, Y:1.50, Z:0.12 [[ 9.99851037e-01 -1.57654956e-02 -7.02515352e-03 1.77775631e+02] [ 1.57648071e-02 9.99875716e-01 -1.53373816e-04 1.50454350e+00] [ 7.02669842e-03 4.26007784e-05 9.99975312e-01 1.21248838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.80, Y:1.50, Z:0.11 [[ 9.99824162e-01 -1.73866589e-02 -7.02484213e-03 1.77804857e+02] [ 1.73859266e-02 9.99848840e-01 -1.65300337e-04 1.50421178e+00] [ 7.02665427e-03 4.31378812e-05 9.99975312e-01 1.07795568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.83, Y:1.50, Z:0.11 [[ 9.99764914e-01 -2.05128106e-02 -7.02432801e-03 1.77834211e+02] [ 2.05120182e-02 9.99789589e-01 -1.84838355e-04 1.50057236e+00] [ 7.02664157e-03 4.07117579e-05 9.99975312e-01 1.07892496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:177.86, Y:1.50, Z:0.12 [[ 9.99738440e-01 -2.17648954e-02 -7.02430356e-03 1.77864438e+02] [ 2.17641274e-02 9.99763116e-01 -1.85763003e-04 1.49782487e+00] [ 7.02668272e-03 3.28365776e-05 9.99975312e-01 1.20364568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:177.89, Y:1.49, Z:0.12 [[ 9.99642580e-01 -2.57947105e-02 -7.02465868e-03 1.77893851e+02] [ 2.57941352e-02 9.99667261e-01 -1.72495789e-04 1.49294867e+00] [ 7.02677078e-03 -8.76086101e-06 9.99975312e-01 1.23168233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.92, Y:1.49, Z:0.11 [[ 9.99616923e-01 -2.67706125e-02 -7.02428576e-03 1.77924170e+02] [ 2.67699639e-02 9.99641603e-01 -1.86359403e-04 1.49342258e+00] [ 7.02675724e-03 -1.75186290e-06 9.99975312e-01 1.12385064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.552320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:177.95, Y:1.50, Z:0.12 [[ 9.99580310e-01 -2.81045072e-02 -7.02422027e-03 1.77953903e+02] [ 2.81038744e-02 9.99604990e-01 -1.88796003e-04 1.49502319e+00] [ 7.02675166e-03 -8.69103686e-06 9.99975312e-01 1.22820705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.582320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:177.98, Y:1.49, Z:0.11 [[ 9.99542772e-01 -2.94092693e-02 -7.02430479e-03 1.77983413e+02] [ 2.94086907e-02 9.99567454e-01 -1.85665058e-04 1.49376819e+00] [ 7.02672672e-03 -2.09954405e-05 9.99975312e-01 1.09650960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.01, Y:1.49, Z:0.12 [[ 9.99582782e-01 -2.80164831e-02 -7.02419585e-03 1.78013558e+02] [ 2.80158418e-02 9.99607461e-01 -1.89698675e-04 1.49040919e+00] [ 7.02675327e-03 -7.16923054e-06 9.99975312e-01 1.23308341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.642320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:178.04, Y:1.49, Z:0.12 [[ 9.99609031e-01 -2.70636926e-02 -7.02432672e-03 1.78043889e+02] [ 2.70630617e-02 9.99633711e-01 -1.84875820e-04 1.48936159e+00] [ 7.02675721e-03 -5.29624804e-06 9.99975312e-01 1.22219318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.672320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.07, Y:1.49, Z:0.12 [[ 9.99664895e-01 -2.49149658e-02 -7.02444994e-03 1.78073653e+02] [ 2.49143136e-02 9.99689574e-01 -1.80342808e-04 1.48967004e+00] [ 7.02676261e-03 5.27302478e-06 9.99975312e-01 1.23914461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.702320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:178.10, Y:1.49, Z:0.13 [[ 9.99723763e-01 -2.24286590e-02 -7.02511923e-03 1.78102152e+02] [ 2.24281166e-02 9.99748446e-01 -1.55994150e-04 1.49358446e+00] [ 7.02685078e-03 -1.60913386e-06 9.99975311e-01 1.26578582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.13, Y:1.50, Z:0.12 [[ 9.99761875e-01 -2.06601958e-02 -7.02489034e-03 1.78131208e+02] [ 2.06595524e-02 9.99786555e-01 -1.64151008e-04 1.49659477e+00] [ 7.02678231e-03 1.89808301e-05 9.99975312e-01 1.24665997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:1.50, Z:0.12 [[ 9.99805407e-01 -1.84336034e-02 -7.02496323e-03 1.78160160e+02] [ 1.84329230e-02 9.99830086e-01 -1.61583476e-04 1.49896540e+00] [ 7.02674816e-03 3.20614262e-05 9.99975312e-01 1.23971591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.19, Y:1.50, Z:0.13 [[ 9.99793710e-01 -1.90574287e-02 -7.02507821e-03 1.78189067e+02] [ 1.90567918e-02 9.99818390e-01 -1.57596921e-04 1.49841777e+00] [ 7.02680578e-03 2.36889577e-05 9.99975311e-01 1.25173547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:178.22, Y:1.50, Z:0.11 [[ 9.99783144e-01 -1.96039400e-02 -7.02499815e-03 1.78217705e+02] [ 1.96032973e-02 9.99807824e-01 -1.60339820e-04 1.49629961e+00] [ 7.02679140e-03 2.25919219e-05 9.99975312e-01 1.13392186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.852320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.25, Y:1.50, Z:0.13 [[ 9.99750888e-01 -2.11856099e-02 -7.02361274e-03 1.78248007e+02] [ 2.11846765e-02 9.99775558e-01 -2.07283487e-04 1.49795392e+00] [ 7.02642777e-03 5.84388866e-05 9.99975313e-01 1.27577052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:178.28, Y:1.50, Z:0.13 [[ 9.99771977e-01 -2.01655810e-02 -7.02450469e-03 1.78278715e+02] [ 2.01648330e-02 9.99796653e-01 -1.77291999e-04 1.50290541e+00] [ 7.02665147e-03 3.56036083e-05 9.99975312e-01 1.25593912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.31, Y:1.50, Z:0.12 [[ 9.99734303e-01 -2.19538026e-02 -7.02530273e-03 1.78306364e+02] [ 2.19532853e-02 9.99758986e-01 -1.50750620e-04 1.50324841e+00] [ 7.02691908e-03 -3.51790899e-06 9.99975311e-01 1.15267403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.34, Y:1.50, Z:0.11 [[ 9.99721307e-01 -2.25384305e-02 -7.02337929e-03 1.78335213e+02] [ 2.25374839e-02 9.99745976e-01 -2.13905171e-04 1.50299980e+00] [ 7.02641627e-03 5.55562591e-05 9.99975313e-01 1.14521087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:1.50, Z:0.13 [[ 9.99663275e-01 -2.49801749e-02 -7.02335120e-03 1.78365936e+02] [ 2.49792821e-02 9.99687946e-01 -2.14823650e-04 1.50076798e+00] [ 7.02652587e-03 3.93130423e-05 9.99975313e-01 1.25977772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:178.39, Y:1.50, Z:0.13 [[ 9.99580844e-01 -2.80852656e-02 -7.02521994e-03 1.78394496e+02] [ 2.80848796e-02 9.99605530e-01 -1.53606774e-04 1.49810537e+00] [ 7.02676279e-03 -4.37600679e-05 9.99975311e-01 1.27038928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:1.49, Z:0.13 [[ 9.99347532e-01 -3.54282220e-02 -7.02501119e-03 1.78422574e+02] [ 3.54279699e-02 9.99372220e-01 -1.60372506e-04 1.49008496e+00] [ 7.02628274e-03 -8.86140172e-05 9.99975311e-01 1.27604351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:178.45, Y:1.49, Z:0.13 [[ 9.99264805e-01 -3.76897076e-02 -7.02391175e-03 1.78451178e+02] [ 3.76892652e-02 9.99289488e-01 -1.95386488e-04 1.48788916e+00] [ 7.02628524e-03 -6.94832322e-05 9.99975313e-01 1.28956880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.48, Y:1.49, Z:0.13 [[ 9.99143664e-01 -4.07750169e-02 -7.02398045e-03 1.78480940e+02] [ 4.07746659e-02 9.99168349e-01 -1.93226265e-04 1.48587133e+00] [ 7.02601775e-03 -9.33396572e-05 9.99975313e-01 1.28965906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:178.51, Y:1.48, Z:0.13 [[ 9.99095718e-01 -4.19333295e-02 -7.02437588e-03 1.78509705e+02] [ 4.19330937e-02 9.99120405e-01 -1.80908741e-04 1.48383364e+00] [ 7.02578338e-03 -1.13808663e-04 9.99975312e-01 1.27887035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.54, Y:1.47, Z:0.11 [[ 9.98984150e-01 -4.45121438e-02 -7.02396903e-03 1.78539509e+02] [ 4.45118841e-02 9.99008836e-01 -1.93374961e-04 1.47310770e+00] [ 7.02561466e-03 -1.19471575e-04 9.99975313e-01 1.13846356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:178.57, Y:1.47, Z:0.13 [[ 9.98989158e-01 -4.43998120e-02 -7.02271624e-03 1.78569977e+02] [ 4.43992822e-02 9.99013839e-01 -2.31396359e-04 1.46761096e+00] [ 7.02606467e-03 -8.06411063e-05 9.99975314e-01 1.27828334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:178.60, Y:1.46, Z:0.13 [[ 9.98928382e-01 -4.57466710e-02 -7.02355247e-03 1.78599105e+02] [ 4.57463525e-02 9.98953066e-01 -2.06080572e-04 1.45900295e+00] [ 7.02562678e-03 -1.15442175e-04 9.99975313e-01 1.27587027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:178.63, Y:1.46, Z:0.13 [[ 9.98964882e-01 -4.49426121e-02 -7.02329525e-03 1.78629456e+02] [ 4.49422198e-02 9.98989565e-01 -2.13757855e-04 1.45742248e+00] [ 7.02580551e-03 -1.02105889e-04 9.99975314e-01 1.29797310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:1.45, Z:0.12 [[ 9.98956982e-01 -4.51178442e-02 -7.02346619e-03 1.78659172e+02] [ 4.51174917e-02 9.98981666e-01 -2.08702503e-04 1.45209061e+00] [ 7.02573016e-03 -1.08396356e-04 9.99975313e-01 1.17860552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.302320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:178.69, Y:1.45, Z:0.13 [[ 9.99066964e-01 -4.26132242e-02 -7.02239130e-03 1.78690146e+02] [ 4.26125889e-02 9.99091642e-01 -2.40136003e-04 1.44822563e+00] [ 7.02624542e-03 -5.93303254e-05 9.99975314e-01 1.31277584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.332320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:178.72, Y:1.44, Z:0.13 [[ 9.99189865e-01 -3.96266777e-02 -7.02420276e-03 1.78719934e+02] [ 3.96263406e-02 9.99214551e-01 -1.87211461e-04 1.43668834e+00] [ 7.02610417e-03 -9.12836566e-05 9.99975312e-01 1.29716969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.362320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:178.75, Y:1.43, Z:0.13 [[ 9.99236381e-01 -3.84357408e-02 -7.02482278e-03 1.78750433e+02] [ 3.84354997e-02 9.99261069e-01 -1.69380672e-04 1.43256486e+00] [ 7.02614219e-03 -1.00751244e-04 9.99975311e-01 1.31016902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.392320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:178.78, Y:1.43, Z:0.13 [[ 9.99376405e-01 -3.46042653e-02 -7.02467623e-03 1.78780462e+02] [ 3.46039003e-02 9.99401091e-01 -1.73529074e-04 1.42628668e+00] [ 7.02647393e-03 -6.96603341e-05 9.99975312e-01 1.32542940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.81, Y:1.43, Z:0.13 [[ 9.99437730e-01 -3.27850608e-02 -7.02588255e-03 1.78810215e+02] [ 3.27848866e-02 9.99462421e-01 -1.39994032e-04 1.42513458e+00] [ 7.02669530e-03 -9.04274455e-05 9.99975308e-01 1.32116327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:1.42, Z:0.12 [[ 9.99454810e-01 -3.22603169e-02 -7.02528649e-03 1.78836553e+02] [ 3.22600151e-02 9.99479498e-01 -1.56309326e-04 1.42282899e+00] [ 7.02667240e-03 -7.04117403e-05 9.99975310e-01 1.18153827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.482320588 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:178.87, Y:1.42, Z:0.13 [[ 9.99781563e-01 -1.96857031e-02 -7.02138488e-03 1.78870801e+02] [ 1.96843541e-02 9.99806210e-01 -2.61193297e-04 1.41976079e+00] [ 7.02516598e-03 1.22924816e-04 9.99975316e-01 1.33950795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.512320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:178.90, Y:1.42, Z:0.13 [[ 9.99837326e-01 -1.66114416e-02 -7.02726609e-03 1.78900515e+02] [ 1.66111099e-02 9.99862020e-01 -1.05571967e-04 1.41912974e+00] [ 7.02805017e-03 -1.11758965e-05 9.99975303e-01 1.31747944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:1.42, Z:0.12 [[ 9.99869039e-01 -1.45783754e-02 -7.02681185e-03 1.78924320e+02] [ 1.45779108e-02 9.99893730e-01 -1.17339174e-04 1.42147118e+00] [ 7.02777573e-03 1.48875703e-05 9.99975305e-01 1.19173162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.572320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.96, Y:1.42, Z:0.13 [[ 9.99939034e-01 -8.52294210e-03 -7.02048393e-03 1.78958015e+02] [ 8.52120396e-03 9.99963655e-01 -2.77456748e-04 1.42424116e+00] [ 7.02259352e-03 2.17616858e-04 9.99975318e-01 1.31569712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602320588 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:178.95, Y:1.38, Z:0.12 [[ 9.95734601e-01 -9.19958927e-02 -7.02567878e-03 1.78952172e+02] [ 9.19971420e-02 9.95759260e-01 -1.45825071e-04 1.38193683e+00] [ 7.00930002e-03 -5.01139301e-04 9.99975309e-01 1.21692040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.632320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:179.01, Y:1.43, Z:0.14 [[ 9.99966158e-01 4.34264875e-03 -6.98741707e-03 1.79014616e+02] [-4.35054401e-03 9.99989915e-01 -1.11512203e-03 1.42881191e+00] [ 6.98250402e-03 1.14548336e-03 9.99974966e-01 1.35159437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:179.04, Y:1.44, Z:0.13 [[ 9.99938685e-01 8.56053327e-03 -7.02453263e-03 1.79043237e+02] [-8.56072350e-03 9.99963356e-01 2.98667710e-06 1.43695023e+00] [ 7.02430079e-03 5.71485876e-05 9.99975328e-01 1.32956221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.692320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:179.07, Y:1.44, Z:0.13 [[ 9.99934876e-01 8.99512219e-03 -7.02359818e-03 1.79073173e+02] [-8.99551305e-03 9.99959539e-01 -2.40590220e-05 1.44093897e+00] [ 7.02309758e-03 8.72383242e-05 9.99975334e-01 1.32708230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:179.10, Y:1.44, Z:0.13 [[ 9.99909971e-01 1.14336666e-02 -7.02292437e-03 1.79103585e+02] [-1.14342500e-02 9.99934626e-01 -4.29260135e-05 1.44428738e+00] [ 7.02197445e-03 1.23224022e-04 9.99975338e-01 1.32554295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.752320588 meters Centerline goodness : 0.987220 Centerline is valid? [True, True] Translation: X:179.16, Y:1.48, Z:0.13 [[ 9.98218992e-01 5.92411678e-02 -7.02337901e-03 1.79157844e+02] [-5.92428408e-02 9.98243600e-01 -3.02196680e-05 1.47523811e+00] [ 7.00925290e-03 4.46250771e-04 9.99975335e-01 1.30340543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:179.16, Y:1.45, Z:0.13 [[ 9.99953850e-01 6.52701102e-03 -7.04947679e-03 1.79162196e+02] [-6.52220983e-03 9.99978482e-01 7.03845172e-04 1.45259303e+00] [ 7.05391911e-03 -6.57834523e-04 9.99974904e-01 1.34843695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:1.46, Z:0.12 [[ 9.99975337e-01 2.86126087e-04 -7.01733206e-03 1.79185628e+02] [-2.86733972e-04 9.99999955e-01 -8.56203028e-05 1.45600217e+00] [ 7.01730724e-03 8.76302987e-05 9.99975375e-01 1.22250158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.21, Y:1.46, Z:0.12 [[ 9.99975434e-01 -1.03444283e-04 -7.00866031e-03 1.79214206e+02] [ 1.01393006e-04 9.99999952e-01 -2.93032179e-04 1.45988047e+00] [ 7.00869029e-03 2.92314351e-04 9.99975396e-01 1.22128166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.24, Y:1.45, Z:0.13 [[ 9.99556704e-01 -2.89357108e-02 -7.00862521e-03 1.79239381e+02] [ 2.89343615e-02 9.99581271e-01 -2.93869280e-04 1.45052443e+00] [ 7.01419381e-03 9.09489132e-05 9.99975396e-01 1.31517878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:1.47, Z:0.14 [[ 9.99956818e-01 6.10946369e-03 -7.00261474e-03 1.79278133e+02] [-6.11267023e-03 9.99981222e-01 -4.36594571e-04 1.46960328e+00] [ 6.99981588e-03 4.79380393e-04 9.99975386e-01 1.35117192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.30, Y:1.48, Z:0.12 [[ 9.99968643e-01 3.67434946e-03 -7.01517839e-03 1.79303559e+02] [-3.67535079e-03 9.99993237e-01 -1.29851747e-04 1.47705448e+00] [ 7.01465382e-03 1.55630916e-04 9.99975385e-01 1.24267039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.33, Y:1.48, Z:0.12 [[ 9.99970306e-01 3.20483309e-03 -7.00828285e-03 1.79332119e+02] [-3.20697316e-03 9.99994814e-01 -2.94146130e-04 1.47810483e+00] [ 7.00730381e-03 3.16612770e-04 9.99975398e-01 1.24433352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.36, Y:1.49, Z:0.12 [[ 9.99971606e-01 2.77017344e-03 -7.00814353e-03 1.79361011e+02] [-2.77232582e-03 9.99996113e-01 -2.97428677e-04 1.48848997e+00] [ 7.00729236e-03 3.16849089e-04 9.99975398e-01 1.23184786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.39, Y:1.49, Z:0.12 [[ 9.99974177e-01 1.59167080e-03 -7.00802057e-03 1.79389626e+02] [-1.59381436e-03 9.99998685e-01 -3.00298197e-04 1.49264368e+00] [ 7.00753338e-03 3.11459926e-04 9.99975398e-01 1.24093038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.052320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:179.41, Y:1.48, Z:0.13 [[ 9.99380371e-01 -3.44929334e-02 -7.00790364e-03 1.79411766e+02] [ 3.44916566e-02 9.99404940e-01 -3.03002523e-04 1.48197106e+00] [ 7.01418497e-03 6.11005676e-05 9.99975398e-01 1.33164510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.45, Y:1.50, Z:0.13 [[ 9.99974288e-01 -1.57141345e-03 -6.99677554e-03 1.79449145e+02] [ 1.56751395e-03 9.99998613e-01 -5.62776865e-04 1.50042863e+00] [ 6.99765019e-03 5.51794852e-04 9.99975364e-01 1.26882693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.112320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:179.48, Y:1.51, Z:0.14 [[ 9.99975389e-01 -3.28567976e-04 -7.00806189e-03 1.79482765e+02] [ 3.26539081e-04 9.99999904e-01 -2.90651009e-04 1.50731247e+00] [ 7.00815672e-03 2.88355450e-04 9.99975401e-01 1.37672496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.142320588 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:179.49, Y:1.50, Z:0.13 [[ 9.98108415e-01 -6.10770176e-02 -7.01347687e-03 1.79490977e+02] [ 6.10774003e-02 9.98133020e-01 -1.59815095e-04 1.49523772e+00] [ 7.01014388e-03 -2.68852143e-04 9.99975392e-01 1.29670322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.54, Y:1.53, Z:0.14 [[ 9.99974601e-01 1.41261670e-03 -6.98583637e-03 1.79540582e+02] [-1.41834875e-03 9.99998662e-01 -8.15637318e-04 1.52864390e+00] [ 6.98467483e-03 8.25524953e-04 9.99975266e-01 1.35820232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.57, Y:1.53, Z:0.14 [[ 9.99975415e-01 -2.07798185e-05 -7.01200275e-03 1.79568399e+02] [ 1.97975501e-05 9.99999990e-01 -1.40153232e-04 1.53325372e+00] [ 7.01200559e-03 1.40010966e-04 9.99975406e-01 1.38726985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.232320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:179.59, Y:1.52, Z:0.13 [[ 9.98960863e-01 -4.50337230e-02 -7.01123287e-03 1.79585915e+02] [ 4.50337104e-02 9.98985455e-01 -1.59754461e-04 1.51822312e+00] [ 7.01131400e-03 -1.56153376e-04 9.99975408e-01 1.34811569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.62, Y:1.54, Z:0.13 [[ 9.99951887e-01 -6.87786849e-03 -6.99424164e-03 1.79624651e+02] [ 6.87390998e-03 9.99976200e-01 -5.89849583e-04 1.54284043e+00] [ 6.99813209e-03 5.41743416e-04 9.99975366e-01 1.28450662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.292320588 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:179.64, Y:1.53, Z:0.13 [[ 9.98123338e-01 -6.08334738e-02 -7.00652628e-03 1.79640558e+02] [ 6.08331134e-02 9.98147916e-01 -2.64748139e-04 1.52575147e+00] [ 7.00965515e-03 -1.61977511e-04 9.99975419e-01 1.32356996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.68, Y:1.55, Z:0.13 [[ 9.99884193e-01 -1.35181294e-02 -6.99005077e-03 1.79682240e+02] [ 1.35135809e-02 9.99908444e-01 -6.97536741e-04 1.55486024e+00] [ 6.99884018e-03 6.02995344e-04 9.99975326e-01 1.26747681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.71, Y:1.56, Z:0.13 [[ 9.99839598e-01 -1.64831040e-02 -7.00605229e-03 1.79711455e+02] [ 1.64817489e-02 9.99864135e-01 -2.51111804e-04 1.55676085e+00] [ 7.00923951e-03 1.35599531e-04 9.99975426e-01 1.26683193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382320588 meters Centerline goodness : 0.899390 Centerline is valid? [True, False] Translation: X:179.70, Y:1.56, Z:0.13 [[ 9.99955791e-01 -6.21680305e-03 7.05454801e-03 1.79699419e+02] [ 6.24025795e-03 9.99975059e-01 -3.30766517e-03 1.56252798e+00] [-7.03380895e-03 3.35154114e-03 9.99969646e-01 1.26151610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:179.72, Y:1.55, Z:0.13 [[ 9.99994408e-01 -3.31995936e-03 4.02641129e-04 1.79721793e+02] [ 3.31654269e-03 9.99960809e-01 8.20857347e-03 1.55440706e+00] [-4.29877479e-04 -8.20719219e-03 9.99966228e-01 1.29740614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.75, Y:1.56, Z:0.14 [[ 9.99993288e-01 -3.62323007e-03 5.44778997e-04 1.79753397e+02] [ 3.62322546e-03 9.99993436e-01 9.44292116e-06 1.56373947e+00] [-5.44809635e-04 -7.46900065e-06 9.99999852e-01 1.41532728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.78, Y:1.57, Z:0.14 [[ 9.99987536e-01 -4.96295622e-03 5.44859416e-04 1.79783778e+02] [ 4.96295435e-03 9.99987684e-01 4.77947877e-06 1.56881373e+00] [-5.44876426e-04 -2.07530678e-06 9.99999852e-01 1.42649063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.81, Y:1.57, Z:0.14 [[ 9.99977088e-01 -6.74737686e-03 5.44850434e-04 1.79814003e+02] [ 6.74737498e-03 9.99977236e-01 5.29563750e-06 1.57227966e+00] [-5.44873763e-04 -1.61920598e-06 9.99999852e-01 1.41606863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.532320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.84, Y:1.57, Z:0.14 [[ 9.99972246e-01 -7.43039816e-03 5.44821201e-04 1.79844639e+02] [ 7.43039547e-03 9.99972394e-01 6.95250799e-06 1.57371548e+00] [-5.44857820e-04 -2.90407805e-06 9.99999852e-01 1.42907064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.87, Y:1.57, Z:0.13 [[ 9.99956447e-01 -9.31707891e-03 5.44849432e-04 1.79873813e+02] [ 9.31707736e-03 9.99956595e-01 5.36978498e-06 1.57193940e+00] [-5.44875813e-04 -2.93146800e-07 9.99999852e-01 1.28356895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:1.58, Z:0.13 [[ 9.99959698e-01 -8.96129798e-03 5.44771563e-04 1.79903353e+02] [ 8.96129401e-03 9.99959847e-01 9.72969788e-06 1.57529030e+00] [-5.44836880e-04 -4.84744760e-06 9.99999852e-01 1.29979068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:1.58, Z:0.13 [[ 9.99953847e-01 -9.59207376e-03 5.44770932e-04 1.79932656e+02] [ 9.59206986e-03 9.99953995e-01 9.76492979e-06 1.58115194e+00] [-5.44839535e-04 -4.53899827e-06 9.99999852e-01 1.30288404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:1.59, Z:0.13 [[ 9.99955838e-01 -9.38216797e-03 5.44770292e-04 1.79962412e+02] [ 9.38216403e-03 9.99955986e-01 9.80051330e-06 1.58929722e+00] [-5.44838264e-04 -4.68895626e-06 9.99999852e-01 1.27984195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:1.59, Z:0.13 [[ 9.99959611e-01 -8.97103681e-03 5.44769651e-04 1.79992388e+02] [ 8.97103278e-03 9.99959759e-01 9.83600821e-06 1.58764209e+00] [-5.44835968e-04 -4.94846455e-06 9.99999852e-01 1.26479930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:1.59, Z:0.13 [[ 9.99951185e-01 -9.86562534e-03 5.44769012e-04 1.80022080e+02] [ 9.86562143e-03 9.99951334e-01 9.87127335e-06 1.58854043e+00] [-5.44839886e-04 -4.49630665e-06 9.99999852e-01 1.27213843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.05, Y:1.59, Z:0.13 [[ 9.99914023e-01 -1.31015328e-02 5.44768368e-04 1.80051879e+02] [ 1.31015293e-02 9.99914171e-01 9.90665294e-06 1.59433080e+00] [-5.44851404e-04 -2.76850244e-06 9.99999852e-01 1.28611272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:1.60, Z:0.13 [[ 9.99880392e-01 -1.54565474e-02 5.44767721e-04 1.80081194e+02] [ 1.54565442e-02 9.99880540e-01 9.94212049e-06 1.59613441e+00] [-5.44856314e-04 -1.52070495e-06 9.99999852e-01 1.28708552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.802320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:180.11, Y:1.60, Z:0.14 [[ 9.99867058e-01 -1.62962892e-02 5.44767395e-04 1.80111812e+02] [ 1.62962862e-02 9.99867207e-01 9.95994790e-06 1.59602766e+00] [-5.44857364e-04 -1.08093841e-06 9.99999852e-01 1.39863067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.832320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.14, Y:1.59, Z:0.14 [[ 9.99842164e-01 -1.77581063e-02 5.44824952e-04 1.80141156e+02] [ 1.77581052e-02 9.99842312e-01 6.81427617e-06 1.59481403e+00] [-5.44860048e-04 2.86185819e-06 9.99999852e-01 1.39215927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.862320588 meters Centerline goodness : 0.870750 Centerline is valid? [True, False] Translation: X:180.17, Y:1.60, Z:0.14 [[ 9.99988792e-01 -3.76310377e-03 -2.87318610e-03 1.80166145e+02] [ 3.76967240e-03 9.99990286e-01 2.28420064e-03 1.59576765e+00] [ 2.86456251e-03 -2.29500601e-03 9.99993264e-01 1.42958408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.892320588 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:180.19, Y:1.59, Z:0.15 [[ 9.99954744e-01 -7.05837895e-04 -9.48744597e-03 1.80188571e+02] [ 8.42734822e-04 9.99895483e-01 1.44330266e-02 1.58590031e+00] [ 9.47626700e-03 -1.44403688e-02 9.99850827e-01 1.47069389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.22, Y:1.60, Z:0.13 [[ 9.99953259e-01 -2.31140569e-03 -9.38817899e-03 1.80215534e+02] [ 2.31015176e-03 9.99997321e-01 -1.44406858e-04 1.59859406e+00] [ 9.38848762e-03 1.22711990e-04 9.99955920e-01 1.31278823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.25, Y:1.60, Z:0.14 [[ 9.99955603e-01 -8.01739304e-04 -9.38873275e-03 1.80245888e+02] [ 8.01132445e-04 9.99999677e-01 -6.83976785e-05 1.60015567e+00] [ 9.38878455e-03 6.08730234e-05 9.99955923e-01 1.44472450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:1.60, Z:0.14 [[ 9.99955661e-01 -7.21083841e-04 -9.38919351e-03 1.80275754e+02] [ 7.21056167e-04 9.99999740e-01 -6.33253128e-06 1.60117480e+00] [ 9.38919563e-03 -4.37885381e-07 9.99955921e-01 1.42806317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.31, Y:1.60, Z:0.14 [[ 9.99954866e-01 -1.45246993e-03 -9.38913090e-03 1.80305216e+02] [ 1.45240094e-03 9.99998945e-01 -1.41667624e-05 1.60200516e+00] [ 9.38914158e-03 5.29340437e-07 9.99955921e-01 1.43972598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:180.34, Y:1.60, Z:0.13 [[ 9.99955568e-01 -8.43642167e-04 -9.38883811e-03 1.80335404e+02] [ 8.43215456e-04 9.99999643e-01 -4.94072348e-05 1.60185674e+00] [ 9.38887645e-03 4.14882261e-05 9.99955923e-01 1.33747846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.37, Y:1.60, Z:0.15 [[ 9.99947376e-01 4.13527678e-03 -9.38858958e-03 1.80367017e+02] [-4.13620037e-03 9.99991443e-01 -7.89594735e-05 1.60443984e+00] [ 9.38818272e-03 1.17788406e-04 9.99955923e-01 1.49131756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102320588 meters Centerline goodness : 0.977458 Centerline is valid? [True, True] Translation: X:180.35, Y:1.57, Z:0.14 [[ 9.96651356e-01 -8.12275414e-02 -9.38937727e-03 1.80353623e+02] [ 8.12312263e-02 9.96695283e-01 1.11301987e-05 1.56545872e+00] [ 9.35744396e-03 -7.73803557e-04 9.99955919e-01 1.35958665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.132320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:180.42, Y:1.61, Z:0.15 [[ 9.99859043e-01 1.39311744e-02 -9.37099635e-03 1.80418349e+02] [-1.39456666e-02 9.99901655e-01 -1.48292528e-03 1.60922237e+00] [ 9.34941587e-03 1.61340104e-03 9.99954992e-01 1.45266461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:180.45, Y:1.61, Z:0.13 [[ 9.99863091e-01 1.36323184e-02 -9.37867769e-03 1.80445880e+02] [-1.36324072e-02 9.99907073e-01 5.44648315e-05 1.60661251e+00] [ 9.37854864e-03 7.33965781e-05 9.99956018e-01 1.33510447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:1.61, Z:0.13 [[ 9.99837385e-01 1.54030735e-02 -9.37806526e-03 1.80474445e+02] [-1.54042507e-02 9.99881346e-01 -5.33003921e-05 1.60686656e+00] [ 9.37613152e-03 1.97753793e-04 9.99956024e-01 1.34735175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.50, Y:1.61, Z:0.14 [[ 9.99775718e-01 1.89885577e-02 -9.37803972e-03 1.80503394e+02] [-1.89899316e-02 9.99819673e-01 -5.74678743e-05 1.61376752e+00] [ 9.37525738e-03 2.35543318e-04 9.99956024e-01 1.37998292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:1.61, Z:0.14 [[ 9.99823108e-01 -1.63035416e-02 -9.37801265e-03 1.80516482e+02] [ 1.63036810e-02 9.99867084e-01 -6.15887636e-05 1.60546281e+00] [ 9.37777028e-03 -9.13182580e-05 9.99956024e-01 1.44485519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:180.56, Y:1.62, Z:0.14 [[ 9.99568070e-01 2.78536591e-02 -9.37264020e-03 1.80562196e+02] [-2.78619006e-02 9.99611501e-01 -7.49867099e-04 1.62270024e+00] [ 9.34811240e-03 1.01068278e-03 9.99955795e-01 1.38208028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.59, Y:1.63, Z:0.14 [[ 9.99430316e-01 3.24211794e-02 -9.37610151e-03 1.80589854e+02] [-3.24230364e-02 9.99474234e-01 -4.60819011e-05 1.62791911e+00] [ 9.36967784e-03 3.50057330e-04 9.99956042e-01 1.37847873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:180.62, Y:1.63, Z:0.15 [[ 9.99343791e-01 3.49868194e-02 -9.37607651e-03 1.80621114e+02] [-3.49888325e-02 9.99387702e-01 -5.07048912e-05 1.63323704e+00] [ 9.36856155e-03 3.78729588e-04 9.99956042e-01 1.51199168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.372320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.65, Y:1.64, Z:0.15 [[ 9.99228403e-01 3.81402974e-02 -9.37637962e-03 1.80653187e+02] [-3.81419266e-02 9.99272332e-01 5.06680209e-06 1.64237572e+00] [ 9.36974997e-03 3.52570290e-04 9.99956041e-01 1.52971106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:180.68, Y:1.65, Z:0.15 [[ 9.99134989e-01 4.05135853e-02 -9.37674397e-03 1.80682710e+02] [-4.05147302e-02 9.99178939e-01 6.78903181e-05 1.64608741e+00] [ 9.37179557e-03 3.12064660e-04 9.99956035e-01 1.53435760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.432320588 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:180.71, Y:1.66, Z:0.15 [[ 9.99185103e-01 3.92582111e-02 -9.37676227e-03 1.80708868e+02] [-3.92592736e-02 9.99229055e-01 7.07944088e-05 1.65505652e+00] [ 9.37231256e-03 2.97388157e-04 9.99956035e-01 1.50551665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:1.66, Z:0.14 [[ 9.99105581e-01 4.12326742e-02 -9.37576900e-03 1.80739488e+02] [-4.12351270e-02 9.99149468e-01 -6.83683047e-05 1.66063682e+00] [ 9.36497560e-03 4.54918180e-04 9.99956044e-01 1.41427339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.77, Y:1.66, Z:0.14 [[ 9.99115413e-01 4.09937314e-02 -9.37577895e-03 1.80768421e+02] [-4.09961606e-02 9.99159302e-01 -6.69752270e-05 1.66495040e+00] [ 9.36515118e-03 4.51286921e-04 9.99956044e-01 1.41719968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:180.80, Y:1.67, Z:0.14 [[ 9.99115873e-01 4.09825286e-02 -9.37574896e-03 1.80797062e+02] [-4.09849944e-02 9.99159760e-01 -7.09382883e-05 1.67271520e+00] [ 9.36496385e-03 4.55140589e-04 9.99956044e-01 1.44753567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.552320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.83, Y:1.68, Z:0.16 [[ 9.99074033e-01 4.19901387e-02 -9.37571726e-03 1.80828669e+02] [-4.19926859e-02 9.99117915e-01 -7.49059476e-05 1.68437617e+00] [ 9.36430178e-03 4.68548138e-04 9.99956044e-01 1.55851472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.582320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:180.86, Y:1.69, Z:0.14 [[ 9.99151267e-01 4.01101939e-02 -9.37643291e-03 1.80856376e+02] [-4.01118331e-02 9.99195196e-01 1.32519887e-05 1.69089830e+00] [ 9.36941826e-03 3.62865170e-04 9.99956040e-01 1.43184904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.612320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:180.89, Y:1.70, Z:0.15 [[ 9.99185095e-01 3.92586852e-02 -9.37561709e-03 1.80887506e+02] [-3.92611703e-02 9.99228980e-01 -8.10842828e-05 1.69738439e+00] [ 9.36520504e-03 4.49115906e-04 9.99956045e-01 1.52852033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.92, Y:1.70, Z:0.15 [[ 9.99285837e-01 3.66046966e-02 -9.37612405e-03 1.80915564e+02] [-3.66065200e-02 9.99329756e-01 -2.28685086e-05 1.70206735e+00] [ 9.36900267e-03 3.66079449e-04 9.99956043e-01 1.53863445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.94, Y:1.70, Z:0.15 [[ 9.99338501e-01 3.51376925e-02 -9.37569164e-03 1.80944976e+02] [-3.51398963e-02 9.99382401e-01 -7.03770726e-05 1.70355733e+00] [ 9.36742834e-03 3.99791351e-04 9.99956045e-01 1.45451278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.97, Y:1.71, Z:0.15 [[ 9.99508710e-01 2.99071492e-02 -9.37553465e-03 1.80973365e+02] [-2.99092813e-02 9.99552614e-01 -8.72480302e-05 1.71022634e+00] [ 9.36873082e-03 3.67620669e-04 9.99956045e-01 1.46581138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:1.72, Z:0.15 [[ 9.99578259e-01 2.74846231e-02 -9.37549495e-03 1.81001929e+02] [-2.74866870e-02 9.99622165e-01 -9.13237958e-05 1.71523387e+00] [ 9.36944256e-03 3.48986576e-04 9.99956045e-01 1.46134775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:1.72, Z:0.15 [[ 9.99736338e-01 2.09607954e-02 -9.37545340e-03 1.81030970e+02] [-2.09626109e-02 9.99780256e-01 -9.54060247e-05 1.72295609e+00] [ 9.37139342e-03 2.91914852e-04 9.99956045e-01 1.46076058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.06, Y:1.72, Z:0.15 [[ 9.99812731e-01 1.69294074e-02 -9.37540954e-03 1.81059664e+02] [-1.69310846e-02 9.99856654e-01 -9.95373141e-05 1.72394029e+00] [ 9.37238051e-03 2.58254526e-04 9.99956045e-01 1.53171757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.09, Y:1.72, Z:0.14 [[ 9.99871428e-01 1.30089898e-02 -9.37518887e-03 1.81089711e+02] [-1.30106862e-02 9.99915350e-01 -1.19977806e-04 1.72299004e+00] [ 9.37283447e-03 2.41940021e-04 9.99956045e-01 1.44792947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:181.12, Y:1.72, Z:0.15 [[ 9.99901944e-01 1.04021553e-02 -9.37537385e-03 1.81118132e+02] [-1.04035797e-02 9.99945876e-01 -1.03167191e-04 1.72391305e+00] [ 9.37379326e-03 2.00694524e-04 9.99956045e-01 1.45159636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:181.15, Y:1.72, Z:0.15 [[ 9.99907270e-01 9.87697861e-03 -9.37532482e-03 1.81146611e+02] [-9.87842000e-03 9.99951201e-01 -1.07445882e-04 1.72395721e+00] [ 9.37380608e-03 2.00049314e-04 9.99956045e-01 1.45426687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:181.18, Y:1.73, Z:0.16 [[ 9.99928562e-01 7.41447551e-03 -9.37526580e-03 1.81175744e+02] [-7.41585485e-03 9.99972496e-01 -1.12369863e-04 1.72725665e+00] [ 9.37417478e-03 1.81887446e-04 9.99956045e-01 1.58894007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.21, Y:1.74, Z:0.16 [[ 9.99917178e-01 8.81735625e-03 -9.37505603e-03 1.81207257e+02] [-8.81895875e-03 9.99961104e-01 -1.29604849e-04 1.73516399e+00] [ 9.37354860e-03 2.12272347e-04 9.99956045e-01 1.59124881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:1.74, Z:0.15 [[ 9.99899158e-01 1.06662176e-02 -9.37582791e-03 1.81236685e+02] [-1.06673034e-02 9.99943101e-01 -6.58051618e-05 1.74111773e+00] [ 9.37459254e-03 1.65813326e-04 9.99956044e-01 1.49178119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:1.75, Z:0.16 [[ 9.99903786e-01 1.02237122e-02 -9.37520218e-03 1.81264067e+02] [-1.02252515e-02 9.99947714e-01 -1.16263046e-04 1.74506795e+00] [ 9.37352335e-03 2.12115659e-04 9.99956045e-01 1.57192078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:181.29, Y:1.75, Z:0.16 [[ 9.99881660e-01 1.21978349e-02 -9.37440917e-03 1.81294971e+02] [-1.22000437e-02 9.99925561e-01 -1.78468992e-04 1.74974504e+00] [ 9.37153441e-03 2.92816073e-04 9.99956043e-01 1.59187483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.32, Y:1.76, Z:0.16 [[ 9.99874871e-01 1.27414221e-02 -9.37538364e-03 1.81322342e+02] [-1.27429430e-02 9.99918800e-01 -1.02503350e-04 1.75581505e+00] [ 9.37331632e-03 2.21960504e-04 9.99956045e-01 1.62767163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.35, Y:1.76, Z:0.16 [[ 9.99869460e-01 1.31595633e-02 -9.37491748e-03 1.81353074e+02] [-1.31614303e-02 9.99913375e-01 -1.37481529e-04 1.76230147e+00] [ 9.37229618e-03 2.60850905e-04 9.99956045e-01 1.58130978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.38, Y:1.77, Z:0.16 [[ 9.99891429e-01 1.13678315e-02 -9.37566260e-03 1.81380905e+02] [-1.13690919e-02 9.99935366e-01 -8.11489170e-05 1.76762231e+00] [ 9.37413413e-03 1.87732876e-04 9.99956044e-01 1.58412468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.41, Y:1.77, Z:0.16 [[ 9.99908748e-01 9.72614207e-03 -9.37540437e-03 1.81408637e+02] [-9.72750665e-03 9.99952682e-01 -9.99578469e-05 1.77352687e+00] [ 9.37398854e-03 1.91148034e-04 9.99956045e-01 1.56658650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:1.78, Z:0.16 [[ 9.99928611e-01 7.40807856e-03 -9.37518601e-03 1.81437491e+02] [-7.40948534e-03 9.99972543e-01 -1.15328162e-04 1.78107049e+00] [ 9.37407423e-03 1.84785232e-04 9.99956045e-01 1.60472135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.47, Y:1.78, Z:0.15 [[ 9.99943711e-01 4.96785659e-03 -9.37522996e-03 1.81465947e+02] [-4.96912768e-03 9.99987648e-01 -1.12290495e-04 1.78316143e+00] [ 9.37455631e-03 1.58870889e-04 9.99956045e-01 1.52473713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.50, Y:1.79, Z:0.16 [[ 9.99955902e-01 5.52918547e-04 -9.37485044e-03 1.81495753e+02] [-5.54237202e-04 9.99999837e-01 -1.38061382e-04 1.78795302e+00] [ 9.37477257e-03 1.43251185e-04 9.99956046e-01 1.58458714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.52, Y:1.79, Z:0.16 [[ 9.99950575e-01 -3.30980901e-03 -9.37514446e-03 1.81523809e+02] [ 3.30884269e-03 9.99994519e-01 -1.18581320e-04 1.79058437e+00] [ 9.37548555e-03 8.75545805e-05 9.99956045e-01 1.57928699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.55, Y:1.80, Z:0.15 [[ 9.99914630e-01 -9.10209086e-03 -9.37466264e-03 1.81553205e+02] [ 9.10108432e-03 9.99958573e-01 -1.50024732e-04 1.79594840e+00] [ 9.37563981e-03 6.46923289e-05 9.99956046e-01 1.50998846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.58, Y:1.80, Z:0.15 [[ 9.99884433e-01 -1.19680321e-02 -9.37475250e-03 1.81581522e+02] [ 1.19672063e-02 9.99928380e-01 -1.44182047e-04 1.79834973e+00] [ 9.37580665e-03 3.19757870e-05 9.99956046e-01 1.53132668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.61, Y:1.80, Z:0.15 [[ 9.99819097e-01 -1.65495338e-02 -9.37473347e-03 1.81609960e+02] [ 1.65488979e-02 9.99863047e-01 -1.45408998e-04 1.80072889e+00] [ 9.37585602e-03 -9.75881376e-06 9.99956046e-01 1.54122118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:181.64, Y:1.80, Z:0.16 [[ 9.99765955e-01 -1.94974513e-02 -9.37471410e-03 1.81637102e+02] [ 1.94969333e-02 9.99809906e-01 -1.46647373e-04 1.80105560e+00] [ 9.37579127e-03 -3.61651245e-05 9.99956046e-01 1.64296914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.67, Y:1.80, Z:0.15 [[ 9.99726312e-01 -2.14343226e-02 -9.37391186e-03 1.81667862e+02] [ 2.14334187e-02 9.99770259e-01 -1.96883492e-04 1.80168109e+00] [ 9.37597835e-03 -4.08537106e-06 9.99956045e-01 1.51465905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.70, Y:1.80, Z:0.15 [[ 9.99697452e-01 -2.27402620e-02 -9.37468677e-03 1.81697104e+02] [ 2.27398767e-02 9.99741405e-01 -1.47699689e-04 1.80174164e+00] [ 9.37562125e-03 -6.55242190e-05 9.99956046e-01 1.51135489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.73, Y:1.80, Z:0.15 [[ 9.99645514e-01 -2.49191125e-02 -9.37466767e-03 1.81726424e+02] [ 2.49188117e-02 9.99689467e-01 -1.48902357e-04 1.80131693e+00] [ 9.37546704e-03 -8.47560060e-05 9.99956046e-01 1.53918523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.76, Y:1.80, Z:0.17 [[ 9.99649837e-01 -2.47450767e-02 -9.37465341e-03 1.81755016e+02] [ 2.47447599e-02 9.99693790e-01 -1.49794886e-04 1.80102310e+00] [ 9.37548949e-03 -8.22311142e-05 9.99956046e-01 1.70485330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:1.80, Z:0.15 [[ 9.99612922e-01 -2.61940182e-02 -9.37445028e-03 1.81784492e+02] [ 2.61936455e-02 9.99656874e-01 -1.62550527e-04 1.79893997e+00] [ 9.37549152e-03 -8.30634208e-05 9.99956046e-01 1.54905261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:1.80, Z:0.15 [[ 9.99608957e-01 -2.63448161e-02 -9.37463190e-03 1.81813506e+02] [ 2.63445556e-02 9.99652911e-01 -1.51297149e-04 1.79790712e+00] [ 9.37536396e-03 -9.57325261e-05 9.99956046e-01 1.54607794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:1.80, Z:0.16 [[ 9.99636005e-01 -2.52976966e-02 -9.37461254e-03 1.81843171e+02] [ 2.52973789e-02 9.99679958e-01 -1.52487247e-04 1.79754014e+00] [ 9.37546986e-03 -8.47213827e-05 9.99956046e-01 1.62806152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.87, Y:1.80, Z:0.17 [[ 9.99620600e-01 -2.58990172e-02 -9.37538068e-03 1.81871389e+02] [ 2.58991683e-02 9.99664555e-01 -1.05311396e-04 1.79775739e+00] [ 9.37496321e-03 -1.37543121e-04 9.99956045e-01 1.65729616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.90, Y:1.80, Z:0.16 [[ 9.99584128e-01 -2.72706042e-02 -9.37468158e-03 1.81900565e+02] [ 2.72704168e-02 9.99628082e-01 -1.47838618e-04 1.79583241e+00] [ 9.37522662e-03 -1.07874337e-04 9.99956046e-01 1.57434662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.93, Y:1.79, Z:0.16 [[ 9.99586882e-01 -2.71695135e-02 -9.37457193e-03 1.81929158e+02] [ 2.71692593e-02 9.99630836e-01 -1.54492346e-04 1.79366248e+00] [ 9.37530865e-03 -1.00271653e-04 9.99956046e-01 1.57965044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:1.79, Z:0.15 [[ 9.99595460e-01 -2.68520867e-02 -9.37455208e-03 1.81957781e+02] [ 2.68518073e-02 9.99639413e-01 -1.55687337e-04 1.78850401e+00] [ 9.37535227e-03 -9.60993110e-05 9.99956046e-01 1.54976661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.99, Y:1.79, Z:0.16 [[ 9.99584242e-01 -2.72664887e-02 -9.37453219e-03 1.81986281e+02] [ 2.72662164e-02 9.99628195e-01 -1.56875647e-04 1.78685314e+00] [ 9.37532415e-03 -9.87975990e-05 9.99956046e-01 1.55173551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.02, Y:1.78, Z:0.16 [[ 9.99582514e-01 -2.73297703e-02 -9.37451200e-03 1.82015010e+02] [ 2.73294895e-02 9.99626467e-01 -1.58073550e-04 1.78391780e+00] [ 9.37533042e-03 -9.81930714e-05 9.99956046e-01 1.57347502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.04, Y:1.78, Z:0.16 [[ 9.99582887e-01 -2.73161350e-02 -9.37449166e-03 1.82042652e+02] [ 2.73158424e-02 9.99626840e-01 -1.59270548e-04 1.78284539e+00] [ 9.37534413e-03 -9.68680222e-05 9.99956046e-01 1.58654749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.07, Y:1.78, Z:0.16 [[ 9.99608423e-01 -2.63651295e-02 -9.37446058e-03 1.82071489e+02] [ 2.63647781e-02 9.99652376e-01 -1.61079083e-04 1.78012328e+00] [ 9.37544867e-03 -8.61395655e-05 9.99956046e-01 1.58535128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.10, Y:1.78, Z:0.16 [[ 9.99624030e-01 -2.57666231e-02 -9.37443988e-03 1.82100297e+02] [ 2.57662342e-02 9.99667982e-01 -1.62274958e-04 1.77738616e+00] [ 9.37550868e-03 -7.93300666e-05 9.99956046e-01 1.57960276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.13, Y:1.77, Z:0.16 [[ 9.99648214e-01 -2.48106652e-02 -9.37441884e-03 1.82128796e+02] [ 2.48102230e-02 9.99692166e-01 -1.63481684e-04 1.77106143e+00] [ 9.37558916e-03 -6.91572483e-05 9.99956046e-01 1.57387757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.16, Y:1.77, Z:0.16 [[ 9.99635870e-01 -2.53031352e-02 -9.37439755e-03 1.82156396e+02] [ 2.53027033e-02 9.99679822e-01 -1.64693446e-04 1.76990020e+00] [ 9.37556333e-03 -7.25641232e-05 9.99956046e-01 1.58022515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.18, Y:1.77, Z:0.16 [[ 9.99628695e-01 -2.55850364e-02 -9.37436545e-03 1.82184274e+02] [ 2.55845999e-02 9.99672647e-01 -1.66500593e-04 1.76936460e+00] [ 9.37555665e-03 -7.34006190e-05 9.99956046e-01 1.57271498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.21, Y:1.76, Z:0.16 [[ 9.99605050e-01 -2.64927676e-02 -9.37433311e-03 1.82213518e+02] [ 2.64923542e-02 9.99649002e-01 -1.68301949e-04 1.76449197e+00] [ 9.37550152e-03 -8.01126752e-05 9.99956046e-01 1.57927842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.24, Y:1.76, Z:0.16 [[ 9.99608082e-01 -2.63781025e-02 -9.37431131e-03 1.82242764e+02] [ 2.63776727e-02 9.99652034e-01 -1.69507525e-04 1.75947631e+00] [ 9.37552066e-03 -7.78314237e-05 9.99956046e-01 1.60457249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.27, Y:1.76, Z:0.16 [[ 9.99595569e-01 -2.68480973e-02 -9.37428935e-03 1.82271209e+02] [ 2.68476769e-02 9.99639522e-01 -1.70713320e-04 1.75883939e+00] [ 9.37549345e-03 -8.10336137e-05 9.99956046e-01 1.61264414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:1.76, Z:0.16 [[ 9.99607406e-01 -2.64037410e-02 -9.37426719e-03 1.82299915e+02] [ 2.64032896e-02 9.99651358e-01 -1.71922081e-04 1.75583987e+00] [ 9.37553830e-03 -7.56569063e-05 9.99956046e-01 1.60137174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:1.75, Z:0.17 [[ 9.99608206e-01 -2.63734227e-02 -9.37424475e-03 1.82328886e+02] [ 2.63729586e-02 9.99652158e-01 -1.73136598e-04 1.75348185e+00] [ 9.37555020e-03 -7.41578049e-05 9.99956046e-01 1.73962187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:1.75, Z:0.16 [[ 9.99583891e-01 -2.72794517e-02 -9.37422226e-03 1.82359110e+02] [ 2.72790161e-02 9.99627843e-01 -1.74348532e-04 1.74985091e+00] [ 9.37548972e-03 -8.14435761e-05 9.99956046e-01 1.59389372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.39, Y:1.75, Z:0.16 [[ 9.99578321e-01 -2.74828142e-02 -9.37422332e-03 1.82387421e+02] [ 2.74823881e-02 9.99622273e-01 -1.74291594e-04 1.75025977e+00] [ 9.37547245e-03 -8.34079442e-05 9.99956046e-01 1.60414581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:182.42, Y:1.75, Z:0.17 [[ 9.99574793e-01 -2.76108221e-02 -9.37418909e-03 1.82417254e+02] [ 2.76103845e-02 9.99618745e-01 -1.76113839e-04 1.74970670e+00] [ 9.37547778e-03 -8.27860115e-05 9.99956046e-01 1.74456631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.45, Y:1.75, Z:0.16 [[ 9.99619429e-01 -2.59447363e-02 -9.37375872e-03 1.82448321e+02] [ 2.59440119e-02 9.99663378e-01 -1.98889110e-04 1.74788068e+00] [ 9.37576343e-03 -4.43794897e-05 9.99956046e-01 1.62995359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:1.74, Z:0.16 [[ 9.99632501e-01 -2.54359539e-02 -9.37418900e-03 1.82477156e+02] [ 2.54354221e-02 9.99676452e-01 -1.75967107e-04 1.74403674e+00] [ 9.37563189e-03 -6.25340143e-05 9.99956046e-01 1.61081429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:1.74, Z:0.16 [[ 9.99632486e-01 -2.54365324e-02 -9.37416593e-03 1.82505561e+02] [ 2.54359892e-02 9.99676437e-01 -1.77187655e-04 1.74436286e+00] [ 9.37563984e-03 -6.13186472e-05 9.99956046e-01 1.60688667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.53, Y:1.75, Z:0.17 [[ 9.99657695e-01 -2.44257833e-02 -9.37414294e-03 1.82534615e+02] [ 2.44251843e-02 9.99701645e-01 -1.78395482e-04 1.74524815e+00] [ 9.37570357e-03 -5.06307532e-05 9.99956046e-01 1.72729510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:182.56, Y:1.74, Z:0.16 [[ 9.99629162e-01 -2.55666186e-02 -9.37474393e-03 1.82564141e+02] [ 2.55663638e-02 9.99673116e-01 -1.47039189e-04 1.74475677e+00] [ 9.37543877e-03 -9.26934519e-05 9.99956045e-01 1.59741880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:1.74, Z:0.16 [[ 9.99633274e-01 -2.54055741e-02 -9.37409062e-03 1.82592548e+02] [ 2.54049948e-02 9.99677225e-01 -1.80894516e-04 1.74489108e+00] [ 9.37566062e-03 -5.73205462e-05 9.99956046e-01 1.62136054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:1.75, Z:0.16 [[ 9.99634954e-01 -2.53394138e-02 -9.37406698e-03 1.82621023e+02] [ 2.53388202e-02 9.99678904e-01 -1.82111092e-04 1.74713004e+00] [ 9.37567160e-03 -5.54831846e-05 9.99956046e-01 1.62388982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.65, Y:1.75, Z:0.16 [[ 9.99581596e-01 -2.73634680e-02 -9.37404313e-03 1.82650214e+02] [ 2.73629519e-02 9.99625548e-01 -1.83330688e-04 1.74705400e+00] [ 9.37554956e-03 -7.32475095e-05 9.99956046e-01 1.61017043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:182.68, Y:1.74, Z:0.16 [[ 9.99551295e-01 -2.84488323e-02 -9.37401912e-03 1.82679412e+02] [ 2.84483525e-02 9.99595247e-01 -1.84550506e-04 1.74397281e+00] [ 9.37547520e-03 -8.22077024e-05 9.99956046e-01 1.58429394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:182.71, Y:1.74, Z:0.17 [[ 9.99488237e-01 -3.05841964e-02 -9.37399484e-03 1.82707673e+02] [ 3.05837990e-02 9.99532189e-01 -1.85775244e-04 1.73667579e+00] [ 9.37529137e-03 -1.01012203e-04 9.99956046e-01 1.71939755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:1.74, Z:0.17 [[ 9.99461353e-01 -3.14505429e-02 -9.37379758e-03 1.82737229e+02] [ 3.14500906e-02 9.99505304e-01 -1.95696837e-04 1.73549523e+00] [ 9.37531517e-03 -9.92153570e-05 9.99956046e-01 1.70110300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:182.77, Y:1.73, Z:0.17 [[ 9.99473439e-01 -3.10638610e-02 -9.37452124e-03 1.82766082e+02] [ 3.10637283e-02 9.99517393e-01 -1.59796257e-04 1.73444678e+00] [ 9.37496092e-03 -1.31495466e-04 9.99956045e-01 1.72726857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:1.73, Z:0.16 [[ 9.99491714e-01 -3.04701011e-02 -9.37480959e-03 1.82794626e+02] [ 3.04700751e-02 9.99535669e-01 -1.45641486e-04 1.73465203e+00] [ 9.37489428e-03 -1.40083694e-04 9.99956045e-01 1.62791139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.82, Y:1.73, Z:0.16 [[ 9.99605698e-01 -2.64684781e-02 -9.37383870e-03 1.82823334e+02] [ 2.64678335e-02 9.99649647e-01 -1.92837273e-04 1.73400144e+00] [ 9.37565865e-03 -5.53439653e-05 9.99956046e-01 1.62155243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.85, Y:1.73, Z:0.16 [[ 9.99619452e-01 -2.59438356e-02 -9.37381338e-03 1.82852406e+02] [ 2.59431565e-02 9.99663401e-01 -1.94059877e-04 1.73358697e+00] [ 9.37569282e-03 -4.92002792e-05 9.99956046e-01 1.61334296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:1.73, Z:0.16 [[ 9.99623100e-01 -2.58029097e-02 -9.37378772e-03 1.82881813e+02] [ 2.58022128e-02 9.99667048e-01 -1.95291684e-04 1.72939364e+00] [ 9.37570580e-03 -4.66463871e-05 9.99956046e-01 1.60324709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:1.73, Z:0.17 [[ 9.99642975e-01 -2.50210831e-02 -9.37376200e-03 1.82911942e+02] [ 2.50203404e-02 9.99686923e-01 -1.96518508e-04 1.72820170e+00] [ 9.37574440e-03 -3.80863700e-05 9.99956046e-01 1.69314294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.94, Y:1.73, Z:0.16 [[ 9.99535974e-01 -2.89820186e-02 -9.37437163e-03 1.82941239e+02] [ 2.89817231e-02 9.99579928e-01 -1.67399620e-04 1.72797353e+00] [ 9.37528529e-03 -1.04363500e-04 9.99956046e-01 1.62396961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.97, Y:1.73, Z:0.16 [[ 9.99530282e-01 -2.91778611e-02 -9.37372894e-03 1.82969726e+02] [ 2.91772886e-02 9.99574233e-01 -1.97848914e-04 1.72855354e+00] [ 9.37551073e-03 -7.57440138e-05 9.99956046e-01 1.62663620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.00, Y:1.73, Z:0.16 [[ 9.99476555e-01 -3.09636815e-02 -9.37368987e-03 1.82998430e+02] [ 3.09631704e-02 9.99520506e-01 -1.99682942e-04 1.72819404e+00] [ 9.37537817e-03 -9.06607382e-05 9.99956046e-01 1.62127115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:1.72, Z:0.16 [[ 9.99359247e-01 -3.45431709e-02 -9.37366372e-03 1.83027700e+02] [ 3.45428057e-02 9.99403199e-01 -2.00903424e-04 1.72259202e+00] [ 9.37500935e-03 -1.23017951e-04 9.99956046e-01 1.63732954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:183.06, Y:1.72, Z:0.17 [[ 9.99376811e-01 -3.40312275e-02 -9.37363753e-03 1.83057940e+02] [ 3.40308284e-02 9.99420763e-01 -2.02117862e-04 1.71989986e+00] [ 9.37508629e-03 -1.17000746e-04 9.99956046e-01 1.74110776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.09, Y:1.72, Z:0.17 [[ 9.99256932e-01 -3.73858338e-02 -9.37456368e-03 1.83087416e+02] [ 3.73859823e-02 9.99300887e-01 -1.59470794e-04 1.71537099e+00] [ 9.37397175e-03 -1.91124975e-04 9.99956045e-01 1.66019692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:1.71, Z:0.17 [[ 9.99212521e-01 -3.85548288e-02 -9.37352659e-03 1.83115564e+02] [ 3.85545872e-02 9.99256474e-01 -2.06538486e-04 1.71317158e+00] [ 9.37452019e-03 -1.55016607e-04 9.99956046e-01 1.65962308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:183.15, Y:1.71, Z:0.17 [[ 9.99236196e-01 -3.79363007e-02 -9.37348653e-03 1.83146904e+02] [ 3.79360150e-02 9.99280149e-01 -2.08341040e-04 1.71036363e+00] [ 9.37464270e-03 -1.47410818e-04 9.99956046e-01 1.74254104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.18, Y:1.70, Z:0.16 [[ 9.99153207e-01 -4.00622691e-02 -9.37464852e-03 1.83175940e+02] [ 4.00625689e-02 9.99197161e-01 -1.55884263e-04 1.70434752e+00] [ 9.37336726e-03 -2.19820240e-04 9.99956045e-01 1.63151738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:1.70, Z:0.17 [[ 9.99202353e-01 -3.88174866e-02 -9.37344003e-03 1.83204321e+02] [ 3.88172254e-02 9.99246305e-01 -2.09861750e-04 1.69837815e+00] [ 9.37452162e-03 -1.54156580e-04 9.99956046e-01 1.66053400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:1.70, Z:0.17 [[ 9.99241456e-01 -3.77975193e-02 -9.37339952e-03 1.83233025e+02] [ 3.77971965e-02 9.99285408e-01 -2.11655503e-04 1.69604181e+00] [ 9.37470142e-03 -1.42793271e-04 9.99956046e-01 1.67944335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:1.69, Z:0.17 [[ 9.99365024e-01 -3.43757129e-02 -9.37337194e-03 1.83261530e+02] [ 3.43752281e-02 9.99408975e-01 -2.12870131e-04 1.69418668e+00] [ 9.37514960e-03 -1.09476835e-04 9.99956046e-01 1.71517810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:183.29, Y:1.69, Z:0.18 [[ 9.99452810e-01 -3.17209955e-02 -9.37334422e-03 1.83291768e+02] [ 3.17203826e-02 9.99496759e-01 -2.14083606e-04 1.69480458e+00] [ 9.37541812e-03 -8.33596037e-05 9.99956046e-01 1.81291634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.132320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:183.32, Y:1.69, Z:0.18 [[ 9.99498660e-01 -3.02415737e-02 -9.37418178e-03 1.83321846e+02] [ 3.02412376e-02 9.99542613e-01 -1.77631020e-04 1.69308136e+00] [ 9.37526599e-03 -1.05944891e-04 9.99956046e-01 1.79456626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.35, Y:1.69, Z:0.17 [[ 9.99475531e-01 -3.09964773e-02 -9.37449859e-03 1.83351104e+02] [ 3.09963022e-02 9.99519486e-01 -1.64004626e-04 1.69107320e+00] [ 9.37507758e-03 -1.26656180e-04 9.99956045e-01 1.66670479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:183.38, Y:1.69, Z:0.17 [[ 9.99462545e-01 -3.14128140e-02 -9.37316862e-03 1.83380272e+02] [ 3.14121271e-02 9.99506493e-01 -2.20532542e-04 1.68830975e+00] [ 9.37547044e-03 -7.40171480e-05 9.99956047e-01 1.67622148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:183.41, Y:1.69, Z:0.17 [[ 9.99439107e-01 -3.21499028e-02 -9.37313922e-03 1.83408875e+02] [ 3.21492367e-02 9.99483055e-01 -2.21774811e-04 1.68902172e+00] [ 9.37542386e-03 -7.96888519e-05 9.99956047e-01 1.69008981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.252320588 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:183.44, Y:1.69, Z:0.17 [[ 9.99411946e-01 -3.29834216e-02 -9.37310972e-03 1.83438077e+02] [ 3.29827805e-02 9.99455895e-01 -2.23014906e-04 1.68865401e+00] [ 9.37536556e-03 -8.62674593e-05 9.99956047e-01 1.71133374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282320588 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:183.47, Y:1.69, Z:0.17 [[ 9.99434151e-01 -3.23036019e-02 -9.37307982e-03 1.83467014e+02] [ 3.23029191e-02 9.99478099e-01 -2.24264469e-04 1.68684843e+00] [ 9.37543255e-03 -7.86402699e-05 9.99956047e-01 1.71843305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.312320588 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:183.50, Y:1.68, Z:0.17 [[ 9.99442230e-01 -3.20526937e-02 -9.37305006e-03 1.83495674e+02] [ 3.20519883e-02 9.99486178e-01 -2.25501430e-04 1.68303572e+00] [ 9.37546190e-03 -7.50492389e-05 9.99956047e-01 1.71260230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342320588 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:183.53, Y:1.68, Z:0.18 [[ 9.99438735e-01 -3.21614973e-02 -9.37301998e-03 1.83525038e+02] [ 3.21607850e-02 9.99482682e-01 -2.26744654e-04 1.68249479e+00] [ 9.37546360e-03 -7.48262906e-05 9.99956047e-01 1.78989336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.372320588 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:183.56, Y:1.68, Z:0.17 [[ 9.99488080e-01 -3.05898679e-02 -9.37223259e-03 1.83555677e+02] [ 3.05887815e-02 9.99532020e-01 -2.59273910e-04 1.68213725e+00] [ 9.37577772e-03 -2.75439924e-05 9.99956046e-01 1.68669255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402320588 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:183.59, Y:1.68, Z:0.18 [[ 9.99501854e-01 -3.01361982e-02 -9.37303299e-03 1.83585054e+02] [ 3.01354030e-02 9.99545800e-01 -2.26092103e-04 1.68203157e+00] [ 9.37558931e-03 -5.64806504e-05 9.99956047e-01 1.78502856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432320588 meters Centerline goodness : 0.998075 Centerline is valid? [True, True] Translation: X:183.61, Y:1.68, Z:0.18 [[ 9.99559051e-01 -2.81755358e-02 -9.37248284e-03 1.83614948e+02] [ 2.81744413e-02 9.99602991e-01 -2.48819165e-04 1.68108439e+00] [ 9.37577249e-03 -1.53550187e-05 9.99956046e-01 1.82237466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46232058799998 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:183.65, Y:1.68, Z:0.17 [[ 9.99624737e-01 -2.57397219e-02 -9.37292010e-03 1.83645072e+02] [ 2.57386883e-02 9.99668678e-01 -2.30908671e-04 1.68140305e+00] [ 9.37575817e-03 -1.04246489e-05 9.99956047e-01 1.72445522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49232058799998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:183.67, Y:1.68, Z:0.17 [[ 9.99718955e-01 -2.17751717e-02 -9.37296840e-03 1.83673541e+02] [ 2.17739823e-02 9.99762893e-01 -2.28930900e-04 1.68245458e+00] [ 9.37573101e-03 2.47797117e-05 9.99956047e-01 1.71182047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52232058799999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:183.70, Y:1.69, Z:0.17 [[ 9.99788304e-01 -1.83165141e-02 -9.37293743e-03 1.83701568e+02] [ 1.83151609e-02 9.99832237e-01 -2.30192300e-04 1.68505538e+00] [ 9.37558131e-03 5.84767117e-05 9.99956047e-01 1.71362377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.552320588 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:183.73, Y:1.69, Z:0.17 [[ 9.99888340e-01 -1.16385666e-02 -9.37289125e-03 1.83730641e+02] [ 1.16369026e-02 9.99932262e-01 -2.32057261e-04 1.68949056e+00] [ 9.37495717e-03 1.22959927e-04 9.99956047e-01 1.73315407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.582320588 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:183.76, Y:1.69, Z:0.19 [[ 9.99910856e-01 -9.50950506e-03 -9.37278210e-03 1.83759602e+02] [ 9.50770694e-03 9.99954773e-01 -2.36385117e-04 1.69195523e+00] [ 9.37460610e-03 1.47250379e-04 9.99956047e-01 1.85545860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.612320588 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:183.79, Y:1.70, Z:0.17 [[ 9.99934678e-01 -6.54138465e-03 -9.37287022e-03 1.83789672e+02] [ 6.53948873e-03 9.99978590e-01 -2.32911189e-04 1.69538057e+00] [ 9.37419311e-03 1.71602196e-04 9.99956047e-01 1.74190933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.642320588 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:183.82, Y:1.70, Z:0.18 [[ 9.99929649e-01 -7.26986364e-03 -9.37266791e-03 1.83819361e+02] [ 7.26792592e-03 9.99973559e-01 -2.40786105e-04 1.69792929e+00] [ 9.37417057e-03 1.72649309e-04 9.99956047e-01 1.82641997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.672320588 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:183.85, Y:1.70, Z:0.17 [[ 9.99925126e-01 -7.86709698e-03 -9.37284913e-03 1.83849339e+02] [ 7.86525116e-03 9.99969041e-01 -2.33777648e-04 1.70012743e+00] [ 9.37439811e-03 1.60040332e-04 9.99956047e-01 1.71418275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.702320588 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:183.88, Y:1.70, Z:0.18 [[ 9.99908842e-01 -9.71923987e-03 -9.37255482e-03 1.83877958e+02] [ 9.71736990e-03 9.99952755e-01 -2.45034961e-04 1.70212092e+00] [ 9.37449357e-03 1.53936042e-04 9.99956047e-01 1.82922149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.732320588 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:183.91, Y:1.71, Z:0.18 [[ 9.99912802e-01 -9.30373513e-03 -9.37174770e-03 1.83908580e+02] [ 9.30155854e-03 9.99956702e-01 -2.75812015e-04 1.70817026e+00] [ 9.37390800e-03 1.88616105e-04 9.99956046e-01 1.76710556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.762320588 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:183.94, Y:1.71, Z:0.18 [[ 9.99901246e-01 -1.04715771e-02 -9.37254562e-03 1.83937056e+02] [ 1.04697374e-02 9.99945161e-01 -2.45328494e-04 1.71181700e+00] [ 9.37460061e-03 1.47176176e-04 9.99956047e-01 1.77704611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.792320588 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:183.97, Y:1.71, Z:0.18 [[ 9.99863970e-01 -1.35719234e-02 -9.37251345e-03 1.83965987e+02] [ 1.35702085e-02 9.99907890e-01 -2.46551155e-04 1.71472250e+00] [ 9.37499632e-03 1.19330656e-04 9.99956047e-01 1.77195014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822320588 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:184.00, Y:1.72, Z:0.19 [[ 9.99849060e-01 -1.46292394e-02 -9.37248111e-03 1.83996021e+02] [ 1.46275594e-02 9.99892981e-01 -2.47774525e-04 1.71608499e+00] [ 9.37510283e-03 1.10640602e-04 9.99956047e-01 1.87755359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.852320588 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:184.02, Y:1.72, Z:0.18 [[ 9.99827356e-01 -1.60436614e-02 -9.37336433e-03 1.84024830e+02] [ 1.60423545e-02 9.99871290e-01 -2.14608326e-04 1.71794186e+00] [ 9.37560099e-03 6.42004418e-05 9.99956046e-01 1.76157775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882320588 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:184.05, Y:1.72, Z:0.19 [[ 9.99769229e-01 -1.93299419e-02 -9.37239458e-03 1.84054579e+02] [ 1.93284397e-02 9.99813157e-01 -2.50842055e-04 1.72266570e+00] [ 9.37549217e-03 6.96304043e-05 9.99956047e-01 1.87559571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.912320588 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:184.08, Y:1.73, Z:0.18 [[ 9.99725497e-01 -2.14725783e-02 -9.37327642e-03 1.84083921e+02] [ 2.14714777e-02 9.99769437e-01 -2.18038770e-04 1.72587438e+00] [ 9.37579714e-03 1.67208217e-05 9.99956046e-01 1.78333799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942320588 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:184.11, Y:1.73, Z:0.20 [[ 9.99593710e-01 -2.69179341e-02 -9.37233421e-03 1.84112466e+02] [ 2.69167456e-02 9.99637647e-01 -2.52949785e-04 1.73150590e+00] [ 9.37574700e-03 5.74278425e-07 9.99956047e-01 1.97614350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.972320588 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:184.14, Y:1.73, Z:0.18 [[ 9.99467493e-01 -3.12555769e-02 -9.37116473e-03 1.84143190e+02] [ 3.12541750e-02 9.99511425e-01 -2.96042078e-04 1.73167917e+00] [ 9.37583918e-03 2.99641047e-06 9.99956046e-01 1.78205863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002320588 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:184.17, Y:1.73, Z:0.18 [[ 9.99343702e-01 -3.49903596e-02 -9.37228610e-03 1.84172133e+02] [ 3.49895087e-02 9.99387647e-01 -2.54794375e-04 1.73006325e+00] [ 9.37546230e-03 -7.33045324e-05 9.99956047e-01 1.78730942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.032320588 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:184.20, Y:1.73, Z:0.18 [[ 9.99251952e-01 -3.75192972e-02 -9.37225248e-03 1.84201029e+02] [ 3.75185460e-02 9.99295899e-01 -2.56025027e-04 1.72946052e+00] [ 9.37525934e-03 -9.57997779e-05 9.99956047e-01 1.79926395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062320588 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:184.23, Y:1.73, Z:0.18 [[ 9.99076892e-01 -4.19228446e-02 -9.37221856e-03 1.84229577e+02] [ 4.19222755e-02 9.99120842e-01 -2.57260685e-04 1.73004051e+00] [ 9.37476400e-03 -1.35881523e-04 9.99956047e-01 1.80224415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.092320588 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:184.26, Y:1.73, Z:0.18 [[ 9.98981161e-01 -4.41452441e-02 -9.37218490e-03 1.84258726e+02] [ 4.41447612e-02 9.99025111e-01 -2.58481201e-04 1.73026011e+00] [ 9.37445878e-03 -1.55515015e-04 9.99956047e-01 1.78530014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122320588 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:184.29, Y:1.73, Z:0.18 [[ 9.98998901e-01 -4.37419488e-02 -9.37215136e-03 1.84287284e+02] [ 4.37414369e-02 9.99042852e-01 -2.59691528e-04 1.72902273e+00] [ 9.37454024e-03 -1.50519816e-04 9.99956047e-01 1.77909568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.152320588 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:184.32, Y:1.72, Z:0.18 [[ 9.99046725e-01 -4.26357113e-02 -9.37211775e-03 1.84316553e+02] [ 4.26351394e-02 9.99090675e-01 -2.60898873e-04 1.72494092e+00] [ 9.37471906e-03 -1.38931382e-04 9.99956047e-01 1.76017829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182320588 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:184.35, Y:1.72, Z:0.18 [[ 9.99086643e-01 -4.16898451e-02 -9.37208368e-03 1.84345219e+02] [ 4.16892202e-02 9.99130592e-01 -2.62117281e-04 1.72468578e+00] [ 9.37486314e-03 -1.28836985e-04 9.99956047e-01 1.77101785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21232058799998 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:184.37, Y:1.73, Z:0.19 [[ 9.99158878e-01 -3.99211898e-02 -9.37204950e-03 1.84374210e+02] [ 3.99204756e-02 9.99202825e-01 -2.63333595e-04 1.72526498e+00] [ 9.37509093e-03 -1.11024574e-04 9.99956047e-01 1.87919487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24232058799998 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:184.40, Y:1.72, Z:0.18 [[ 9.99216345e-01 -3.84559028e-02 -9.37226428e-03 1.84403804e+02] [ 3.84551952e-02 9.99260293e-01 -2.55758036e-04 1.72494622e+00] [ 9.37516695e-03 -1.04854642e-04 9.99956047e-01 1.78275405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27232058799999 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:184.43, Y:1.72, Z:0.18 [[ 9.99344781e-01 -3.49596245e-02 -9.37195026e-03 1.84432965e+02] [ 3.49586597e-02 9.99388724e-01 -2.66789210e-04 1.72255215e+00] [ 9.37554826e-03 -6.10164155e-05 9.99956047e-01 1.78002907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.302320588 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:184.46, Y:1.72, Z:0.18 [[ 9.99387638e-01 -3.37122622e-02 -9.37191503e-03 1.84460880e+02] [ 3.37112311e-02 9.99431579e-01 -2.68021000e-04 1.72269882e+00] [ 9.37562343e-03 -4.80819191e-05 9.99956047e-01 1.78381200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.332320588 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:184.49, Y:1.72, Z:0.18 [[ 9.99461125e-01 -3.14583438e-02 -9.37186128e-03 1.84490216e+02] [ 3.14571960e-02 9.99505064e-01 -2.69887566e-04 1.72368881e+00] [ 9.37571302e-03 -2.50703473e-05 9.99956047e-01 1.78382655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.362320588 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:184.52, Y:1.73, Z:0.18 [[ 9.99563076e-01 -2.80325939e-02 -9.37183418e-03 1.84519301e+02] [ 2.80312868e-02 9.99607010e-01 -2.70825298e-04 1.72574527e+00] [ 9.37574307e-03 8.00239567e-06 9.99956047e-01 1.79171704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.392320588 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:184.55, Y:1.73, Z:0.18 [[ 9.99630932e-01 -2.54984119e-02 -9.37179763e-03 1.84547046e+02] [ 2.54969816e-02 9.99674862e-01 -2.72084307e-04 1.72791978e+00] [ 9.37568822e-03 3.30313371e-05 9.99956047e-01 1.78526886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.422320588 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:184.58, Y:1.73, Z:0.18 [[ 9.99695785e-01 -2.28146531e-02 -9.37174213e-03 1.84575280e+02] [ 2.28130871e-02 9.99739710e-01 -2.73982706e-04 1.73306892e+00] [ 9.37555358e-03 6.01009870e-05 9.99956047e-01 1.78646429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.452320588 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:184.60, Y:1.74, Z:0.18 [[ 9.99722731e-01 -2.16016512e-02 -9.37170544e-03 1.84604334e+02] [ 2.16000202e-02 9.99766654e-01 -2.75232086e-04 1.73500927e+00] [ 9.37546406e-03 7.27267457e-05 9.99956047e-01 1.80374698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.482320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:184.63, Y:1.73, Z:0.18 [[ 9.99751814e-01 -2.02109629e-02 -9.37166898e-03 1.84633388e+02] [ 2.02092592e-02 9.99795734e-01 -2.76467671e-04 1.73347601e+00] [ 9.37534235e-03 8.70045682e-05 9.99956047e-01 1.82813842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.512320588 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:184.66, Y:1.73, Z:0.20 [[ 9.99756218e-01 -1.99919159e-02 -9.37163224e-03 1.84663922e+02] [ 1.99901910e-02 9.99800138e-01 -2.77707570e-04 1.73366689e+00] [ 9.37531111e-03 9.02991519e-05 9.99956047e-01 1.95099812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542320588 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:184.69, Y:1.74, Z:0.18 [[ 9.99718730e-01 -2.17852103e-02 -9.37370629e-03 1.84692167e+02] [ 2.17842138e-02 9.99762674e-01 -2.08410377e-04 1.73631048e+00] [ 9.37602193e-03 4.15293472e-06 9.99956044e-01 1.83045353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.572320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:184.72, Y:1.74, Z:0.18 [[ 9.99716794e-01 -2.18748668e-02 -9.37137190e-03 1.84720080e+02] [ 2.18731550e-02 9.99760713e-01 -2.85134582e-04 1.74020290e+00] [ 9.37536673e-03 8.00723608e-05 9.99956047e-01 1.82820454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.75, Y:1.75, Z:0.18 [[ 9.99732340e-01 -2.11524581e-02 -9.37131484e-03 1.84749185e+02] [ 2.11506971e-02 9.99776258e-01 -2.86997773e-04 1.74528603e+00] [ 9.37528879e-03 8.87111139e-05 9.99956047e-01 1.82046582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.78, Y:1.75, Z:0.18 [[ 9.99706305e-01 -2.23490974e-02 -9.37127651e-03 1.84778203e+02] [ 2.23473772e-02 9.99750225e-01 -2.88243923e-04 1.74546144e+00] [ 9.37537778e-03 7.87358159e-05 9.99956047e-01 1.82040432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:184.81, Y:1.74, Z:0.18 [[ 9.99688630e-01 -2.31262246e-02 -9.37123847e-03 1.84806780e+02] [ 2.31245271e-02 9.99732550e-01 -2.89475394e-04 1.74423420e+00] [ 9.37542661e-03 7.26798024e-05 9.99956047e-01 1.82087474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:184.84, Y:1.75, Z:0.18 [[ 9.99684017e-01 -2.33247911e-02 -9.37119997e-03 1.84835264e+02] [ 2.33230907e-02 9.99727937e-01 -2.90716436e-04 1.74507162e+00] [ 9.37543131e-03 7.20592284e-05 9.99956047e-01 1.82354608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.86, Y:1.74, Z:0.19 [[ 9.99627636e-01 -2.56275441e-02 -9.37114185e-03 1.84864905e+02] [ 2.56259274e-02 9.99671559e-01 -2.92577788e-04 1.74313552e+00] [ 9.37556204e-03 5.23246417e-05 9.99956047e-01 1.94910097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:184.89, Y:1.74, Z:0.20 [[ 9.99519543e-01 -2.95441460e-02 -9.37162179e-03 1.84894039e+02] [ 2.95428440e-02 9.99563476e-01 -2.77366660e-04 1.74119615e+00] [ 9.37572542e-03 3.69036583e-07 9.99956047e-01 1.95818267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:184.92, Y:1.74, Z:0.20 [[ 9.99472101e-01 -3.11076046e-02 -9.37214267e-03 1.84922623e+02] [ 3.11065244e-02 9.99516041e-01 -2.61037596e-04 1.74152379e+00] [ 9.37572719e-03 -3.06349909e-05 9.99956046e-01 1.95061029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:184.95, Y:1.74, Z:0.19 [[ 9.99384425e-01 -3.38071742e-02 -9.37266040e-03 1.84950987e+02] [ 3.38063627e-02 9.99428372e-01 -2.45045964e-04 1.73957834e+00] [ 9.37558703e-03 -7.19604372e-05 9.99956046e-01 1.94248924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.98, Y:1.74, Z:0.18 [[ 9.99342882e-01 -3.50139613e-02 -9.37164013e-03 1.84980420e+02] [ 3.50129114e-02 9.99386822e-01 -2.76123325e-04 1.73772888e+00] [ 9.37556181e-03 -5.21865257e-05 9.99956047e-01 1.82160118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.01, Y:1.73, Z:0.18 [[ 9.99354008e-01 -3.46952315e-02 -9.37055161e-03 1.85009126e+02] [ 3.46938582e-02 9.99397939e-01 -3.09120227e-04 1.73097915e+00] [ 9.37563497e-03 -1.61800513e-05 9.99956048e-01 1.80130358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:1.73, Z:0.18 [[ 9.99345232e-01 -3.49471011e-02 -9.37050992e-03 1.85038461e+02] [ 3.49457270e-02 9.99389163e-01 -3.10379063e-04 1.72773831e+00] [ 9.37563291e-03 -1.72834448e-05 9.99956048e-01 1.82023423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.932320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:185.07, Y:1.72, Z:0.19 [[ 9.99345548e-01 -3.49381004e-02 -9.37046768e-03 1.85067772e+02] [ 3.49367141e-02 9.99389478e-01 -3.11648915e-04 1.72294997e+00] [ 9.37563523e-03 -1.59283946e-05 9.99956048e-01 1.91885571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.10, Y:1.72, Z:0.18 [[ 9.99360338e-01 -3.45123961e-02 -9.37061987e-03 1.85096906e+02] [ 3.45110337e-02 9.99404270e-01 -3.07098815e-04 1.72206266e+00] [ 9.37563622e-03 -1.64874021e-05 9.99956048e-01 1.82330420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.13, Y:1.72, Z:0.18 [[ 9.99366959e-01 -3.43202123e-02 -9.37039019e-03 1.85125623e+02] [ 3.43187772e-02 9.99410888e-01 -3.13953910e-04 1.72021340e+00] [ 9.37564494e-03 -7.82516852e-06 9.99956048e-01 1.82094025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:1.72, Z:0.19 [[ 9.99396988e-01 -3.34343772e-02 -9.37034744e-03 1.85154663e+02] [ 3.34328912e-02 9.99440915e-01 -3.15224515e-04 1.71915123e+00] [ 9.37564796e-03 1.75662459e-06 9.99956048e-01 1.93206861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.18, Y:1.71, Z:0.19 [[ 9.99433356e-01 -3.23288918e-02 -9.37073258e-03 1.85183434e+02] [ 3.23274636e-02 9.99477285e-01 -3.03881332e-04 1.71466798e+00] [ 9.37565850e-03 7.77122916e-07 9.99956048e-01 1.86549279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.21, Y:1.71, Z:0.19 [[ 9.99453811e-01 -3.16903853e-02 -9.37013784e-03 1.85212713e+02] [ 3.16887664e-02 9.99497733e-01 -3.21229740e-04 1.71407578e+00] [ 9.37561143e-03 2.41261789e-05 9.99956048e-01 1.86146772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.24, Y:1.71, Z:0.18 [[ 9.99466473e-01 -3.12885191e-02 -9.37009470e-03 1.85241883e+02] [ 3.12868707e-02 9.99510394e-01 -3.22483081e-04 1.70905417e+00] [ 9.37559707e-03 2.91500855e-05 9.99956048e-01 1.83454470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.27, Y:1.71, Z:0.18 [[ 9.99476604e-01 -3.09632170e-02 -9.37005136e-03 1.85271111e+02] [ 3.09615426e-02 9.99520524e-01 -3.23737643e-04 1.70624386e+00] [ 9.37558260e-03 3.34569557e-05 9.99956048e-01 1.83808237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.30, Y:1.70, Z:0.19 [[ 9.99511369e-01 -2.98199032e-02 -9.37000819e-03 1.85300114e+02] [ 2.98181669e-02 9.99555287e-01 -3.24982413e-04 1.70230032e+00] [ 9.37553216e-03 4.54271478e-05 9.99956048e-01 1.85217532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.33, Y:1.70, Z:0.20 [[ 9.99653668e-01 -2.45916272e-02 -9.36996503e-03 1.85331716e+02] [ 2.45896496e-02 9.99697576e-01 -3.26222091e-04 1.70297967e+00] [ 9.37515365e-03 9.57049535e-05 9.99956048e-01 1.97067401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.36, Y:1.70, Z:0.19 [[ 9.99681991e-01 -2.34111156e-02 -9.37214409e-03 1.85360688e+02] [ 2.34096735e-02 9.99725921e-01 -2.63552225e-04 1.70288898e+00] [ 9.37574544e-03 4.40695793e-05 9.99956046e-01 1.88142717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.39, Y:1.70, Z:0.19 [[ 9.99711367e-01 -2.21220821e-02 -9.36991355e-03 1.85389395e+02] [ 2.21199851e-02 9.99755270e-01 -3.27390840e-04 1.70285899e+00] [ 9.37486301e-03 1.20033997e-04 9.99956048e-01 1.88763926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.42, Y:1.70, Z:0.19 [[ 9.99754160e-01 -2.00953937e-02 -9.36987000e-03 1.85418640e+02] [ 2.00931961e-02 9.99798057e-01 -3.28632441e-04 1.70258111e+00] [ 9.37458182e-03 1.40281015e-04 9.99956048e-01 1.89881689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.45, Y:1.70, Z:0.19 [[ 9.99783214e-01 -1.85938674e-02 -9.36982664e-03 1.85446984e+02] [ 1.85915923e-02 9.99827107e-01 -3.29863957e-04 1.70383286e+00] [ 9.37434011e-03 1.55592450e-04 9.99956048e-01 1.89830773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.48, Y:1.71, Z:0.19 [[ 9.99843277e-01 -1.50209836e-02 -9.36976271e-03 1.85475580e+02] [ 1.50185348e-02 9.99887160e-01 -3.31670217e-04 1.70732044e+00] [ 9.37368744e-03 1.90898129e-04 9.99956048e-01 1.87085154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.50, Y:1.71, Z:0.19 [[ 9.99851673e-01 -1.44513115e-02 -9.36972031e-03 1.85504345e+02] [ 1.44488264e-02 9.99895555e-01 -3.32863696e-04 1.71079847e+00] [ 9.37355200e-03 1.97432860e-04 9.99956048e-01 1.86564198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.53, Y:1.72, Z:0.19 [[ 9.99882937e-01 -1.20963792e-02 -9.36967837e-03 1.85532723e+02] [ 1.20937798e-02 9.99926812e-01 -3.34039999e-04 1.71744919e+00] [ 9.37303330e-03 2.20686068e-04 9.99956048e-01 1.87173915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.56, Y:1.72, Z:0.19 [[ 9.99889381e-01 -1.15514232e-02 -9.36963589e-03 1.85561963e+02] [ 1.15487887e-02 9.99933254e-01 -3.35227474e-04 1.72057410e+00] [ 9.37288286e-03 2.26982446e-04 9.99956048e-01 1.88048849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.59, Y:1.72, Z:0.19 [[ 9.99873293e-01 -1.28688642e-02 -9.36960402e-03 1.85589700e+02] [ 1.28662793e-02 9.99917170e-01 -3.36115880e-04 1.72418765e+00] [ 9.37315336e-03 2.15521350e-04 9.99956048e-01 1.89115385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.62, Y:1.73, Z:0.19 [[ 9.99856201e-01 -1.41346715e-02 -9.36953992e-03 1.85618117e+02] [ 1.41321254e-02 9.99900079e-01 -3.37893229e-04 1.72724915e+00] [ 9.37337972e-03 2.05433127e-04 9.99956048e-01 1.89039596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.65, Y:1.73, Z:0.19 [[ 9.99857209e-01 -1.40632284e-02 -9.36947518e-03 1.85646289e+02] [ 1.40606625e-02 9.99901086e-01 -3.39678870e-04 1.73446916e+00] [ 9.37332539e-03 2.07889338e-04 9.99956048e-01 1.88357070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:1.74, Z:0.20 [[ 9.99871569e-01 -1.30023175e-02 -9.36941030e-03 1.85676862e+02] [ 1.29996883e-02 9.99915442e-01 -3.41459167e-04 1.73948018e+00] [ 9.37305781e-03 2.19615899e-04 9.99956048e-01 1.98075997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:1.75, Z:0.19 [[ 9.99873469e-01 -1.28542060e-02 -9.37100100e-03 1.85705965e+02] [ 1.28519762e-02 9.99917365e-01 -2.98133962e-04 1.74863796e+00] [ 9.37405891e-03 1.77660357e-04 9.99956047e-01 1.88048651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.73, Y:1.75, Z:0.19 [[ 9.99883073e-01 -1.20854764e-02 -9.36919959e-03 1.85734451e+02] [ 1.20827570e-02 9.99926941e-01 -3.46801279e-04 1.75349374e+00] [ 9.37270634e-03 2.33554967e-04 9.99956048e-01 1.88283549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.76, Y:1.76, Z:0.19 [[ 9.99881541e-01 -1.22116186e-02 -9.36915560e-03 1.85762702e+02] [ 1.22088936e-02 9.99925408e-01 -3.47985826e-04 1.75915589e+00] [ 9.37270620e-03 2.33557580e-04 9.99956048e-01 1.91401263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:1.76, Z:0.19 [[ 9.99864367e-01 -1.35450028e-02 -9.36912231e-03 1.85791131e+02] [ 1.35423280e-02 9.99908238e-01 -3.48879835e-04 1.76226072e+00] [ 9.37298815e-03 2.21952788e-04 9.99956048e-01 1.91414320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:1.77, Z:0.19 [[ 9.99829113e-01 -1.59362911e-02 -9.36907706e-03 1.85819781e+02] [ 1.59337099e-02 9.99872989e-01 -3.50090687e-04 1.76980154e+00] [ 9.37346623e-03 2.00746705e-04 9.99956048e-01 1.92320000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.85, Y:1.77, Z:0.19 [[ 9.99809151e-01 -1.71430333e-02 -9.36903202e-03 1.85848142e+02] [ 1.71404938e-02 9.99853029e-01 -3.51291943e-04 1.77380496e+00] [ 9.37367726e-03 1.90635064e-04 9.99956048e-01 1.92376905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.88, Y:1.78, Z:0.19 [[ 9.99778539e-01 -1.88439818e-02 -9.36898676e-03 1.85877090e+02] [ 1.88415057e-02 9.99822421e-01 -3.52495012e-04 1.78018187e+00] [ 9.37396543e-03 1.75891131e-04 9.99956048e-01 1.93306756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.91, Y:1.79, Z:0.20 [[ 9.99746686e-01 -2.04642973e-02 -9.36894092e-03 1.85906099e+02] [ 2.04618809e-02 9.99790571e-01 -3.53709066e-04 1.78816360e+00] [ 9.37421720e-03 1.61913314e-04 9.99956048e-01 2.03798327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.832320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:185.94, Y:1.79, Z:0.20 [[ 9.99730337e-01 -2.12483232e-02 -9.36814105e-03 1.85935314e+02] [ 2.12457432e-02 9.99774213e-01 -3.74851530e-04 1.79114142e+00] [ 9.37399082e-03 1.75717328e-04 9.99956048e-01 2.03951265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.96, Y:1.79, Z:0.20 [[ 9.99588597e-01 -2.71081168e-02 -9.36949928e-03 1.85964931e+02] [ 2.71061295e-02 9.99632504e-01 -3.39052732e-04 1.79048371e+00] [ 9.37524711e-03 8.49423834e-05 9.99956048e-01 1.96272970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.99, Y:1.79, Z:0.20 [[ 9.99488778e-01 -3.05680949e-02 -9.36880102e-03 1.85994011e+02] [ 3.05660880e-02 9.99532684e-01 -3.57358955e-04 1.78919783e+00] [ 9.37534661e-03 7.08086690e-05 9.99956048e-01 1.95771345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:1.79, Z:0.20 [[ 9.99414109e-01 -3.29190782e-02 -9.36875309e-03 1.86023335e+02] [ 3.29171628e-02 9.99458019e-01 -3.58611130e-04 1.78820248e+00] [ 9.37548055e-03 5.00082518e-05 9.99956048e-01 1.95504144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.05, Y:1.79, Z:0.20 [[ 9.99283388e-01 -3.66734009e-02 -9.36870492e-03 1.86052009e+02] [ 3.66716388e-02 9.99327304e-01 -3.59865272e-04 1.78868824e+00] [ 9.37560011e-03 1.60416260e-05 9.99956048e-01 1.95493798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.08, Y:1.79, Z:0.20 [[ 9.99262645e-01 -3.72343105e-02 -9.36865645e-03 1.86080735e+02] [ 3.72325612e-02 9.99306563e-01 -3.61122623e-04 1.78950658e+00] [ 9.37560603e-03 1.20372728e-05 9.99956048e-01 1.95173007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.11, Y:1.79, Z:0.20 [[ 9.99267761e-01 -3.70967756e-02 -9.36860772e-03 1.86110040e+02] [ 3.70950084e-02 9.99311678e-01 -3.62382441e-04 1.78905696e+00] [ 9.37560232e-03 1.45885086e-05 9.99956048e-01 1.95802153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.14, Y:1.78, Z:0.20 [[ 9.99323101e-01 -3.55748461e-02 -9.36855882e-03 1.86139466e+02] [ 3.55730002e-02 9.99367014e-01 -3.63642253e-04 1.78462750e+00] [ 9.37556517e-03 3.01283584e-05 9.99956048e-01 1.98033401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.17, Y:1.78, Z:0.20 [[ 9.99350394e-01 -3.47997238e-02 -9.36850938e-03 1.86167587e+02] [ 3.47978320e-02 9.99394305e-01 -3.64911595e-04 1.78273321e+00] [ 9.37553375e-03 3.86707310e-05 9.99956048e-01 1.97040065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:1.78, Z:0.20 [[ 9.99627533e-01 -2.56325443e-02 -9.36843508e-03 1.86196601e+02] [ 2.56302321e-02 9.99671424e-01 -3.66809324e-04 1.78484882e+00] [ 9.37475909e-03 1.26557535e-04 9.99956048e-01 1.97118692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.23, Y:1.78, Z:0.20 [[ 9.99821711e-01 -1.63944678e-02 -9.36838613e-03 1.86225741e+02] [ 1.63917384e-02 9.99865579e-01 -3.68055090e-04 1.78385645e+00] [ 9.37316089e-03 2.14425335e-04 9.99956048e-01 1.99786941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:1.79, Z:0.20 [[ 9.99869940e-01 -1.31277397e-02 -9.36833845e-03 1.86254128e+02] [ 1.31248557e-02 9.99913797e-01 -3.69264925e-04 1.78558916e+00] [ 9.37237848e-03 2.46258808e-04 9.99956048e-01 2.01206008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:1.79, Z:0.20 [[ 9.99901710e-01 -1.04309387e-02 -9.36829096e-03 1.86283127e+02] [ 1.04279252e-02 9.99945559e-01 -3.70465868e-04 1.78990127e+00] [ 9.37164524e-03 2.72737618e-04 9.99956048e-01 2.01423524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:1.79, Z:0.20 [[ 9.99923035e-01 -8.13389208e-03 -9.36824415e-03 1.86311171e+02] [ 8.13076676e-03 9.99966876e-01 -3.71645693e-04 1.79497944e+00] [ 9.37095676e-03 2.95446081e-04 9.99956048e-01 2.00999980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.34, Y:1.80, Z:0.20 [[ 9.99921495e-01 -8.32117871e-03 -9.36817366e-03 1.86339649e+02] [ 8.31804506e-03 9.99965335e-01 -3.73414239e-04 1.79607095e+00] [ 9.37095615e-03 2.95460034e-04 9.99956048e-01 2.01267104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.37, Y:1.80, Z:0.21 [[ 9.99927084e-01 -7.62005731e-03 -9.36810339e-03 1.86366704e+02] [ 7.61687650e-03 9.99970921e-01 -3.75168818e-04 1.80039878e+00] [ 9.37068978e-03 3.03785776e-04 9.99956048e-01 2.09142968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.40, Y:1.80, Z:0.21 [[ 9.99927329e-01 -7.59104643e-03 -9.36548258e-03 1.86395005e+02] [ 7.58725842e-03 9.99971120e-01 -4.39928896e-04 1.80162171e+00] [ 9.36855162e-03 3.68838589e-04 9.99956046e-01 2.09405902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.43, Y:1.80, Z:0.20 [[ 9.99953323e-01 -2.37471462e-03 -9.36545002e-03 1.86425775e+02] [ 2.37069070e-03 9.99997093e-01 -4.40733489e-04 1.80480065e+00] [ 9.36646941e-03 4.18510332e-04 9.99956046e-01 2.00684426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.45, Y:1.81, Z:0.20 [[ 9.99949751e-01 3.56889242e-03 -9.36796077e-03 1.86454004e+02] [-3.57259571e-03 9.99993547e-01 -3.78610240e-04 1.81073707e+00] [ 9.36654910e-03 4.12059152e-04 9.99956048e-01 2.02878798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.48, Y:1.82, Z:0.20 [[ 9.99918299e-01 8.69715962e-03 -9.36777227e-03 1.86481455e+02] [-8.70113054e-03 9.99962071e-01 -3.83218288e-04 1.82256219e+00] [ 9.36408405e-03 4.64697188e-04 9.99956048e-01 2.03947444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.51, Y:1.83, Z:0.20 [[ 9.99910659e-01 9.53533025e-03 -9.36758426e-03 1.86508835e+02] [-9.53938030e-03 9.99954424e-01 -3.87760286e-04 1.82767987e+00] [ 9.36345990e-03 4.77086592e-04 9.99956048e-01 2.03027462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:1.83, Z:0.20 [[ 9.99902510e-01 1.03548382e-02 -9.36739493e-03 1.86537212e+02] [-1.03589663e-02 9.99946268e-01 -3.92281260e-04 1.83421838e+00] [ 9.36282959e-03 4.89279545e-04 9.99956048e-01 2.02075037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.56, Y:1.84, Z:0.20 [[ 9.99917007e-01 8.84497494e-03 -9.36722744e-03 1.86564849e+02] [-8.84907402e-03 9.99960768e-01 -3.96240719e-04 1.83878888e+00] [ 9.36335521e-03 4.79099123e-04 9.99956048e-01 2.01972124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.59, Y:1.85, Z:0.20 [[ 9.99945473e-01 4.61625619e-03 -9.36703439e-03 1.86593266e+02] [-4.62021234e-03 9.99989246e-01 -4.00753022e-04 1.85055618e+00] [ 9.36508368e-03 4.44008859e-04 9.99956048e-01 2.02782211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.62, Y:1.86, Z:0.20 [[ 9.99952560e-01 2.67147154e-03 -9.36698596e-03 1.86622329e+02] [-2.67535310e-03 9.99996340e-01 -4.01881934e-04 1.85514359e+00] [ 9.36587806e-03 4.26922864e-04 9.99956048e-01 2.02590238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.65, Y:1.86, Z:0.20 [[ 9.99953756e-01 2.17844332e-03 -9.36693685e-03 1.86650794e+02] [-2.18231397e-03 9.99997538e-01 -4.03023165e-04 1.85609148e+00] [ 9.36603582e-03 4.23446124e-04 9.99956048e-01 2.02857260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.68, Y:1.86, Z:0.20 [[ 9.99955478e-01 -1.14300737e-03 -9.36673586e-03 1.86679793e+02] [ 1.13923898e-03 9.99999268e-01 -4.07641549e-04 1.86003166e+00] [ 9.36719494e-03 3.96952449e-04 9.99956048e-01 2.01826821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.71, Y:1.86, Z:0.20 [[ 9.99953134e-01 -2.44866470e-03 -9.36668554e-03 1.86708183e+02] [ 2.44494271e-03 9.99996928e-01 -4.08794507e-04 1.86317597e+00] [ 9.36765776e-03 3.85874339e-04 9.99956048e-01 2.02669350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.74, Y:1.87, Z:0.20 [[ 9.99939759e-01 -5.72231343e-03 -9.36663468e-03 1.86736678e+02] [ 5.71872397e-03 9.99983564e-01 -4.09956497e-04 1.87257745e+00] [ 9.36882663e-03 3.56366603e-04 9.99956048e-01 2.03208457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.77, Y:1.88, Z:0.20 [[ 9.99922721e-01 -8.17423843e-03 -9.36658332e-03 1.86765374e+02] [ 8.17074545e-03 9.99966534e-01 -4.11126800e-04 1.87775638e+00] [ 9.36963051e-03 3.34563061e-04 9.99956048e-01 2.02659442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.79, Y:1.88, Z:0.20 [[ 9.99906366e-01 -9.97637401e-03 -9.36648290e-03 1.86793991e+02] [ 9.97293870e-03 9.99950184e-01 -4.13401972e-04 1.88239069e+00] [ 9.37014055e-03 3.19951904e-04 9.99956048e-01 2.02421612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.82, Y:1.89, Z:0.20 [[ 9.99866371e-01 -1.33981417e-02 -9.36642984e-03 1.86822678e+02] [ 1.33948452e-02 9.99910199e-01 -4.14600646e-04 1.88927577e+00] [ 9.37114360e-03 2.89083366e-04 9.99956048e-01 2.01878595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.85, Y:1.90, Z:0.20 [[ 9.99792909e-01 -1.80668141e-02 -9.36637618e-03 1.86851305e+02] [ 1.80637109e-02 9.99836751e-01 -4.15809309e-04 1.89589200e+00] [ 9.37235948e-03 2.46531686e-04 9.99956048e-01 2.03858988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:186.88, Y:1.90, Z:0.20 [[ 9.99736963e-01 -2.09350606e-02 -9.36633599e-03 1.86879063e+02] [ 2.09320748e-02 9.99780813e-01 -4.16712674e-04 1.89844090e+00] [ 9.37300692e-03 2.20546217e-04 9.99956048e-01 2.03774679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:1.90, Z:0.20 [[ 9.99618327e-01 -2.59898708e-02 -9.36625382e-03 1.86908083e+02] [ 2.59870895e-02 9.99662191e-01 -4.18551582e-04 1.90120204e+00] [ 9.37396791e-03 1.74990156e-04 9.99956048e-01 2.03107274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:1.90, Z:0.21 [[ 9.99554953e-01 -2.83226159e-02 -9.36619888e-03 1.86936785e+02] [ 2.83199254e-02 9.99598822e-01 -4.19777416e-04 1.90399505e+00] [ 9.37433056e-03 1.54340541e-04 9.99956048e-01 2.14802706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:1.91, Z:0.22 [[ 9.99521988e-01 -2.94630108e-02 -9.36623299e-03 1.86965671e+02] [ 2.94603776e-02 9.99565861e-01 -4.19019187e-04 1.90797536e+00] [ 9.37451231e-03 1.42886131e-04 9.99956048e-01 2.16096488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:1.92, Z:0.21 [[ 9.99529286e-01 -2.92145896e-02 -9.36563257e-03 1.86995747e+02] [ 2.92118204e-02 9.99573150e-01 -4.32368643e-04 1.91867502e+00] [ 9.37426633e-03 1.58577945e-04 9.99956048e-01 2.06175844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.02, Y:1.93, Z:0.21 [[ 9.99565589e-01 -2.79447597e-02 -9.36607155e-03 1.87023205e+02] [ 2.79420259e-02 9.99609456e-01 -4.22640662e-04 1.92703667e+00] [ 9.37422427e-03 1.60750048e-04 9.99956048e-01 2.06312557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:1.93, Z:0.21 [[ 9.99576430e-01 -2.75542938e-02 -9.36598827e-03 1.87051085e+02] [ 2.75515256e-02 9.99620295e-01 -4.24478100e-04 1.92811676e+00] [ 9.37412815e-03 1.66251037e-04 9.99956048e-01 2.06780196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:1.93, Z:0.21 [[ 9.99562568e-01 -2.80526848e-02 -9.36590443e-03 1.87079689e+02] [ 2.80499212e-02 9.99606433e-01 -4.26320122e-04 1.93091828e+00] [ 9.37417773e-03 1.63420755e-04 9.99956048e-01 2.06125915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.11, Y:1.94, Z:0.22 [[ 9.99527857e-01 -2.92633636e-02 -9.36584791e-03 1.87108900e+02] [ 2.92606416e-02 9.99571724e-01 -4.27558057e-04 1.93630749e+00] [ 9.37434853e-03 1.53305470e-04 9.99956048e-01 2.17274162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.14, Y:1.95, Z:0.21 [[ 9.99434492e-01 -3.22949570e-02 -9.36648277e-03 1.87137160e+02] [ 3.22924977e-02 9.99478376e-01 -4.13724341e-04 1.94537073e+00] [ 9.37495819e-03 1.11023253e-04 9.99956048e-01 2.05370519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.17, Y:1.95, Z:0.20 [[ 9.99389207e-01 -3.36674186e-02 -9.36575847e-03 1.87165977e+02] [ 3.36648715e-02 9.99433085e-01 -4.29517874e-04 1.94752626e+00] [ 9.37490964e-03 1.13958472e-04 9.99956048e-01 2.04027355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.19, Y:1.95, Z:0.20 [[ 9.99297362e-01 -3.62914153e-02 -9.36570214e-03 1.87194970e+02] [ 3.62889720e-02 9.99341246e-01 -4.30742698e-04 1.94729997e+00] [ 9.37516470e-03 9.05683389e-05 9.99956048e-01 2.03276163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.22, Y:1.95, Z:0.21 [[ 9.99187514e-01 -3.91994571e-02 -9.36564498e-03 1.87223783e+02] [ 3.91971299e-02 9.99231404e-01 -4.31981805e-04 1.94815806e+00] [ 9.37538004e-03 6.45244226e-05 9.99956048e-01 2.05619555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.25, Y:1.95, Z:0.21 [[ 9.99140973e-01 -4.03683382e-02 -9.36558805e-03 1.87252727e+02] [ 4.03660508e-02 9.99184865e-01 -4.33212763e-04 1.95179922e+00] [ 9.37544191e-03 5.47888190e-05 9.99956048e-01 2.06668418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.28, Y:1.96, Z:0.21 [[ 9.99045221e-01 -4.26723894e-02 -9.36553096e-03 1.87281340e+02] [ 4.26701917e-02 9.99089118e-01 -4.34443485e-04 1.95681791e+00] [ 9.37553880e-03 3.43996859e-05 9.99956048e-01 2.07575094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.31, Y:1.96, Z:0.21 [[ 9.99028333e-01 -4.30659606e-02 -9.36547398e-03 1.87310058e+02] [ 4.30637687e-02 9.99072231e-01 -4.35668279e-04 1.95852702e+00] [ 9.37554745e-03 3.19323498e-05 9.99956048e-01 2.07480374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:1.96, Z:0.21 [[ 9.98957750e-01 -4.46732903e-02 -9.36541713e-03 1.87339097e+02] [ 4.46711576e-02 9.99001650e-01 -4.36886978e-04 1.95933040e+00] [ 9.37558434e-03 1.80676079e-05 9.99956048e-01 2.08187658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:1.96, Z:0.22 [[ 9.98926026e-01 -4.53771317e-02 -9.36535984e-03 1.87368350e+02] [ 4.53750184e-02 9.98969927e-01 -4.38111530e-04 1.96112089e+00] [ 9.37559309e-03 1.26876345e-05 9.99956048e-01 2.17973426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.40, Y:1.96, Z:0.21 [[ 9.98629795e-01 -5.14859842e-02 -9.36616305e-03 1.87397625e+02] [ 5.14843005e-02 9.98673715e-01 -4.20935705e-04 1.95833308e+00] [ 9.37541314e-03 -6.18514167e-05 9.99956048e-01 2.08441101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.43, Y:1.96, Z:0.21 [[ 9.98535188e-01 -5.32894882e-02 -9.36525974e-03 1.87426185e+02] [ 5.32877037e-02 9.98579104e-01 -4.40155696e-04 1.95581074e+00] [ 9.37540835e-03 -5.95422355e-05 9.99956048e-01 2.08608724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.46, Y:1.96, Z:0.21 [[ 9.98436862e-01 -5.51010543e-02 -9.36520284e-03 1.87455388e+02] [ 5.50993381e-02 9.98480780e-01 -4.41363066e-04 1.95513776e+00] [ 9.37529460e-03 -7.53433228e-05 9.99956048e-01 2.10717582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.48, Y:1.96, Z:0.21 [[ 9.98462471e-01 -5.46350350e-02 -9.36514591e-03 1.87484534e+02] [ 5.46332870e-02 9.98506389e-01 -4.42567685e-04 1.95674435e+00] [ 9.37533772e-03 -6.97614805e-05 9.99956048e-01 2.11236387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.51, Y:1.96, Z:0.21 [[ 9.98529429e-01 -5.33973277e-02 -9.36508901e-03 1.87513404e+02] [ 5.33955140e-02 9.98573343e-01 -4.43768435e-04 1.95727634e+00] [ 9.37542430e-03 -5.69378994e-05 9.99956048e-01 2.11115625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.54, Y:1.96, Z:0.21 [[ 9.98671795e-01 -5.06649917e-02 -9.36503187e-03 1.87542369e+02] [ 5.06630466e-02 9.98715704e-01 -4.44970996e-04 1.95500733e+00] [ 9.37554885e-03 -3.00810619e-05 9.99956048e-01 2.09014168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.57, Y:1.96, Z:0.22 [[ 9.98743369e-01 -4.92339362e-02 -9.36497444e-03 1.87570528e+02] [ 4.92319168e-02 9.98787274e-01 -4.46176507e-04 1.95528595e+00] [ 9.37558432e-03 -1.54398153e-05 9.99956048e-01 2.19699889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.60, Y:1.96, Z:0.21 [[ 9.98797844e-01 -4.81166813e-02 -9.36221100e-03 1.87601896e+02] [ 4.81140688e-02 9.98841720e-01 -5.04214962e-04 1.95604549e+00] [ 9.37562809e-03 5.31547529e-05 9.99956046e-01 2.07779634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.63, Y:1.96, Z:0.22 [[ 9.98860248e-01 -4.68027804e-02 -9.36505188e-03 1.87631276e+02] [ 4.68006714e-02 9.98904149e-01 -4.44339978e-04 1.95535133e+00] [ 9.37558553e-03 5.54282453e-06 9.99956048e-01 2.19376428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.66, Y:1.95, Z:0.22 [[ 9.98860291e-01 -4.68016130e-02 -9.36629983e-03 1.87660095e+02] [ 4.67997499e-02 9.98904204e-01 -4.18104943e-04 1.95283735e+00] [ 9.37560426e-03 -2.07120652e-05 9.99956048e-01 2.21452089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.69, Y:1.95, Z:0.21 [[ 9.98922147e-01 -4.54622700e-02 -9.36624421e-03 1.87689143e+02] [ 4.54603371e-02 9.98966056e-01 -4.19270655e-04 1.95417332e+00] [ 9.37562104e-03 -6.97387643e-06 9.99956048e-01 2.08953151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.72, Y:1.95, Z:0.22 [[ 9.98978076e-01 -4.42165551e-02 -9.36484514e-03 1.87718517e+02] [ 4.42142936e-02 9.99021969e-01 -4.48484784e-04 1.95423428e+00] [ 9.37551649e-03 3.39664547e-05 9.99956048e-01 2.19373148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.75, Y:1.95, Z:0.21 [[ 9.98994734e-01 -4.38381564e-02 -9.36680486e-03 1.87747130e+02] [ 4.38362628e-02 9.99038646e-01 -4.07474492e-04 1.95291196e+00] [ 9.37566298e-03 -3.54084725e-06 9.99956047e-01 2.05579656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.78, Y:1.95, Z:0.21 [[ 9.99137970e-01 -4.04427575e-02 -9.36482554e-03 1.87776339e+02] [ 4.04403274e-02 9.99181855e-01 -4.48778013e-04 1.95024550e+00] [ 9.37531357e-03 6.96745419e-05 9.99956048e-01 2.07241738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.81, Y:1.95, Z:0.22 [[ 9.99260767e-01 -3.72856605e-02 -9.36478163e-03 1.87805483e+02] [ 3.72830833e-02 9.99304643e-01 -4.49692458e-04 1.95211807e+00] [ 9.37503684e-03 1.00212098e-04 9.99956048e-01 2.19858552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.83, Y:1.95, Z:0.21 [[ 9.99446697e-01 -3.19148314e-02 -9.36712815e-03 1.87833041e+02] [ 3.19124763e-02 9.99490587e-01 -4.00824409e-04 1.95478645e+00] [ 9.37514866e-03 1.01674377e-04 9.99956047e-01 2.10730063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.86, Y:1.96, Z:0.21 [[ 9.99616591e-01 -2.60571434e-02 -9.36459349e-03 1.87861336e+02] [ 2.60540406e-02 9.99660433e-01 -4.53199171e-04 1.95676132e+00] [ 9.37322266e-03 2.09039912e-04 9.99956049e-01 2.10982724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.89, Y:1.96, Z:0.22 [[ 9.99644142e-01 -2.49778821e-02 -9.36453373e-03 1.87891495e+02] [ 2.49747204e-02 9.99687980e-01 -4.54430714e-04 1.95986698e+00] [ 9.37296252e-03 2.20392390e-04 9.99956049e-01 2.23066508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:187.92, Y:1.96, Z:0.22 [[ 9.99620528e-01 -2.59046631e-02 -9.36736041e-03 1.87919159e+02] [ 2.59020860e-02 9.99664406e-01 -3.96358182e-04 1.96268440e+00] [ 9.37448430e-03 1.53573601e-04 9.99956047e-01 2.24308532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.95, Y:1.96, Z:0.21 [[ 9.99661636e-01 -2.42676909e-02 -9.36443290e-03 1.87949286e+02] [ 2.42644825e-02 9.99705470e-01 -4.56090117e-04 1.96322824e+00] [ 9.37274304e-03 2.28712675e-04 9.99956049e-01 2.10132984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.98, Y:1.97, Z:0.22 [[ 9.99660005e-01 -2.43348393e-02 -9.36429018e-03 1.87979148e+02] [ 2.43316066e-02 9.99703837e-01 -4.59001710e-04 1.96527246e+00] [ 9.37268656e-03 2.30997427e-04 9.99956049e-01 2.21436400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:1.97, Z:0.21 [[ 9.99615971e-01 -2.60799305e-02 -9.36742499e-03 1.88007110e+02] [ 2.60773700e-02 9.99659849e-01 -3.95401085e-04 1.97345633e+00] [ 9.37455069e-03 1.50971433e-04 9.99956047e-01 2.11545876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02232058799999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:188.04, Y:1.98, Z:0.22 [[ 9.99615157e-01 -2.61123129e-02 -9.36405071e-03 1.88037429e+02] [ 2.61091155e-02 9.99658991e-01 -4.63562547e-04 1.97819298e+00] [ 9.37296218e-03 2.18897066e-04 9.99956049e-01 2.24988587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.06, Y:1.98, Z:0.21 [[ 9.99560428e-01 -2.81279088e-02 -9.36860365e-03 1.88064640e+02] [ 2.81256561e-02 9.99604326e-01 -3.72140071e-04 1.97769113e+00] [ 9.37536426e-03 1.08478365e-04 9.99956044e-01 2.11930264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:1.98, Z:0.21 [[ 9.99531990e-01 -2.91225253e-02 -9.36373434e-03 1.88092516e+02] [ 2.91194062e-02 9.99575830e-01 -4.69296844e-04 1.97800619e+00] [ 9.37342963e-03 1.96410825e-04 9.99956049e-01 2.11126943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.12, Y:1.98, Z:0.22 [[ 9.99493207e-01 -3.04245202e-02 -9.36364099e-03 1.88121924e+02] [ 3.04214409e-02 9.99537050e-01 -4.71152014e-04 1.98340533e+00] [ 9.37364066e-03 1.86057786e-04 9.99956049e-01 2.21216889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.15, Y:1.99, Z:0.21 [[ 9.99461483e-01 -3.14486282e-02 -9.36627867e-03 1.88149991e+02] [ 3.14460839e-02 9.99505362e-01 -4.18828316e-04 1.98726700e+00] [ 9.37481733e-03 1.24069984e-04 9.99956048e-01 2.11730581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.18, Y:1.99, Z:0.21 [[ 9.99458267e-01 -3.15515311e-02 -9.36341478e-03 1.88179119e+02] [ 3.15484628e-02 9.99502110e-01 -4.75252942e-04 1.99017521e+00] [ 9.37374779e-03 1.79594139e-04 9.99956049e-01 2.12060750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.21, Y:1.99, Z:0.21 [[ 9.99487370e-01 -3.06157690e-02 -9.36335215e-03 1.88207870e+02] [ 3.06126481e-02 9.99531209e-01 -4.76483606e-04 1.99308539e+00] [ 9.37355061e-03 1.89602342e-04 9.99956049e-01 2.12034907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.24, Y:2.00, Z:0.21 [[ 9.99522952e-01 -2.94312440e-02 -9.36328980e-03 1.88235870e+02] [ 2.94280597e-02 9.99566787e-01 -4.77705777e-04 1.99940701e+00] [ 9.37329297e-03 2.01934436e-04 9.99956049e-01 2.12299277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.26, Y:2.00, Z:0.21 [[ 9.99529644e-01 -2.92031054e-02 -9.36321113e-03 1.88264795e+02] [ 2.91998967e-02 9.99573477e-01 -4.79242825e-04 2.00209169e+00] [ 9.37321288e-03 2.05612612e-04 9.99956049e-01 2.11086335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.292320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:188.29, Y:2.00, Z:0.22 [[ 9.99501400e-01 -3.01543178e-02 -9.36314814e-03 1.88293824e+02] [ 3.01511393e-02 9.99545236e-01 -4.80470381e-04 2.00376806e+00] [ 9.37337837e-03 1.97921234e-04 9.99956049e-01 2.24325452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.32, Y:2.01, Z:0.21 [[ 9.99467579e-01 -3.12555668e-02 -9.36204994e-03 1.88324507e+02] [ 3.12522368e-02 9.99511404e-01 -5.01809801e-04 2.00689497e+00] [ 9.37316003e-03 2.08957625e-04 9.99956049e-01 2.14565129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.35, Y:2.01, Z:0.22 [[ 9.99344715e-01 -3.49638585e-02 -9.36315940e-03 1.88353052e+02] [ 3.49608937e-02 9.99388566e-01 -4.80176032e-04 2.01252351e+00] [ 9.37422325e-03 1.52516959e-04 9.99956049e-01 2.15922776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.38, Y:2.02, Z:0.23 [[ 9.99296153e-01 -3.63253450e-02 -9.36309545e-03 1.88381707e+02] [ 3.63224283e-02 9.99340007e-01 -4.81419883e-04 2.01508200e+00] [ 9.37440361e-03 1.40990674e-04 9.99956049e-01 2.25542221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:2.02, Z:0.21 [[ 9.99298324e-01 -3.62660012e-02 -9.36148511e-03 1.88412616e+02] [ 3.62627885e-02 9.99342157e-01 -5.12748979e-04 2.01818979e+00] [ 9.37392208e-03 1.72915641e-04 9.99956049e-01 2.14677674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.442320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:188.44, Y:2.03, Z:0.22 [[ 9.99303810e-01 -3.61140721e-02 -9.36315214e-03 1.88442411e+02] [ 3.61111571e-02 9.99347664e-01 -4.80247874e-04 2.02695021e+00] [ 9.37438793e-03 1.41799272e-04 9.99956049e-01 2.23464874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.47, Y:2.03, Z:0.21 [[ 9.99324143e-01 -3.55469435e-02 -9.36333831e-03 1.88472131e+02] [ 3.55440376e-02 9.99367997e-01 -4.76625564e-04 2.03182415e+00] [ 9.37436324e-03 1.43492584e-04 9.99956049e-01 2.12742527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.50, Y:2.03, Z:0.21 [[ 9.99319510e-01 -3.56770203e-02 -9.36310114e-03 1.88501405e+02] [ 3.56740769e-02 9.99363362e-01 -4.81239987e-04 2.03330228e+00] [ 9.37430944e-03 1.46892517e-04 9.99956049e-01 2.13017784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.53, Y:2.03, Z:0.21 [[ 9.99314073e-01 -3.58290062e-02 -9.36303836e-03 1.88529844e+02] [ 3.58260581e-02 9.99357924e-01 -4.82458377e-04 2.03465964e+00] [ 9.37431259e-03 1.46686689e-04 9.99956049e-01 2.14174857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.56, Y:2.03, Z:0.22 [[ 9.99299667e-01 -3.62285770e-02 -9.36297539e-03 1.88558498e+02] [ 3.62256350e-02 9.99343519e-01 -4.83677467e-04 2.03419843e+00] [ 9.37435172e-03 1.44159003e-04 9.99956049e-01 2.15120154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.59, Y:2.04, Z:0.21 [[ 9.99229619e-01 -3.81117294e-02 -9.36291214e-03 1.88587670e+02] [ 3.81088586e-02 9.99273476e-01 -4.84898649e-04 2.03793717e+00] [ 9.37459009e-03 1.27715198e-04 9.99956049e-01 2.14218635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.62, Y:2.04, Z:0.21 [[ 9.99226914e-01 -3.81826159e-02 -9.36281197e-03 1.88616355e+02] [ 3.81797302e-02 9.99270770e-01 -4.86825257e-04 2.04339619e+00] [ 9.37457258e-03 1.28979265e-04 9.99956049e-01 2.14319419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.64, Y:2.05, Z:0.21 [[ 9.99261854e-01 -3.72570183e-02 -9.36274799e-03 1.88644866e+02] [ 3.72540804e-02 9.99305707e-01 -4.88052533e-04 2.05227422e+00] [ 9.37443088e-03 1.38891712e-04 9.99956049e-01 2.14193309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.67, Y:2.06, Z:0.23 [[ 9.99265970e-01 -3.71464979e-02 -9.36268434e-03 1.88672847e+02] [ 3.71435438e-02 9.99309821e-01 -4.89270651e-04 2.05504594e+00] [ 9.37439710e-03 1.41148236e-04 9.99956049e-01 2.27951950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.70, Y:2.06, Z:0.22 [[ 9.99267069e-01 -3.71169318e-02 -9.36259564e-03 1.88702007e+02] [ 3.71139605e-02 9.99310919e-01 -4.90962301e-04 2.05668211e+00] [ 9.37436707e-03 1.43119454e-04 9.99956049e-01 2.17291576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.73, Y:2.06, Z:0.22 [[ 9.99267152e-01 -3.71147180e-02 -9.36254054e-03 1.88730763e+02] [ 3.71117368e-02 9.99311001e-01 -4.92010755e-04 2.05980554e+00] [ 9.37435060e-03 1.44190045e-04 9.99956049e-01 2.17458806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77232058799999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:188.76, Y:2.07, Z:0.22 [[ 9.99158778e-01 -3.99259366e-02 -9.36247626e-03 1.88759653e+02] [ 3.99230674e-02 9.99202635e-01 -4.93230943e-04 2.06563690e+00] [ 9.37470365e-03 1.19037256e-04 9.99956049e-01 2.17038997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.79, Y:2.07, Z:0.22 [[ 9.99071157e-01 -4.20614818e-02 -9.36241150e-03 1.88788664e+02] [ 4.20586948e-02 9.99115019e-01 -4.94457227e-04 2.06840930e+00] [ 9.37492354e-03 1.00227147e-04 9.99956049e-01 2.17289973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.82, Y:2.07, Z:0.22 [[ 9.98925794e-01 -4.53828685e-02 -9.36234678e-03 1.88816976e+02] [ 4.53802159e-02 9.98969664e-01 -4.95679502e-04 2.07009473e+00] [ 9.37519578e-03 7.02817218e-05 9.99956049e-01 2.19696119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:2.07, Z:0.22 [[ 9.98897081e-01 -4.60105302e-02 -9.36228239e-03 1.88845744e+02] [ 4.60078938e-02 9.98940953e-01 -4.96892694e-04 2.07066448e+00] [ 9.37522959e-03 6.56057677e-05 9.99956049e-01 2.21181140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.87, Y:2.07, Z:0.22 [[ 9.98851685e-01 -4.69857438e-02 -9.36221774e-03 1.88874325e+02] [ 4.69831389e-02 9.98895558e-01 -4.98107956e-04 2.07190089e+00] [ 9.37528169e-03 5.76695953e-05 9.99956049e-01 2.22280128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.90, Y:2.08, Z:0.22 [[ 9.98720148e-01 -4.97032793e-02 -9.36215298e-03 1.88902973e+02] [ 4.97007824e-02 9.98764028e-01 -4.99322058e-04 2.07551585e+00] [ 9.37539957e-03 3.33766715e-05 9.99956049e-01 2.20907422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.93, Y:2.08, Z:0.22 [[ 9.98555879e-01 -5.29009268e-02 -9.36208742e-03 1.88932709e+02] [ 5.28985588e-02 9.98599766e-01 -5.00548300e-04 2.07741912e+00] [ 9.37545778e-03 4.58451539e-06 9.99956049e-01 2.16725049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:2.08, Z:0.22 [[ 9.98448245e-01 -5.48949319e-02 -9.36205479e-03 1.88962195e+02] [ 5.48926459e-02 9.98492136e-01 -5.01157851e-04 2.07640890e+00] [ 9.37544912e-03 -1.35277817e-05 9.99956049e-01 2.17169467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.99, Y:2.07, Z:0.23 [[ 9.98326104e-01 -5.70731374e-02 -9.36202279e-03 1.88991887e+02] [ 5.70709416e-02 9.98369999e-01 -5.01755059e-04 2.07421344e+00] [ 9.37539942e-03 -3.33842827e-05 9.99956049e-01 2.27326481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.02, Y:2.07, Z:0.22 [[ 9.98236468e-01 -5.86201660e-02 -9.36110892e-03 1.89022607e+02] [ 5.86178784e-02 9.98280359e-01 -5.18795076e-04 2.07097246e+00] [ 9.37542303e-03 -3.08481800e-05 9.99956049e-01 2.18852879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:2.07, Z:0.22 [[ 9.98241378e-01 -5.85363345e-02 -9.36207441e-03 1.89052613e+02] [ 5.85342125e-02 9.98285277e-01 -5.00744026e-04 2.07296766e+00] [ 9.37533277e-03 -4.81382468e-05 9.99956049e-01 2.20488819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:2.08, Z:0.22 [[ 9.98326808e-01 -5.70608222e-02 -9.36204254e-03 1.89082014e+02] [ 5.70586297e-02 9.98370703e-01 -5.01339230e-04 2.07623071e+00] [ 9.37539582e-03 -3.36849262e-05 9.99956049e-01 2.21313258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.11, Y:2.08, Z:0.22 [[ 9.98417557e-01 -5.54502815e-02 -9.36201031e-03 1.89111890e+02] [ 5.54480125e-02 9.98461449e-01 -5.01940270e-04 2.07860934e+00] [ 9.37543912e-03 -1.79588869e-05 9.99956049e-01 2.21528872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.14, Y:2.08, Z:0.23 [[ 9.98728340e-01 -4.95384308e-02 -9.36197786e-03 1.89142173e+02] [ 4.95358964e-02 9.98772217e-01 -5.02544841e-04 2.07902267e+00] [ 9.37537867e-03 3.81518091e-05 9.99956049e-01 2.31169650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.17, Y:2.08, Z:0.22 [[ 9.98785915e-01 -4.83633704e-02 -9.36374754e-03 1.89171880e+02] [ 4.83610931e-02 9.98829807e-01 -4.69605252e-04 2.08013035e+00] [ 9.37550184e-03 1.61940452e-05 9.99956049e-01 2.23998988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.20, Y:2.08, Z:0.22 [[ 9.98886833e-01 -4.62325580e-02 -9.36190543e-03 1.89200310e+02] [ 4.62298663e-02 9.98930701e-01 -5.03834141e-04 2.08456791e+00] [ 9.37518830e-03 7.04736531e-05 9.99956049e-01 2.24139119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.23, Y:2.09, Z:0.22 [[ 9.98803201e-01 -4.80054371e-02 -9.36183961e-03 1.89229305e+02] [ 4.80028118e-02 9.98847073e-01 -5.05054246e-04 2.08665692e+00] [ 9.37529144e-03 5.50551725e-05 9.99956049e-01 2.24266315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.26, Y:2.09, Z:0.23 [[ 9.98775739e-01 -4.85734453e-02 -9.36177386e-03 1.89259978e+02] [ 4.85708336e-02 9.98819612e-01 -5.06270156e-04 2.08647763e+00] [ 9.37531462e-03 5.09411894e-05 9.99956049e-01 2.34713645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.29, Y:2.09, Z:0.23 [[ 9.98615808e-01 -5.17568649e-02 -9.36457865e-03 1.89288962e+02] [ 5.17548782e-02 9.98659715e-01 -4.54524586e-04 2.08566420e+00] [ 9.37555221e-03 -3.07671907e-05 9.99956048e-01 2.25791953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.32, Y:2.09, Z:0.23 [[ 9.98467887e-01 -5.45365843e-02 -9.36157225e-03 1.89318556e+02] [ 5.45342021e-02 9.98511773e-01 -5.09738819e-04 2.08699440e+00] [ 9.37543952e-03 -1.56803126e-06 9.99956050e-01 2.26328904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.35, Y:2.09, Z:0.23 [[ 9.98396962e-01 -5.58199608e-02 -9.36153899e-03 1.89348324e+02] [ 5.58176293e-02 9.98440850e-01 -5.10348804e-04 2.08898408e+00] [ 9.37543060e-03 -1.30082177e-05 9.99956050e-01 2.25408588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.38, Y:2.09, Z:0.22 [[ 9.98336154e-01 -5.68971531e-02 -9.36150589e-03 1.89377660e+02] [ 5.68948633e-02 9.98380045e-01 -5.10955302e-04 2.08833123e+00] [ 9.37541257e-03 -2.25164461e-05 9.99956050e-01 2.22984561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.41, Y:2.09, Z:0.22 [[ 9.98284833e-01 -5.77906058e-02 -9.36147280e-03 1.89406913e+02] [ 5.77883495e-02 9.98328726e-01 -5.11560762e-04 2.08726028e+00] [ 9.37539062e-03 -3.03007122e-05 9.99956050e-01 2.23161333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.44, Y:2.08, Z:0.23 [[ 9.98223502e-01 -5.88404896e-02 -9.36142312e-03 1.89436274e+02] [ 5.88382710e-02 9.98267397e-01 -5.12468397e-04 2.08424498e+00] [ 9.37535738e-03 -3.92519521e-05 9.99956050e-01 2.25143176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.47, Y:2.08, Z:0.23 [[ 9.98223049e-01 -5.88481789e-02 -9.36137330e-03 1.89466107e+02] [ 5.88459521e-02 9.98266943e-01 -5.13376719e-04 2.08441641e+00] [ 9.37536080e-03 -3.84144511e-05 9.99956050e-01 2.26103479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:2.08, Z:0.23 [[ 9.98233522e-01 -5.86702666e-02 -9.36134028e-03 1.89495636e+02] [ 5.86680264e-02 9.98277416e-01 -5.13978281e-04 2.08434867e+00] [ 9.37536982e-03 -3.61410087e-05 9.99956050e-01 2.25799613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.52, Y:2.08, Z:0.24 [[ 9.98208130e-01 -5.91007242e-02 -9.36130683e-03 1.89524111e+02] [ 5.90984972e-02 9.98252024e-01 -5.14586736e-04 2.08479492e+00] [ 9.37535594e-03 -3.95745013e-05 9.99956050e-01 2.38371806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.56, Y:2.09, Z:0.23 [[ 9.98331775e-01 -5.69745321e-02 -9.35787844e-03 1.89556039e+02] [ 5.69716258e-02 9.98375631e-01 -5.77064762e-04 2.08590505e+00] [ 9.37555579e-03 4.29685384e-05 9.99956048e-01 2.26004702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.59, Y:2.08, Z:0.23 [[ 9.98459149e-01 -5.46963568e-02 -9.36142268e-03 1.89585197e+02] [ 5.46939576e-02 9.98503034e-01 -5.12300112e-04 2.08452519e+00] [ 9.37542990e-03 -5.02521604e-07 9.99956050e-01 2.27589114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.61, Y:2.09, Z:0.23 [[ 9.98663881e-01 -5.08214389e-02 -9.36135559e-03 1.89613895e+02] [ 5.08188579e-02 9.98707755e-01 -5.13523198e-04 2.08512030e+00] [ 9.37535641e-03 3.71036702e-05 9.99956050e-01 2.29985485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.64, Y:2.09, Z:0.23 [[ 9.98791262e-01 -4.82532941e-02 -9.36128877e-03 1.89642204e+02] [ 4.82505890e-02 9.98835129e-01 -5.14738340e-04 2.08653275e+00] [ 9.37522190e-03 6.24284599e-05 9.99956050e-01 2.31183188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.67, Y:2.09, Z:0.24 [[ 9.98870889e-01 -4.65759110e-02 -9.36122192e-03 1.89671076e+02] [ 4.65731208e-02 9.98914750e-01 -5.15951394e-04 2.08785388e+00] [ 9.37509356e-03 7.93875085e-05 9.99956050e-01 2.39850923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:189.70, Y:2.09, Z:0.23 [[ 9.99115019e-01 -4.10067372e-02 -9.36084625e-03 1.89701584e+02] [ 4.10036387e-02 9.99158860e-01 -5.22767637e-04 2.08889253e+00] [ 9.37440946e-03 1.38476241e-04 9.99956050e-01 2.30111659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.73, Y:2.09, Z:0.23 [[ 9.99296030e-01 -3.63292271e-02 -9.36118563e-03 1.89730405e+02] [ 3.63259810e-02 9.99339860e-01 -5.16617954e-04 2.09294702e+00] [ 9.37377427e-03 1.76200019e-04 9.99956050e-01 2.29485625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.76, Y:2.10, Z:0.24 [[ 9.99339340e-01 -3.51177111e-02 -9.36111854e-03 1.89759575e+02] [ 3.51144005e-02 9.99383165e-01 -5.17830770e-04 2.09737745e+00] [ 9.37352931e-03 1.88778595e-04 9.99956050e-01 2.39456451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.79, Y:2.10, Z:0.23 [[ 9.99456422e-01 -3.16108671e-02 -9.36022890e-03 1.89789926e+02] [ 3.16072527e-02 9.99500223e-01 -5.33859989e-04 2.10232102e+00] [ 9.37242665e-03 2.37718674e-04 9.99956050e-01 2.32234054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:2.11, Z:0.23 [[ 9.99559836e-01 -2.81514453e-02 -9.36111594e-03 1.89818765e+02] [ 2.81478294e-02 9.99603637e-01 -5.17824294e-04 2.10861183e+00] [ 9.37198304e-03 2.54101272e-04 9.99956050e-01 2.34492436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.882320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.85, Y:2.11, Z:0.23 [[ 9.99611201e-01 -2.62643894e-02 -9.36104812e-03 1.89847675e+02] [ 2.62606793e-02 9.99654994e-01 -5.19047340e-04 2.11173898e+00] [ 9.37145097e-03 2.73018052e-04 9.99956050e-01 2.34504555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.88, Y:2.12, Z:0.23 [[ 9.99670627e-01 -2.38958097e-02 -9.36098042e-03 1.89876462e+02] [ 2.38919845e-02 9.99714410e-01 -5.20265462e-04 2.11711699e+00] [ 9.37073919e-03 2.96441702e-04 9.99956050e-01 2.32356904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.90, Y:2.12, Z:0.23 [[ 9.99686361e-01 -2.32282728e-02 -9.36091263e-03 1.89904891e+02] [ 2.32244070e-02 9.99730141e-01 -5.21482417e-04 2.12130406e+00] [ 9.37049964e-03 3.03917215e-04 9.99956050e-01 2.30525936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.93, Y:2.13, Z:0.23 [[ 9.99715548e-01 -2.19362035e-02 -9.36084496e-03 1.89933681e+02] [ 2.19322698e-02 9.99759322e-01 -5.22694274e-04 2.13030149e+00] [ 9.37005794e-03 3.17241015e-04 9.99956050e-01 2.30101795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.96, Y:2.14, Z:0.23 [[ 9.99735748e-01 -2.09954721e-02 -9.36077747e-03 1.89962447e+02] [ 2.09914859e-02 9.99779517e-01 -5.23900158e-04 2.13668442e+00] [ 9.36971311e-03 3.27265088e-04 9.99956050e-01 2.31549208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.99, Y:2.14, Z:0.23 [[ 9.99769602e-01 -1.93162922e-02 -9.36070994e-03 1.89990496e+02] [ 1.93122213e-02 9.99813364e-01 -5.25103985e-04 2.14302537e+00] [ 9.36910595e-03 3.44206901e-04 9.99956050e-01 2.34349710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:2.15, Z:0.25 [[ 9.99802662e-01 -1.75218307e-02 -9.36064230e-03 1.90019530e+02] [ 1.75176699e-02 9.99846415e-01 -5.26306892e-04 2.15408501e+00] [ 9.36842651e-03 3.62226390e-04 9.99956050e-01 2.46307050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.05, Y:2.16, Z:0.24 [[ 9.99799146e-01 -1.77206798e-02 -9.36186083e-03 1.90048299e+02] [ 1.77167303e-02 9.99842919e-01 -5.04635444e-04 2.15974393e+00] [ 9.36933275e-03 3.38672523e-04 9.99956049e-01 2.37746507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.08, Y:2.17, Z:0.23 [[ 9.99740711e-01 -2.07579371e-02 -9.36052346e-03 1.90076600e+02] [ 2.07538990e-02 9.99784475e-01 -5.28330002e-04 2.16688317e+00] [ 9.36947307e-03 3.33925652e-04 9.99956050e-01 2.34236031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.11, Y:2.17, Z:0.23 [[ 9.99665476e-01 -2.41105248e-02 -9.36045535e-03 1.90105137e+02] [ 2.41066223e-02 9.99709253e-01 -5.29534017e-04 2.17117485e+00] [ 9.37050117e-03 3.03707913e-04 9.99956050e-01 2.33819385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.13, Y:2.18, Z:0.23 [[ 9.99503098e-01 -3.00988504e-02 -9.36038674e-03 1.90133246e+02] [ 3.00951989e-02 9.99546896e-01 -5.30743968e-04 2.17957883e+00] [ 9.37212030e-03 2.48777539e-04 9.99956050e-01 2.34713514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.16, Y:2.18, Z:0.25 [[ 9.99419933e-01 -3.27442014e-02 -9.36031758e-03 1.90163876e+02] [ 3.27406544e-02 9.99463739e-01 -5.31960846e-04 2.18401225e+00] [ 9.37271665e-03 2.25189349e-04 9.99956050e-01 2.46513257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.19, Y:2.19, Z:0.25 [[ 9.99180097e-01 -3.93887313e-02 -9.36280680e-03 1.90192189e+02] [ 3.93858866e-02 9.99223956e-01 -4.88083280e-04 2.18768273e+00] [ 9.37476583e-03 1.18920652e-04 9.99956049e-01 2.46543598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.22, Y:2.19, Z:0.24 [[ 9.99053384e-01 -4.24819661e-02 -9.36047232e-03 1.90222496e+02] [ 4.24788722e-02 9.99097225e-01 -5.29178975e-04 2.19086209e+00] [ 9.37450249e-03 1.31055738e-04 9.99956050e-01 2.37894538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.25, Y:2.20, Z:0.24 [[ 9.98797908e-01 -4.81157324e-02 -9.36032199e-03 1.90252308e+02] [ 4.81128610e-02 9.98841764e-01 -5.31824902e-04 2.19560551e+00] [ 9.37506967e-03 8.08337280e-05 9.99956050e-01 2.35327411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.28, Y:2.20, Z:0.23 [[ 9.98636208e-01 -5.13625168e-02 -9.36028744e-03 1.90282762e+02] [ 5.13597824e-02 9.98680074e-01 -5.32432360e-04 2.19849151e+00] [ 9.37527961e-03 5.09639075e-05 9.99956050e-01 2.34960417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.31, Y:2.20, Z:0.23 [[ 9.98277588e-01 -5.79158146e-02 -9.36028744e-03 1.90313669e+02] [ 5.79133682e-02 9.98321470e-01 -5.32432360e-04 2.20171913e+00] [ 9.37541217e-03 -1.05704798e-05 9.99956050e-01 2.34712418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:2.20, Z:0.24 [[ 9.98303211e-01 -5.74724508e-02 -9.36032169e-03 1.90346347e+02] [ 5.74699905e-02 9.98347093e-01 -5.31829424e-04 2.20387115e+00] [ 9.37541549e-03 -7.01057727e-06 9.99956050e-01 2.35019359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.38, Y:2.21, Z:0.24 [[ 9.98176442e-01 -5.96336284e-02 -9.36055605e-03 1.90378958e+02] [ 5.96313020e-02 9.98220331e-01 -5.27672055e-04 2.20640187e+00] [ 9.37536436e-03 -3.14723302e-05 9.99956050e-01 2.35798822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.41, Y:2.20, Z:0.24 [[ 9.97813073e-01 -6.54327675e-02 -9.36078791e-03 1.90411655e+02] [ 6.54307351e-02 9.97856976e-01 -5.23526295e-04 2.20373687e+00] [ 9.37498330e-03 -9.01018532e-05 9.99956050e-01 2.35628869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.44, Y:2.20, Z:0.25 [[ 9.97558933e-01 -6.91993209e-02 -9.36101594e-03 1.90441066e+02] [ 6.91974928e-02 9.97602845e-01 -5.19416871e-04 2.20153020e+00] [ 9.37451943e-03 -1.29609894e-04 9.99956050e-01 2.48693641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.47, Y:2.20, Z:0.24 [[ 9.97540403e-01 -6.94664079e-02 -9.35751120e-03 1.90474275e+02] [ 6.94639981e-02 9.97584289e-01 -5.82684253e-04 2.19918489e+00] [ 9.37538314e-03 -6.87590556e-05 9.99956048e-01 2.38007081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:2.20, Z:0.24 [[ 9.97573110e-01 -6.89946153e-02 -9.36126973e-03 1.90507227e+02] [ 6.89928266e-02 9.97617023e-01 -5.14267673e-04 2.20161921e+00] [ 9.37444375e-03 -1.32840857e-04 9.99956050e-01 2.38706487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.54, Y:2.21, Z:0.24 [[ 9.97876990e-01 -6.44505596e-02 -9.36152217e-03 1.90540499e+02] [ 6.44486144e-02 9.97920897e-01 -5.09630671e-04 2.20523211e+00] [ 9.37490458e-03 -9.47884114e-05 9.99956050e-01 2.39084349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:2.21, Z:0.24 [[ 9.98077990e-01 -6.12591735e-02 -9.36163404e-03 1.90572479e+02] [ 6.12571072e-02 9.98121891e-01 -5.07567218e-04 2.20586684e+00] [ 9.37514502e-03 -6.68749509e-05 9.99956050e-01 2.39265716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.60, Y:2.21, Z:0.24 [[ 9.98296129e-01 -5.75950827e-02 -9.36185790e-03 1.90604780e+02] [ 5.75928944e-02 9.98340025e-01 -5.03404194e-04 2.20582470e+00] [ 9.37531105e-03 -3.66300344e-05 9.99956050e-01 2.38569116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.64, Y:2.21, Z:0.24 [[ 9.98541198e-01 -5.31773174e-02 -9.36207848e-03 1.90635145e+02] [ 5.31749736e-02 9.98585085e-01 -4.99267859e-04 2.20532366e+00] [ 9.37538167e-03 7.11250030e-07 9.99956050e-01 2.39463770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.67, Y:2.21, Z:0.24 [[ 9.98655160e-01 -5.09923768e-02 -9.36209445e-03 1.90665445e+02] [ 5.09899398e-02 9.98699042e-01 -4.98968310e-04 2.21007089e+00] [ 9.37535834e-03 2.09246456e-05 9.99956050e-01 2.39850641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.70, Y:2.21, Z:0.24 [[ 9.98755085e-01 -4.89962390e-02 -9.36209445e-03 1.90695524e+02] [ 4.89937143e-02 9.98798962e-01 -4.98968310e-04 2.21418198e+00] [ 9.37529779e-03 3.96633570e-05 9.99956050e-01 2.39961588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.73, Y:2.22, Z:0.24 [[ 9.98850856e-01 -4.70033974e-02 -9.36209445e-03 1.90726047e+02] [ 4.70007852e-02 9.98894728e-01 -4.98968310e-04 2.21800540e+00] [ 9.37519999e-03 5.83691341e-05 9.99956050e-01 2.40109942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.76, Y:2.22, Z:0.24 [[ 9.99030084e-01 -4.30260656e-02 -9.36209445e-03 1.90755995e+02] [ 4.30232787e-02 9.99073945e-01 -4.98968310e-04 2.22450201e+00] [ 9.37489328e-03 9.56963550e-05 9.99956050e-01 2.39922014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.79, Y:2.23, Z:0.24 [[ 9.99096708e-01 -4.14501985e-02 -9.36209445e-03 1.90785217e+02] [ 4.14473424e-02 9.99140565e-01 -4.98968310e-04 2.22926898e+00] [ 9.37473067e-03 1.10483662e-04 9.99956050e-01 2.41162461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.82, Y:2.23, Z:0.25 [[ 9.99120815e-01 -4.08650180e-02 -9.36206184e-03 1.90815592e+02] [ 4.08621305e-02 9.99164669e-01 -4.99579382e-04 2.23066066e+00] [ 9.37465674e-03 1.16586366e-04 9.99956050e-01 2.51363714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:2.23, Z:0.24 [[ 9.99107222e-01 -4.11956596e-02 -9.36359154e-03 1.90845394e+02] [ 4.11930548e-02 9.99151095e-01 -4.70959138e-04 2.23148889e+00] [ 9.37504422e-03 8.48237363e-05 9.99956050e-01 2.40949982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.87, Y:2.23, Z:0.24 [[ 9.98961837e-01 -4.45825277e-02 -9.36199421e-03 1.90874609e+02] [ 4.45797917e-02 9.99005701e-01 -5.00818785e-04 2.23451402e+00] [ 9.37501336e-03 8.29431013e-05 9.99956050e-01 2.42068282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.90, Y:2.24, Z:0.24 [[ 9.98897874e-01 -4.59933819e-02 -9.36196188e-03 1.90904754e+02] [ 4.59907023e-02 9.98941742e-01 -5.01422326e-04 2.23933776e+00] [ 9.37511662e-03 7.03064928e-05 9.99956050e-01 2.41899385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:2.25, Z:0.24 [[ 9.98755916e-01 -4.89793257e-02 -9.36196188e-03 1.90935011e+02] [ 4.89767773e-02 9.98799792e-01 -5.01422326e-04 2.24654266e+00] [ 9.37528491e-03 4.22797920e-05 9.99956050e-01 2.42116525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:2.25, Z:0.24 [[ 9.98673581e-01 -5.06303584e-02 -9.36196188e-03 1.90965927e+02] [ 5.06278825e-02 9.98717461e-01 -5.01422326e-04 2.24724914e+00] [ 9.37534199e-03 2.67809230e-05 9.99956050e-01 2.44215566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:2.25, Z:0.24 [[ 9.98629108e-01 -5.15000689e-02 -9.36199376e-03 1.90997162e+02] [ 5.14976368e-02 9.98672991e-01 -5.00826502e-04 2.24803110e+00] [ 9.37536291e-03 1.80193696e-05 9.99956050e-01 2.44630942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:2.25, Z:0.25 [[ 9.98562070e-01 -5.27839455e-02 -9.36202577e-03 1.91028004e+02] [ 5.27815754e-02 9.98605956e-01 -5.00227314e-04 2.25021323e+00] [ 9.37537867e-03 5.36555275e-06 9.99956050e-01 2.45245351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.06, Y:2.26, Z:0.24 [[ 9.98432975e-01 -5.51719678e-02 -9.36205767e-03 1.91060396e+02] [ 5.51697083e-02 9.98476867e-01 -4.99629585e-04 2.25516946e+00] [ 9.37536356e-03 -1.76553378e-05 9.99956050e-01 2.44190390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.09, Y:2.26, Z:0.25 [[ 9.98255640e-01 -5.82925849e-02 -9.36227853e-03 1.91089158e+02] [ 5.82905017e-02 9.98299540e-01 -4.95456247e-04 2.25780350e+00] [ 9.37523978e-03 -5.11399200e-05 9.99956050e-01 2.52057422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.12, Y:2.26, Z:0.25 [[ 9.98254059e-01 -5.83203189e-02 -9.35814048e-03 1.91122284e+02] [ 5.83175040e-02 9.98297921e-01 -5.73629477e-04 2.26162791e+00] [ 9.37566644e-03 2.68845595e-05 9.99956047e-01 2.52861801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.15, Y:2.26, Z:0.24 [[ 9.98212065e-01 -5.90341485e-02 -9.36174188e-03 1.91154580e+02] [ 5.90320103e-02 9.98255963e-01 -5.04807698e-04 2.26257118e+00] [ 9.37521555e-03 -4.87373079e-05 9.99956051e-01 2.44591775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:2.26, Z:0.24 [[ 9.98174786e-01 -5.96610197e-02 -9.36266758e-03 1.91187514e+02] [ 5.96590759e-02 9.98218692e-01 -4.87011328e-04 2.26164077e+00] [ 9.37504538e-03 -7.24456682e-05 9.99956051e-01 2.44013555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:2.26, Z:0.24 [[ 9.98181593e-01 -5.95469820e-02 -9.36290992e-03 1.91220925e+02] [ 5.95450773e-02 9.98225501e-01 -4.82306883e-04 2.26424884e+00] [ 9.37501537e-03 -7.60853426e-05 9.99956051e-01 2.43939553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:2.27, Z:0.24 [[ 9.98218583e-01 -5.89236116e-02 -9.36314851e-03 1.91253476e+02] [ 5.89217234e-02 9.98262492e-01 -4.77629830e-04 2.26848633e+00] [ 9.37502363e-03 -7.49138737e-05 9.99956051e-01 2.44562930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:2.27, Z:0.25 [[ 9.98200521e-01 -5.92287717e-02 -9.36338531e-03 1.91286338e+02] [ 5.92269409e-02 9.98244432e-01 -4.72941478e-04 2.27370558e+00] [ 9.37495899e-03 -8.24742386e-05 9.99956051e-01 2.46746836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:2.27, Z:0.25 [[ 9.98212370e-01 -5.90286930e-02 -9.36361782e-03 1.91319621e+02] [ 5.90268970e-02 9.98256283e-01 -4.68292443e-04 2.27476236e+00] [ 9.37493301e-03 -8.52499945e-05 9.99956051e-01 2.47299138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.35, Y:2.27, Z:0.25 [[ 9.98015849e-01 -6.22630115e-02 -9.36385020e-03 1.91352304e+02] [ 6.22614018e-02 9.98059769e-01 -4.63598786e-04 2.27325845e+00] [ 9.37454723e-03 -1.20327504e-04 9.99956051e-01 2.47830958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:2.27, Z:0.25 [[ 9.97894692e-01 -6.41755321e-02 -9.36405120e-03 1.91385066e+02] [ 6.41740450e-02 9.97938616e-01 -4.59502716e-04 2.27450177e+00] [ 9.37423712e-03 -1.42393722e-04 9.99956051e-01 2.47991297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:2.28, Z:0.25 [[ 9.97706890e-01 -6.70318795e-02 -9.36427607e-03 1.91418611e+02] [ 6.70305616e-02 9.97750819e-01 -4.54873299e-04 2.27570936e+00] [ 9.37370513e-03 -1.73862460e-04 9.99956051e-01 2.48723581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.45, Y:2.27, Z:0.25 [[ 9.97401512e-01 -7.14319926e-02 -9.36449847e-03 1.91451483e+02] [ 7.14309118e-02 9.97445448e-01 -4.50247761e-04 2.27261108e+00] [ 9.37273847e-03 -2.19836868e-04 9.99956051e-01 2.48881356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:2.27, Z:0.25 [[ 9.97368269e-01 -7.18946563e-02 -9.36456696e-03 1.91484879e+02] [ 7.18936094e-02 9.97412205e-01 -4.48818807e-04 2.27137575e+00] [ 9.37260106e-03 -2.25614882e-04 9.99956051e-01 2.48512340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.52, Y:2.27, Z:0.25 [[ 9.97350231e-01 -7.21444148e-02 -9.36478333e-03 1.91517284e+02] [ 7.21434217e-02 9.97394169e-01 -4.44257670e-04 2.27129765e+00] [ 9.37243101e-03 -2.32527023e-04 9.99956051e-01 2.48407201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.55, Y:2.27, Z:0.25 [[ 9.97392807e-01 -7.15533767e-02 -9.36497034e-03 1.91549026e+02] [ 7.15523948e-02 9.97436745e-01 -4.40279913e-04 2.27189564e+00] [ 9.37246905e-03 -2.30954037e-04 9.99956051e-01 2.48309282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.58, Y:2.27, Z:0.25 [[ 9.97552020e-01 -6.92983614e-02 -9.36507331e-03 1.91581285e+02] [ 6.92973009e-02 9.97595956e-01 -4.38078643e-04 2.27154870e+00] [ 9.37291740e-03 -2.11968069e-04 9.99956051e-01 2.48666604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.61, Y:2.27, Z:0.25 [[ 9.97641553e-01 -6.79972303e-02 -9.36525749e-03 1.91613176e+02] [ 6.79961497e-02 9.97685489e-01 -4.34105339e-04 2.27174355e+00] [ 9.37309946e-03 -2.03719926e-04 9.99956051e-01 2.49365001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.65, Y:2.27, Z:0.25 [[ 9.97752691e-01 -6.63464907e-02 -9.36543991e-03 1.91646384e+02] [ 6.63453747e-02 9.97796626e-01 -4.30133481e-04 2.27091080e+00] [ 9.37334218e-03 -1.92186782e-04 9.99956051e-01 2.49230885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.68, Y:2.27, Z:0.25 [[ 9.97785361e-01 -6.58533135e-02 -9.36564775e-03 1.91679038e+02] [ 6.58522188e-02 9.97829296e-01 -4.25559343e-04 2.27136163e+00] [ 9.37334219e-03 -1.92131802e-04 9.99956051e-01 2.48704670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.71, Y:2.27, Z:0.25 [[ 9.97831407e-01 -6.51518562e-02 -9.36585314e-03 1.91711779e+02] [ 6.51507734e-02 9.97875343e-01 -4.20989920e-04 2.27093944e+00] [ 9.37338219e-03 -1.90115612e-04 9.99956051e-01 2.48267253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.74, Y:2.27, Z:0.25 [[ 9.97980392e-01 -6.28284481e-02 -9.36605832e-03 1.91744400e+02] [ 6.28273063e-02 9.98024326e-01 -4.16374496e-04 2.26968278e+00] [ 9.37371421e-03 -1.72910632e-04 9.99956051e-01 2.50774667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.78, Y:2.27, Z:0.25 [[ 9.98129409e-01 -6.04148724e-02 -9.36623484e-03 1.91776213e+02] [ 6.04136620e-02 9.98173341e-01 -4.12365187e-04 2.27046629e+00] [ 9.37403891e-03 -1.54254725e-04 9.99956051e-01 2.51401295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:2.27, Z:0.25 [[ 9.98301496e-01 -5.75012622e-02 -9.36627287e-03 1.91807338e+02] [ 5.74999317e-02 9.98345425e-01 -4.11499464e-04 2.27136341e+00] [ 9.37443742e-03 -1.27759519e-04 9.99956051e-01 2.52664911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.84, Y:2.27, Z:0.26 [[ 9.98698711e-01 -5.01313956e-02 -9.36631095e-03 1.91839547e+02] [ 5.01297490e-02 9.98742629e-01 -4.10631063e-04 2.27242707e+00] [ 9.37511953e-03 -5.94341029e-05 9.99956051e-01 2.60493332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.87, Y:2.27, Z:0.25 [[ 9.98641622e-01 -5.12551400e-02 -9.37127115e-03 1.91869430e+02] [ 5.12546002e-02 9.98685575e-01 -2.97922385e-04 2.27374380e+00] [ 9.37422337e-03 -1.82803061e-04 9.99956044e-01 2.49960536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.90, Y:2.28, Z:0.25 [[ 9.98700355e-01 -5.00986712e-02 -9.36613557e-03 1.91900003e+02] [ 5.00969908e-02 9.98744272e-01 -4.14084818e-04 2.27514729e+00] [ 9.37511935e-03 -5.56685536e-05 9.99956051e-01 2.51104783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.93, Y:2.27, Z:0.25 [[ 9.98713547e-01 -4.98349955e-02 -9.36613557e-03 1.91930222e+02] [ 4.98333035e-02 9.98757463e-01 -4.14084818e-04 2.27045389e+00] [ 9.37513372e-03 -5.31933602e-05 9.99956051e-01 2.51872831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:2.27, Z:0.25 [[ 9.98706430e-01 -4.99774226e-02 -9.36612255e-03 1.91959548e+02] [ 4.99757342e-02 9.98750346e-01 -4.14379241e-04 2.26752652e+00] [ 9.37512775e-03 -5.42356379e-05 9.99956051e-01 2.53171401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:2.27, Z:0.25 [[ 9.98748225e-01 -4.91351087e-02 -9.36610946e-03 1.91989386e+02] [ 4.91333805e-02 9.98792140e-01 -4.14674899e-04 2.26660052e+00] [ 9.37517161e-03 -4.60328000e-05 9.99956051e-01 2.54236545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:2.27, Z:0.25 [[ 9.98815031e-01 -4.77578243e-02 -9.36608280e-03 1.92019479e+02] [ 4.77560299e-02 9.98858944e-01 -4.15276201e-04 2.26778087e+00] [ 9.37522826e-03 -3.25028182e-05 9.99956051e-01 2.54463610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:2.27, Z:0.26 [[ 9.99036614e-01 -4.28733067e-02 -9.36605608e-03 1.92049406e+02] [ 4.28712919e-02 9.99080517e-01 -4.15877956e-04 2.27070367e+00] [ 9.37527421e-03 1.39423813e-05 9.99956051e-01 2.62622916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:2.27, Z:0.25 [[ 9.99086130e-01 -4.17031135e-02 -9.36782140e-03 1.92078474e+02] [ 4.17014207e-02 9.99130047e-01 -3.76040382e-04 2.27055479e+00] [ 9.37535388e-03 -1.49547317e-05 9.99956050e-01 2.53020423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.11, Y:2.27, Z:0.25 [[ 9.99166118e-01 -3.97409716e-02 -9.36606202e-03 1.92108248e+02] [ 3.97388209e-02 9.99210015e-01 -4.15682366e-04 2.26941525e+00] [ 9.37518259e-03 4.31394742e-05 9.99956051e-01 2.53247855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.14, Y:2.27, Z:0.25 [[ 9.99283504e-01 -3.66709044e-02 -9.36603530e-03 1.92137051e+02] [ 3.66686133e-02 9.99327394e-01 -4.16283664e-04 2.26731290e+00] [ 9.37500114e-03 7.25458730e-05 9.99956051e-01 2.51487675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:2.27, Z:0.25 [[ 9.99305217e-01 -3.60743900e-02 -9.36598161e-03 1.92165385e+02] [ 3.60720614e-02 9.99349104e-01 -4.17488169e-04 2.26807383e+00] [ 9.37494596e-03 7.93478426e-05 9.99956051e-01 2.51518542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.19, Y:2.27, Z:0.25 [[ 9.99330441e-01 -3.53687681e-02 -9.36592727e-03 1.92193666e+02] [ 3.53663971e-02 9.99374326e-01 -4.18703689e-04 2.26974238e+00] [ 9.37487628e-03 8.71842391e-05 9.99956051e-01 2.52587755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:2.27, Z:0.26 [[ 9.99377316e-01 -3.40185388e-02 -9.36585969e-03 1.92222279e+02] [ 3.40160944e-02 9.99421197e-01 -4.20209785e-04 2.27486037e+00] [ 9.37473363e-03 1.01358160e-04 9.99956051e-01 2.56357864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:2.28, Z:0.26 [[ 9.99406507e-01 -3.31498893e-02 -9.36580566e-03 1.92250517e+02] [ 3.31473955e-02 9.99450385e-01 -4.21410628e-04 2.27824562e+00] [ 9.37462779e-03 1.10708459e-04 9.99956051e-01 2.57779299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:2.28, Z:0.26 [[ 9.99444035e-01 -3.19984833e-02 -9.36575099e-03 1.92279032e+02] [ 3.19959276e-02 9.99487910e-01 -4.22622196e-04 2.28115829e+00] [ 9.37447815e-03 1.22721342e-04 9.99956051e-01 2.57132824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.31, Y:2.28, Z:0.26 [[ 9.99472496e-01 -3.10968527e-02 -9.36569562e-03 1.92307648e+02] [ 3.10942460e-02 9.99516367e-01 -4.23845849e-04 2.28135568e+00] [ 9.37434633e-03 1.32403025e-04 9.99956051e-01 2.55822317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.34, Y:2.28, Z:0.25 [[ 9.99466219e-01 -3.12979455e-02 -9.36564041e-03 1.92336116e+02] [ 3.12953362e-02 9.99510091e-01 -4.25062261e-04 2.28134114e+00] [ 9.37435567e-03 1.31734506e-04 9.99956051e-01 2.54904234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.37, Y:2.28, Z:0.26 [[ 9.99462186e-01 -3.14264865e-02 -9.36558548e-03 1.92365393e+02] [ 3.14238715e-02 9.99506057e-01 -4.26268986e-04 2.28264266e+00] [ 9.37435556e-03 1.31736778e-04 9.99956051e-01 2.55179164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.39, Y:2.29, Z:0.25 [[ 9.99386028e-01 -3.37617343e-02 -9.36553051e-03 1.92394366e+02] [ 3.37592106e-02 9.99429904e-01 -4.27473433e-04 2.28520832e+00] [ 9.37462350e-03 1.11038059e-04 9.99956051e-01 2.54528721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.42, Y:2.29, Z:0.26 [[ 9.99351664e-01 -3.47640420e-02 -9.36547541e-03 1.92422801e+02] [ 3.47615510e-02 9.99395543e-01 -4.28677181e-04 2.28796451e+00] [ 9.37471693e-03 1.02840803e-04 9.99956051e-01 2.55943551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.45, Y:2.29, Z:0.26 [[ 9.99281299e-01 -3.67311168e-02 -9.36543381e-03 1.92451561e+02] [ 3.67287037e-02 9.99325181e-01 -4.29584061e-04 2.29031584e+00] [ 9.37489295e-03 8.52950745e-05 9.99956051e-01 2.56887661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:2.29, Z:0.26 [[ 9.99257781e-01 -3.73654490e-02 -9.36537724e-03 1.92480019e+02] [ 3.73630522e-02 9.99301665e-01 -4.30813810e-04 2.29302236e+00] [ 9.37493462e-03 8.05749729e-05 9.99956051e-01 2.58550978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.51, Y:2.30, Z:0.26 [[ 9.99223731e-01 -3.82652085e-02 -9.36532140e-03 1.92508283e+02] [ 3.82628399e-02 9.99267616e-01 -4.32024399e-04 2.29500682e+00] [ 9.37499389e-03 7.33452386e-05 9.99956051e-01 2.59327917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.54, Y:2.30, Z:0.26 [[ 9.99161607e-01 -3.98544325e-02 -9.36526488e-03 1.92537191e+02] [ 3.98521222e-02 9.99205495e-01 -4.33246115e-04 2.29644292e+00] [ 9.37509091e-03 5.96572035e-05 9.99956051e-01 2.58010331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.57, Y:2.30, Z:0.26 [[ 9.99127786e-01 -4.06934824e-02 -9.36520817e-03 1.92566241e+02] [ 4.06911976e-02 9.99171676e-01 -4.34468536e-04 2.29618720e+00] [ 9.37513078e-03 5.30080502e-05 9.99956051e-01 2.56228739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.60, Y:2.30, Z:0.26 [[ 9.99121033e-01 -4.08589802e-02 -9.36515199e-03 1.92595588e+02] [ 4.08566912e-02 9.99164922e-01 -4.35676122e-04 2.29606655e+00] [ 9.37513264e-03 5.26640529e-05 9.99956051e-01 2.56826360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:2.30, Z:0.26 [[ 9.99131540e-01 -4.06012473e-02 -9.36510971e-03 1.92624945e+02] [ 4.05989386e-02 9.99175428e-01 -4.36583136e-04 2.29882093e+00] [ 9.37511332e-03 5.59904666e-05 9.99956051e-01 2.58061356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.65, Y:2.30, Z:0.26 [[ 9.99160253e-01 -3.98883932e-02 -9.36508134e-03 1.92654701e+02] [ 3.98860474e-02 9.99204139e-01 -4.37190794e-04 2.30207915e+00] [ 9.37506688e-03 6.32875853e-05 9.99956051e-01 2.58620697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.68, Y:2.31, Z:0.26 [[ 9.99255282e-01 -3.74323016e-02 -9.36505312e-03 1.92683504e+02] [ 3.74298423e-02 9.99299162e-01 -4.37794534e-04 2.30680253e+00] [ 9.37487739e-03 8.69360388e-05 9.99956051e-01 2.59833616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.702320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:192.71, Y:2.31, Z:0.27 [[ 9.99291822e-01 -3.64438128e-02 -9.36501088e-03 1.92713270e+02] [ 3.64413017e-02 9.99335699e-01 -4.38696239e-04 2.30893257e+00] [ 9.37477746e-03 9.71123779e-05 9.99956051e-01 2.68543653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:2.31, Z:0.27 [[ 9.99333192e-01 -3.52908674e-02 -9.36625814e-03 1.92743309e+02] [ 3.52885551e-02 9.99377080e-01 -4.12074659e-04 2.31078418e+00] [ 9.37496618e-03 8.12781674e-05 9.99956051e-01 2.71582477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.77, Y:2.31, Z:0.26 [[ 9.99324867e-01 -3.55253715e-02 -9.36792767e-03 1.92771841e+02] [ 3.55234023e-02 9.99368774e-01 -3.76564264e-04 2.31405580e+00] [ 9.37539198e-03 4.35293694e-05 9.99956049e-01 2.60862790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.80, Y:2.32, Z:0.27 [[ 9.99327171e-01 -3.54613252e-02 -9.36484762e-03 1.92802029e+02] [ 3.54587415e-02 9.99371043e-01 -4.41845941e-04 2.31686130e+00] [ 9.37462598e-03 1.09482943e-04 9.99956051e-01 2.70698921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.83, Y:2.32, Z:0.26 [[ 9.99360419e-01 -3.45115569e-02 -9.36510822e-03 1.92832463e+02] [ 3.45089830e-02 9.99404292e-01 -4.36336830e-04 2.32035324e+00] [ 9.37458801e-03 1.12877397e-04 9.99956051e-01 2.61116805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.86, Y:2.33, Z:0.26 [[ 9.99392932e-01 -3.35569341e-02 -9.36481146e-03 1.92861396e+02] [ 3.35542596e-02 9.99436799e-01 -4.42615647e-04 2.32721276e+00] [ 9.37439001e-03 1.28117635e-04 9.99956051e-01 2.61139355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.89, Y:2.33, Z:0.26 [[ 9.99434217e-01 -3.23039831e-02 -9.36475414e-03 1.92890376e+02] [ 3.23012422e-02 9.99478080e-01 -4.43825019e-04 2.33222169e+00] [ 9.37420381e-03 1.41080719e-04 9.99956051e-01 2.62791062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.912320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:192.92, Y:2.34, Z:0.27 [[ 9.99516786e-01 -2.96394382e-02 -9.36469690e-03 1.92921216e+02] [ 2.96365691e-02 9.99560641e-01 -4.45029580e-04 2.33715238e+00] [ 9.37377286e-03 1.67277049e-04 9.99956051e-01 2.70872348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.95, Y:2.34, Z:0.26 [[ 9.99494472e-01 -3.03813126e-02 -9.36890646e-03 1.92949127e+02] [ 3.03793059e-02 9.99538379e-01 -3.56458311e-04 2.34133483e+00] [ 9.37541124e-03 7.16572363e-05 9.99956047e-01 2.64358106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.98, Y:2.34, Z:0.26 [[ 9.99511234e-01 -2.98261582e-02 -9.36447898e-03 1.92977659e+02] [ 2.98232617e-02 9.99555087e-01 -4.48834003e-04 2.34476097e+00] [ 9.37369960e-03 1.69335321e-04 9.99956052e-01 2.63904666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.01, Y:2.35, Z:0.26 [[ 9.99471011e-01 -3.11449225e-02 -9.36442156e-03 1.93006045e+02] [ 3.11420727e-02 9.99514867e-01 -4.50028816e-04 2.34868502e+00] [ 9.37389468e-03 1.58163259e-04 9.99956052e-01 2.62717196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.04, Y:2.35, Z:0.26 [[ 9.99439050e-01 -3.21542122e-02 -9.36436400e-03 1.93035073e+02] [ 3.21513954e-02 9.99482908e-01 -4.51223406e-04 2.35314668e+00] [ 9.37403050e-03 1.49892923e-04 9.99956052e-01 2.63220496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:2.36, Z:0.26 [[ 9.99303986e-01 -3.61089178e-02 -9.36430557e-03 1.93064091e+02] [ 3.61062632e-02 9.99347854e-01 -4.52432720e-04 2.36117732e+00] [ 9.37453553e-03 1.14007739e-04 9.99956052e-01 2.62569043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.09, Y:2.36, Z:0.28 [[ 9.99267186e-01 -3.71133565e-02 -9.36427645e-03 1.93094343e+02] [ 3.71107405e-02 9.99311057e-01 -4.53034817e-04 2.36264550e+00] [ 9.37463863e-03 1.05187594e-04 9.99956052e-01 2.76307308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.12, Y:2.36, Z:0.27 [[ 9.99169254e-01 -3.96617546e-02 -9.36733692e-03 1.93123720e+02] [ 3.96598424e-02 9.99213163e-01 -3.89878862e-04 2.36237015e+00] [ 9.37542963e-03 1.80478656e-05 9.99956050e-01 2.73767935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.15, Y:2.36, Z:0.26 [[ 9.99086056e-01 -4.17054888e-02 -9.36509960e-03 1.93153825e+02] [ 4.17032344e-02 9.99129947e-01 -4.35963961e-04 2.36208319e+00] [ 9.37513355e-03 4.50105708e-05 9.99956051e-01 2.63841412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.18, Y:2.36, Z:0.26 [[ 9.98960902e-01 -4.46029822e-02 -9.36426090e-03 1.93184373e+02] [ 4.46006926e-02 9.99004791e-01 -4.53290183e-04 2.36427984e+00] [ 9.37515960e-03 3.51666485e-05 9.99956052e-01 2.63314247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:2.37, Z:0.26 [[ 9.98927948e-01 -4.53350238e-02 -9.36426090e-03 1.93214542e+02] [ 4.53327664e-02 9.98971839e-01 -4.53290183e-04 2.36795731e+00] [ 9.37518285e-03 2.82963810e-05 9.99956052e-01 2.63117304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.24, Y:2.37, Z:0.26 [[ 9.98879538e-01 -4.63894327e-02 -9.36426090e-03 1.93244501e+02] [ 4.63872217e-02 9.98923431e-01 -4.53290183e-04 2.37169373e+00] [ 9.37520750e-03 1.84002428e-05 9.99956052e-01 2.63256914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:2.37, Z:0.28 [[ 9.98773560e-01 -4.86177648e-02 -9.36418928e-03 1.93273160e+02] [ 4.86156379e-02 9.98817457e-01 -4.54764951e-04 2.37389269e+00] [ 9.37522538e-03 -1.03882524e-06 9.99956052e-01 2.76333030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.31, Y:2.38, Z:0.26 [[ 9.98712169e-01 -4.98636824e-02 -9.36032914e-03 1.93305896e+02] [ 4.98608643e-02 9.98756031e-01 -5.34332188e-04 2.37543374e+00] [ 9.37532895e-03 6.69299574e-05 9.99956048e-01 2.64361363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.33, Y:2.37, Z:0.28 [[ 9.98554222e-01 -5.29318055e-02 -9.36432971e-03 1.93334940e+02] [ 5.29299004e-02 9.98598128e-01 -4.51327427e-04 2.37464766e+00] [ 9.37509170e-03 -4.49781317e-05 9.99956052e-01 2.78733346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.37, Y:2.37, Z:0.27 [[ 9.98401621e-01 -5.57365861e-02 -9.36140969e-03 1.93367127e+02] [ 5.57342355e-02 9.98445508e-01 -5.11990850e-04 2.37436140e+00] [ 9.37539408e-03 -1.05785179e-05 9.99956050e-01 2.74891368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.40, Y:2.37, Z:0.26 [[ 9.98213791e-01 -5.90048772e-02 -9.36221502e-03 1.93399893e+02] [ 5.90028285e-02 9.98257693e-01 -4.95126923e-04 2.37161079e+00] [ 9.37511807e-03 -5.81546438e-05 9.99956051e-01 2.62861985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.43, Y:2.37, Z:0.26 [[ 9.98160036e-01 -5.99069812e-02 -9.36462789e-03 1.93431768e+02] [ 5.99054492e-02 9.98203957e-01 -4.44266701e-04 2.37254957e+00] [ 9.37442329e-03 -1.17542974e-04 9.99956052e-01 2.63826418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.46, Y:2.37, Z:0.26 [[ 9.98145769e-01 -6.01441963e-02 -9.36481722e-03 1.93463556e+02] [ 6.01427125e-02 9.98189692e-01 -4.40239183e-04 2.37408917e+00] [ 9.37434185e-03 -1.23802632e-04 9.99956052e-01 2.64176471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:2.37, Z:0.26 [[ 9.98073666e-01 -6.13290642e-02 -9.36500331e-03 1.93495414e+02] [ 6.13276700e-02 9.98117592e-01 -4.36244427e-04 2.37473209e+00] [ 9.37412901e-03 -1.38929757e-04 9.99956052e-01 2.64879957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:2.37, Z:0.26 [[ 9.98137391e-01 -6.02830216e-02 -9.36518933e-03 1.93527970e+02] [ 6.02816192e-02 9.98181316e-01 -4.32213616e-04 2.37122496e+00] [ 9.37421216e-03 -1.33140206e-04 9.99956052e-01 2.64857989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.56, Y:2.37, Z:0.27 [[ 9.98200364e-01 -5.92310995e-02 -9.36537242e-03 1.93560041e+02] [ 5.92296884e-02 9.98244289e-01 -4.28209383e-04 2.36860018e+00] [ 9.37429284e-03 -1.27269328e-04 9.99956052e-01 2.65349311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.59, Y:2.37, Z:0.26 [[ 9.98277512e-01 -5.79162765e-02 -9.36555506e-03 1.93592051e+02] [ 5.79148453e-02 9.98321437e-01 -4.24176846e-04 2.36555852e+00] [ 9.37440112e-03 -1.18958466e-04 9.99956052e-01 2.64942251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:2.36, Z:0.27 [[ 9.98384042e-01 -5.60498656e-02 -9.36573638e-03 1.93624133e+02] [ 5.60483903e-02 9.98427965e-01 -4.20134733e-04 2.36006665e+00] [ 9.37456161e-03 -1.05478635e-04 9.99956052e-01 2.66545570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:2.36, Z:0.27 [[ 9.98454003e-01 -5.47894653e-02 -9.36577492e-03 1.93655672e+02] [ 5.47879425e-02 9.98497925e-01 -4.19273885e-04 2.35989556e+00] [ 9.37467861e-03 -9.45058488e-05 9.99956052e-01 2.67482824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:2.36, Z:0.28 [[ 9.98649971e-01 -5.10932188e-02 -9.36580080e-03 1.93686630e+02] [ 5.10915389e-02 9.98693887e-01 -4.18694817e-04 2.36071249e+00] [ 9.37496047e-03 -6.03836091e-05 9.99956052e-01 2.77541093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:2.36, Z:0.27 [[ 9.98956967e-01 -4.46905272e-02 -9.36664426e-03 1.93716898e+02] [ 4.46887432e-02 9.99000879e-01 -3.99777794e-04 2.36012958e+00] [ 9.37515213e-03 -1.92227473e-05 9.99956052e-01 2.67979884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:2.36, Z:0.27 [[ 9.99143154e-01 -4.03142621e-02 -9.36578174e-03 1.93746225e+02] [ 4.03121051e-02 9.99187049e-01 -4.19055083e-04 2.35966824e+00] [ 9.37506171e-03 4.11416398e-05 9.99956052e-01 2.68060015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.78, Y:2.36, Z:0.27 [[ 9.99290175e-01 -3.64887511e-02 -9.36575493e-03 1.93775509e+02] [ 3.64864204e-02 9.99334061e-01 -4.19653429e-04 2.35960809e+00] [ 9.37483053e-03 7.76326767e-05 9.99956052e-01 2.68529965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.80, Y:2.36, Z:0.27 [[ 9.99549768e-01 -2.85051660e-02 -9.36571446e-03 1.93804259e+02] [ 2.85024763e-02 9.99593633e-01 -4.20554521e-04 2.36116279e+00] [ 9.37389653e-03 1.53419119e-04 9.99956052e-01 2.67325196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.83, Y:2.36, Z:0.27 [[ 9.99636296e-01 -2.52895068e-02 -9.36565999e-03 1.93833077e+02] [ 2.52866648e-02 9.99680152e-01 -4.21764232e-04 2.36316861e+00] [ 9.37333061e-03 1.84784530e-04 9.99956052e-01 2.68049684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.86, Y:2.37, Z:0.27 [[ 9.99700187e-01 -2.26234475e-02 -9.36561886e-03 1.93861778e+02] [ 2.26204800e-02 9.99744035e-01 -4.22675624e-04 2.36507910e+00] [ 9.37278396e-03 2.10694107e-04 9.99956052e-01 2.68887611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.89, Y:2.37, Z:0.28 [[ 9.99803864e-01 -1.74505190e-02 -9.36556310e-03 1.93891767e+02] [ 1.74473131e-02 9.99847694e-01 -4.23907534e-04 2.36883602e+00] [ 9.37153407e-03 2.60420479e-04 9.99956052e-01 2.79442846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:2.37, Z:0.28 [[ 9.99851133e-01 -1.44895874e-02 -9.36818789e-03 1.93920413e+02] [ 1.44867948e-02 9.99894994e-01 -3.65894840e-04 2.37260876e+00] [ 9.37250584e-03 2.30125355e-04 9.99956051e-01 2.78331564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.95, Y:2.38, Z:0.28 [[ 9.99877212e-01 -1.25612984e-02 -9.36885637e-03 1.93948844e+02] [ 1.25585589e-02 9.99921077e-01 -3.51176390e-04 2.37738820e+00] [ 9.37252818e-03 2.33473935e-04 9.99956050e-01 2.76734924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.98, Y:2.38, Z:0.28 [[ 9.99933187e-01 -6.77313730e-03 -9.36728716e-03 1.93977642e+02] [ 6.76982255e-03 9.99977010e-01 -3.85527621e-04 2.38461373e+00] [ 9.36968304e-03 3.22086990e-04 9.99956052e-01 2.76921768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:2.39, Z:0.27 [[ 9.99936681e-01 -6.23289617e-03 -9.36941813e-03 1.94004724e+02] [ 6.22998843e-03 9.99980536e-01 -3.39498358e-04 2.38784444e+00] [ 9.37135182e-03 2.81105495e-04 9.99956048e-01 2.69133686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.03, Y:2.39, Z:0.27 [[ 9.99945087e-01 -4.70366357e-03 -9.36475375e-03 1.94033198e+02] [ 4.69975812e-03 9.99988860e-01 -4.39000034e-04 2.39123717e+00] [ 9.36671433e-03 3.94963850e-04 9.99956053e-01 2.70138105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.06, Y:2.40, Z:0.28 [[ 9.99951759e-01 -2.96359544e-03 -9.36469740e-03 1.94062902e+02] [ 2.95960262e-03 9.99995523e-01 -4.40198705e-04 2.39501914e+00] [ 9.36596005e-03 4.12461687e-04 9.99956053e-01 2.79916327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.09, Y:2.40, Z:0.27 [[ 9.99955691e-01 -9.29309085e-04 -9.36759861e-03 1.94090120e+02] [ 9.25803373e-04 9.99999500e-01 -3.78567508e-04 2.40321925e+00] [ 9.36794573e-03 3.69878179e-04 9.99956051e-01 2.72430276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.12, Y:2.41, Z:0.27 [[ 9.99955647e-01 -1.00567717e-03 -9.36438504e-03 1.94118905e+02] [ 1.00154413e-03 9.99999399e-01 -4.46035806e-04 2.40828236e+00] [ 9.36482798e-03 4.36637178e-04 9.99956054e-01 2.71924642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.15, Y:2.41, Z:0.27 [[ 9.99953801e-01 -2.16920238e-03 -9.36432835e-03 1.94147714e+02] [ 2.16510916e-03 9.99997556e-01 -4.47222822e-04 2.41313296e+00] [ 9.36527559e-03 4.26927368e-04 9.99956054e-01 2.71422756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:2.42, Z:0.27 [[ 9.99940749e-01 -5.55062672e-03 -9.36427105e-03 1.94176250e+02] [ 5.54667031e-03 9.99984517e-01 -4.48419416e-04 2.42112972e+00] [ 9.36661507e-03 3.96452323e-04 9.99956054e-01 2.72016557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.20, Y:2.42, Z:0.27 [[ 9.99939661e-01 -5.74339342e-03 -9.36421322e-03 1.94204671e+02] [ 5.73943418e-03 9.99983428e-01 -4.49623915e-04 2.42246028e+00] [ 9.36664041e-03 3.95851499e-04 9.99956054e-01 2.72283539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.23, Y:2.43, Z:0.27 [[ 9.99934818e-01 -6.53249818e-03 -9.36412620e-03 1.94233584e+02] [ 6.52855661e-03 9.99978587e-01 -4.51429088e-04 2.42688539e+00] [ 9.36687464e-03 3.90265435e-04 9.99956054e-01 2.73015739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.26, Y:2.43, Z:0.27 [[ 9.99924503e-01 -7.95627705e-03 -9.36406799e-03 1.94262299e+02] [ 7.95238654e-03 9.99968277e-01 -4.52633347e-04 2.43072690e+00] [ 9.36737220e-03 3.78132486e-04 9.99956054e-01 2.74210148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.29, Y:2.44, Z:0.28 [[ 9.99894500e-01 -1.11042452e-02 -9.36401005e-03 1.94292117e+02] [ 1.11004814e-02 9.99938285e-01 -4.53828790e-04 2.43682969e+00] [ 9.36847157e-03 3.49835892e-04 9.99956054e-01 2.84764833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.32, Y:2.44, Z:0.27 [[ 9.99873715e-01 -1.28376982e-02 -9.36731415e-03 1.94319868e+02] [ 1.28346459e-02 9.99917558e-01 -3.85887271e-04 2.43998732e+00] [ 9.37149580e-03 2.65612379e-04 9.99956051e-01 2.73280239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.35, Y:2.44, Z:0.28 [[ 9.99850366e-01 -1.45452502e-02 -9.36384409e-03 1.94349033e+02] [ 1.45416075e-02 9.99894161e-01 -4.56990250e-04 2.44259056e+00] [ 9.36950007e-03 3.20756524e-04 9.99956054e-01 2.81662623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.38, Y:2.45, Z:0.28 [[ 9.99775036e-01 -1.90301463e-02 -9.36648896e-03 1.94376375e+02] [ 1.90272059e-02 9.99818885e-01 -4.02948208e-04 2.44678689e+00] [ 9.37246071e-03 2.24639445e-04 9.99956052e-01 2.83307495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.41, Y:2.45, Z:0.28 [[ 9.99783677e-01 -1.85729777e-02 -9.36185591e-03 1.94407410e+02] [ 1.85691338e-02 9.99827455e-01 -4.97363342e-04 2.45166565e+00] [ 9.36947808e-03 3.23414196e-04 9.99956053e-01 2.75522216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.44, Y:2.46, Z:0.28 [[ 9.99769153e-01 -1.93380984e-02 -9.36370992e-03 1.94436453e+02] [ 1.93346413e-02 9.99812963e-01 -4.59589684e-04 2.45710067e+00] [ 9.37084615e-03 2.78439616e-04 9.99956054e-01 2.77112709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.472320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.47, Y:2.46, Z:0.29 [[ 9.99689234e-01 -2.31031902e-02 -9.36365138e-03 1.94465578e+02] [ 2.30998871e-02 9.99733056e-01 -4.60779280e-04 2.46399213e+00] [ 9.37179728e-03 2.44336796e-04 9.99956054e-01 2.88759523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:2.47, Z:0.28 [[ 9.99674155e-01 -2.37466776e-02 -9.36368199e-03 1.94494965e+02] [ 2.37434085e-02 9.99717980e-01 -4.60158488e-04 2.46614464e+00] [ 9.37196848e-03 2.37682821e-04 9.99956054e-01 2.79289916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:2.47, Z:0.28 [[ 9.99652779e-01 -2.46301539e-02 -9.36357505e-03 1.94523240e+02] [ 2.46269032e-02 9.99696605e-01 -4.62324402e-04 2.46798962e+00] [ 9.37212131e-03 2.31568017e-04 9.99956054e-01 2.78637456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:2.47, Z:0.28 [[ 9.99608076e-01 -2.63821853e-02 -9.36351577e-03 1.94552107e+02] [ 2.63790002e-02 9.99651906e-01 -4.63522018e-04 2.47138222e+00] [ 9.37248511e-03 2.16340169e-04 9.99956054e-01 2.77451935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.58, Y:2.47, Z:0.28 [[ 9.99578329e-01 -2.74861651e-02 -9.36345676e-03 1.94580276e+02] [ 2.74830172e-02 9.99622163e-01 -4.64710914e-04 2.47486845e+00] [ 9.37269202e-03 2.07178916e-04 9.99956054e-01 2.77822479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.61, Y:2.48, Z:0.29 [[ 9.99564280e-01 -2.79924482e-02 -9.36338288e-03 1.94609286e+02] [ 2.79893087e-02 9.99608114e-01 -4.66194737e-04 2.47963919e+00] [ 9.37276344e-03 2.03916994e-04 9.99956054e-01 2.86289537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.652320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.64, Y:2.48, Z:0.29 [[ 9.99483303e-01 -3.07478963e-02 -9.36452685e-03 1.94637619e+02] [ 3.07450925e-02 9.99527160e-01 -4.43257224e-04 2.48431210e+00] [ 9.37372815e-03 1.55114951e-04 9.99956054e-01 2.93949861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:2.49, Z:0.28 [[ 9.99494128e-01 -3.03948695e-02 -9.36163647e-03 1.94668144e+02] [ 3.03915080e-02 9.99537946e-01 -5.01155589e-04 2.48956287e+00] [ 9.37254345e-03 2.16387818e-04 9.99956053e-01 2.80002368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:2.49, Z:0.28 [[ 9.99459251e-01 -3.15203552e-02 -9.36333431e-03 1.94697943e+02] [ 3.15173617e-02 9.99503095e-01 -4.67123153e-04 2.49161365e+00] [ 9.37340551e-03 1.71762963e-04 9.99956054e-01 2.80370688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:2.49, Z:0.28 [[ 9.99415053e-01 -3.28919445e-02 -9.36330469e-03 1.94727629e+02] [ 3.28890057e-02 9.99458901e-01 -4.67716002e-04 2.49429584e+00] [ 9.37362230e-03 1.59492632e-04 9.99956054e-01 2.79802782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.76, Y:2.50, Z:0.28 [[ 9.99362959e-01 -3.44384352e-02 -9.36327494e-03 1.94758164e+02] [ 3.44355587e-02 9.99406811e-01 -4.68310838e-04 2.49688090e+00] [ 9.37384864e-03 1.45582901e-04 9.99956054e-01 2.80291976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:2.50, Z:0.28 [[ 9.99240835e-01 -3.78164226e-02 -9.36327494e-03 1.94788255e+02] [ 3.78136942e-02 9.99284697e-01 -4.68310838e-04 2.50127973e+00] [ 9.37428720e-03 1.13895298e-04 9.99956054e-01 2.79103828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.82, Y:2.50, Z:0.29 [[ 9.99092661e-01 -4.15473658e-02 -9.36327494e-03 1.94815186e+02] [ 4.15448013e-02 9.99136532e-01 -4.68310838e-04 2.50447440e+00] [ 9.37464714e-03 7.88905251e-05 9.99956054e-01 2.91929554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.85, Y:2.51, Z:0.28 [[ 9.99260774e-01 -3.72876922e-02 -9.35591042e-03 1.94848975e+02] [ 3.72835523e-02 9.99304536e-01 -6.16573721e-04 2.50927628e+00] [ 9.37239434e-03 2.67296358e-04 9.99956042e-01 2.80167040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.88, Y:2.51, Z:0.28 [[ 9.99245317e-01 -3.76977277e-02 -9.36362215e-03 1.94880634e+02] [ 3.76950778e-02 9.99289182e-01 -4.59390155e-04 2.51302460e+00] [ 9.37428428e-03 1.06080997e-04 9.99956055e-01 2.81559209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.91, Y:2.51, Z:0.28 [[ 9.99211205e-01 -3.85912849e-02 -9.36380876e-03 1.94911793e+02] [ 3.85887102e-02 9.99255075e-01 -4.55554316e-04 2.51288099e+00] [ 9.37441385e-03 9.38576746e-05 9.99956055e-01 2.81710604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:2.51, Z:0.28 [[ 9.99183149e-01 -3.93109873e-02 -9.36383721e-03 1.94943681e+02] [ 3.93084497e-02 9.99227021e-01 -4.54968883e-04 2.51274225e+00] [ 9.37448443e-03 8.65193176e-05 9.99956055e-01 2.80101590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.98, Y:2.52, Z:0.28 [[ 9.99110592e-01 -4.11137798e-02 -9.36386589e-03 1.94976221e+02] [ 4.11113269e-02 9.99154469e-01 -4.54377802e-04 2.51544194e+00] [ 9.37462964e-03 6.90127232e-05 9.99956055e-01 2.79694727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.01, Y:2.52, Z:0.28 [[ 9.99036889e-01 -4.28673481e-02 -9.36406309e-03 1.95008756e+02] [ 4.28650106e-02 9.99080772e-01 -4.50276863e-04 2.51840395e+00] [ 9.37475755e-03 4.84525333e-05 9.99956055e-01 2.80604897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.04, Y:2.52, Z:0.28 [[ 9.98961248e-01 -4.45952433e-02 -9.36425849e-03 1.95042252e+02] [ 4.45930202e-02 9.99005137e-01 -4.46175840e-04 2.52031583e+00] [ 9.37483965e-03 2.81318061e-05 9.99956055e-01 2.80416001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:2.52, Z:0.28 [[ 9.98915622e-01 -4.56057794e-02 -9.36448059e-03 1.95075317e+02] [ 4.56036448e-02 9.98959515e-01 -4.41464412e-04 2.52063299e+00] [ 9.37487032e-03 1.39312504e-05 9.99956055e-01 2.80605523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:2.52, Z:0.28 [[ 9.98806121e-01 -4.79440747e-02 -9.36469962e-03 1.95107531e+02] [ 4.79420869e-02 9.98850022e-01 -4.36768276e-04 2.51749359e+00] [ 9.37487087e-03 -1.27164153e-05 9.99956055e-01 2.81117860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.14, Y:2.52, Z:0.28 [[ 9.98786804e-01 -4.83447953e-02 -9.36488941e-03 1.95141193e+02] [ 4.83428636e-02 9.98830707e-01 -4.32660410e-04 2.51671264e+00] [ 9.37485598e-03 -2.05900630e-05 9.99956055e-01 2.82100964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:2.52, Z:0.28 [[ 9.98801025e-01 -4.80500443e-02 -9.36510453e-03 1.95173916e+02] [ 4.80481438e-02 9.98844929e-01 -4.27952799e-04 2.51613375e+00] [ 9.37485032e-03 -2.25361938e-05 9.99956055e-01 2.81775095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:2.52, Z:0.28 [[ 9.98864905e-01 -4.67032411e-02 -9.36531710e-03 1.95207254e+02] [ 4.67013255e-02 9.98908808e-01 -4.23249206e-04 2.51540394e+00] [ 9.37486485e-03 -1.46039442e-05 9.99956055e-01 2.81795404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:2.52, Z:0.28 [[ 9.98935934e-01 -4.51584604e-02 -9.36552659e-03 1.95240203e+02] [ 4.51565208e-02 9.98979836e-01 -4.18561828e-04 2.51631652e+00] [ 9.37487382e-03 -4.79814554e-06 9.99956055e-01 2.83044979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:2.52, Z:0.29 [[ 9.99032199e-01 -4.29761452e-02 -9.36573643e-03 1.95271562e+02] [ 4.29741543e-02 9.99076099e-01 -4.13812468e-04 2.51659931e+00] [ 9.37486748e-03 1.09273779e-05 9.99956055e-01 2.93051163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:2.51, Z:0.28 [[ 9.99161860e-01 -3.98478547e-02 -9.36621462e-03 1.95303600e+02] [ 3.98458283e-02 9.99205758e-01 -4.02924772e-04 2.51428126e+00] [ 9.37483127e-03 2.93824848e-05 9.99956055e-01 2.84075218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:2.51, Z:0.29 [[ 9.99230368e-01 -3.80913433e-02 -9.36591683e-03 1.95335427e+02] [ 3.80891760e-02 9.99274260e-01 -4.09731846e-04 2.51361345e+00] [ 9.37472684e-03 5.26764486e-05 9.99956055e-01 2.85105147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.37, Y:2.51, Z:0.29 [[ 9.99398131e-01 -3.34014153e-02 -9.36594257e-03 1.95365982e+02] [ 3.33990476e-02 9.99442012e-01 -4.09142493e-04 2.51449927e+00] [ 9.37438243e-03 9.60826815e-05 9.99956055e-01 2.92286231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.39, Y:2.52, Z:0.29 [[ 9.99418709e-01 -3.27797257e-02 -9.36658163e-03 1.95394800e+02] [ 3.27774682e-02 9.99462597e-01 -3.94468716e-04 2.51705256e+00] [ 9.37447857e-03 8.72265832e-05 9.99956055e-01 2.94275962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:2.52, Z:0.28 [[ 9.99488589e-01 -3.05756706e-02 -9.36419420e-03 1.95426462e+02] [ 3.05728045e-02 9.99532442e-01 -4.49098172e-04 2.51948833e+00] [ 9.37354737e-03 1.62578820e-04 9.99956054e-01 2.84269311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:2.52, Z:0.28 [[ 9.99542671e-01 -2.87528467e-02 -9.36604279e-03 1.95456119e+02] [ 2.87502996e-02 9.99586542e-01 -4.06506199e-04 2.52106431e+00] [ 9.37385854e-03 1.37043755e-04 9.99956055e-01 2.84049177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:2.52, Z:0.30 [[ 9.99518986e-01 -2.95647533e-02 -9.36601712e-03 1.95484436e+02] [ 2.95622363e-02 9.99562859e-01 -4.07096909e-04 2.52131577e+00] [ 9.37395856e-03 1.30020678e-04 9.99956055e-01 2.95542139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:2.52, Z:0.29 [[ 9.99639779e-01 -2.51529449e-02 -9.36165944e-03 1.95516546e+02] [ 2.51492911e-02 9.99683578e-01 -5.07830490e-04 2.52156963e+00] [ 9.37147063e-03 2.72208461e-04 9.99956050e-01 2.89131395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:2.52, Z:0.29 [[ 9.99642038e-01 -2.50613074e-02 -9.36622271e-03 1.95545443e+02] [ 2.50586467e-02 9.99685902e-01 -4.01335719e-04 2.52180043e+00] [ 9.37333880e-03 1.66487190e-04 9.99956055e-01 2.90006427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.57, Y:2.52, Z:0.29 [[ 9.99628170e-01 -2.56085181e-02 -9.36617140e-03 1.95573821e+02] [ 2.56058703e-02 9.99672035e-01 -4.02529642e-04 2.52385853e+00] [ 9.37340781e-03 1.62551000e-04 9.99956055e-01 2.87836640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:2.53, Z:0.29 [[ 9.99604518e-01 -2.65157382e-02 -9.36612001e-03 1.95602456e+02] [ 2.65131190e-02 9.99648384e-01 -4.03721767e-04 2.52664743e+00] [ 9.37353172e-03 1.55237048e-04 9.99956055e-01 2.86224702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:2.53, Z:0.29 [[ 9.99601383e-01 -2.66336744e-02 -9.36606861e-03 1.95630667e+02] [ 2.66310493e-02 9.99645249e-01 -4.04910780e-04 2.52985029e+00] [ 9.37353025e-03 1.55321141e-04 9.99956055e-01 2.87104671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:2.53, Z:0.29 [[ 9.99601910e-01 -2.66138841e-02 -9.36601692e-03 1.95659513e+02] [ 2.66112469e-02 9.99645776e-01 -4.06102892e-04 2.53199771e+00] [ 9.37350723e-03 1.56699838e-04 9.99956055e-01 2.87704438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.69, Y:2.53, Z:0.29 [[ 9.99584111e-01 -2.72742347e-02 -9.36596431e-03 1.95688465e+02] [ 2.72716152e-02 9.99627977e-01 -4.07312643e-04 2.53117335e+00] [ 9.37358910e-03 1.51718271e-04 9.99956055e-01 2.90122820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.72, Y:2.53, Z:0.29 [[ 9.99567815e-01 -2.78650922e-02 -9.36591198e-03 1.95717014e+02] [ 2.78624873e-02 9.99611682e-01 -4.08512374e-04 2.53121322e+00] [ 9.37365827e-03 1.47378217e-04 9.99956055e-01 2.90006220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.75, Y:2.53, Z:0.29 [[ 9.99534444e-01 -2.90374836e-02 -9.36585996e-03 1.95746102e+02] [ 2.90349190e-02 9.99578314e-01 -4.09701575e-04 2.53195764e+00] [ 9.37380721e-03 1.37573851e-04 9.99956055e-01 2.88646617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:2.53, Z:0.30 [[ 9.99490213e-01 -3.05220683e-02 -9.36580712e-03 1.95774982e+02] [ 3.05195577e-02 9.99534085e-01 -4.10906058e-04 2.53313856e+00] [ 9.37398515e-03 1.24856293e-04 9.99956055e-01 2.96402709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:2.54, Z:0.29 [[ 9.99415101e-01 -3.28898646e-02 -9.36554608e-03 1.95805265e+02] [ 3.28874021e-02 9.99458976e-01 -4.16855279e-04 2.53515150e+00] [ 9.37418941e-03 1.08602980e-04 9.99956055e-01 2.86023584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:2.54, Z:0.29 [[ 9.99349358e-01 -3.48301555e-02 -9.36589910e-03 1.95834407e+02] [ 3.48278541e-02 9.99393243e-01 -4.08766674e-04 2.53714936e+00] [ 9.37445368e-03 8.23065463e-05 9.99956055e-01 2.86690007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:2.54, Z:0.29 [[ 9.99331095e-01 -3.53503031e-02 -9.36587324e-03 1.95865118e+02] [ 3.53480189e-02 9.99374980e-01 -4.09358361e-04 2.54011342e+00] [ 9.37449032e-03 7.80194739e-05 9.99956055e-01 2.88050120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.90, Y:2.54, Z:0.29 [[ 9.99315721e-01 -3.57822471e-02 -9.36587324e-03 1.95895574e+02] [ 3.57799819e-02 9.99359608e-01 -4.09358361e-04 2.54298343e+00] [ 9.37452317e-03 7.39674710e-05 9.99956055e-01 2.90254943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.93, Y:2.54, Z:0.29 [[ 9.99275345e-01 -3.68926055e-02 -9.36587324e-03 1.95926305e+02] [ 3.68903890e-02 9.99319234e-01 -4.09358361e-04 2.54318962e+00] [ 9.37459957e-03 6.35510097e-05 9.99956055e-01 2.90410028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:2.54, Z:0.29 [[ 9.99244828e-01 -3.77101401e-02 -9.36587324e-03 1.95956804e+02] [ 3.77079596e-02 9.99288718e-01 -4.09358361e-04 2.54270632e+00] [ 9.37464843e-03 5.58812551e-05 9.99956055e-01 2.90289488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.99, Y:2.54, Z:0.29 [[ 9.99152414e-01 -4.00840946e-02 -9.36587324e-03 1.95987962e+02] [ 4.00820183e-02 9.99196309e-01 -4.09358361e-04 2.54043129e+00] [ 9.37475473e-03 3.36082911e-05 9.99956055e-01 2.87964830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.02, Y:2.54, Z:0.29 [[ 9.99067966e-01 -4.21364490e-02 -9.36588619e-03 1.96018979e+02] [ 4.21344657e-02 9.99111865e-01 -4.09061814e-04 2.54067726e+00] [ 9.37480444e-03 1.40539439e-05 9.99956055e-01 2.89035647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.05, Y:2.54, Z:0.30 [[ 9.98933919e-01 -4.52029417e-02 -9.36589918e-03 1.96048442e+02] [ 4.52010959e-02 9.98977824e-01 -4.08764326e-04 2.54122202e+00] [ 9.37480293e-03 -1.50203571e-05 9.99956055e-01 3.02043547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:2.54, Z:0.29 [[ 9.98772333e-01 -4.86433398e-02 -9.36224869e-03 1.96081538e+02] [ 4.86408588e-02 9.98816211e-01 -4.92653386e-04 2.54030481e+00] [ 9.37513007e-03 3.66607555e-05 9.99956052e-01 2.92264207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.12, Y:2.54, Z:0.29 [[ 9.98744783e-01 -4.92050186e-02 -9.36614092e-03 1.96115101e+02] [ 4.92034126e-02 9.98788698e-01 -4.01960705e-04 2.53893757e+00] [ 9.37457418e-03 -5.93899386e-05 9.99956056e-01 2.92274606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.15, Y:2.54, Z:0.29 [[ 9.98727751e-01 -4.95494730e-02 -9.36634204e-03 1.96147108e+02] [ 4.95479266e-02 9.98771668e-01 -3.97218326e-04 2.53685601e+00] [ 9.37451903e-03 -6.73698620e-05 9.99956056e-01 2.91953055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.18, Y:2.54, Z:0.29 [[ 9.98752318e-01 -4.90517557e-02 -9.36651441e-03 1.96180684e+02] [ 4.90502259e-02 9.98796236e-01 -3.93111376e-04 2.53857748e+00] [ 9.37452214e-03 -6.68087503e-05 9.99956056e-01 2.92267370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:2.54, Z:0.29 [[ 9.98770178e-01 -4.86867154e-02 -9.36670799e-03 1.96213187e+02] [ 4.86852134e-02 9.98814096e-01 -3.88443678e-04 2.53638500e+00] [ 9.37451202e-03 -6.80542155e-05 9.99956056e-01 2.93323280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.25, Y:2.53, Z:0.29 [[ 9.98825298e-01 -4.75424580e-02 -9.36687499e-03 1.96245952e+02] [ 4.75409438e-02 9.98869216e-01 -3.84373907e-04 2.53339986e+00] [ 9.37455716e-03 -6.13876945e-05 9.99956056e-01 2.93079868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.27, Y:2.53, Z:0.31 [[ 9.98745512e-01 -4.91900551e-02 -9.36704114e-03 1.96274807e+02] [ 4.91886518e-02 9.98789433e-01 -3.80281445e-04 2.53264216e+00] [ 9.37440777e-03 -8.09477381e-05 9.99956056e-01 3.05604936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:2.53, Z:0.29 [[ 9.98898556e-01 -4.59783429e-02 -9.36309088e-03 1.96307774e+02] [ 4.59758863e-02 9.98942436e-01 -4.77552864e-04 2.53213929e+00] [ 9.37514590e-03 4.65504640e-05 9.99956051e-01 2.94347895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:2.53, Z:0.29 [[ 9.98991168e-01 -4.39192732e-02 -9.36716970e-03 1.96339727e+02] [ 4.39176790e-02 9.99035083e-01 -3.75917183e-04 2.52637516e+00] [ 9.37464117e-03 -3.58464071e-05 9.99956056e-01 2.94747333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.37, Y:2.52, Z:0.30 [[ 9.99017225e-01 -4.33225053e-02 -9.36719323e-03 1.96370799e+02] [ 4.33208904e-02 9.99061139e-01 -3.75330033e-04 2.52400959e+00] [ 9.37465898e-03 -3.08339830e-05 9.99956056e-01 2.95011827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:2.52, Z:0.29 [[ 9.99033182e-01 -4.29529571e-02 -9.36719323e-03 1.96401120e+02] [ 4.29513259e-02 9.99077095e-01 -3.75330033e-04 2.52290550e+00] [ 9.37466974e-03 -2.73662118e-05 9.99956056e-01 2.94665997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:2.52, Z:0.29 [[ 9.99146387e-01 -4.02337312e-02 -9.36719323e-03 1.96431837e+02] [ 4.02319805e-02 9.99190296e-01 -3.75330033e-04 2.51994743e+00] [ 9.37470950e-03 -1.85108903e-06 9.99956056e-01 2.93784695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.46, Y:2.52, Z:0.29 [[ 9.99218935e-01 -3.83897796e-02 -9.36719323e-03 1.96461482e+02] [ 3.83879479e-02 9.99262841e-01 -3.75330033e-04 2.51933220e+00] [ 9.37469695e-03 1.54495500e-05 9.99956056e-01 2.94881710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.49, Y:2.52, Z:0.30 [[ 9.99364738e-01 -3.43856933e-02 -9.36716925e-03 1.96491562e+02] [ 3.43836801e-02 9.99408636e-01 -3.75927570e-04 2.51880528e+00] [ 9.37455637e-03 5.36110062e-05 9.99956056e-01 2.96331850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.52, Y:2.52, Z:0.30 [[ 9.99451226e-01 -3.17726801e-02 -9.36714545e-03 1.96520366e+02] [ 3.17705466e-02 9.99495118e-01 -3.76519778e-04 2.52001981e+00] [ 9.37437918e-03 7.87138225e-05 9.99956056e-01 2.97465407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.55, Y:2.52, Z:0.30 [[ 9.99501965e-01 -3.01343594e-02 -9.36709760e-03 1.96548778e+02] [ 3.01321428e-02 9.99545853e-01 -3.77706259e-04 2.52191345e+00] [ 9.37422550e-03 9.52674253e-05 9.99956056e-01 2.98052117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:2.52, Z:0.30 [[ 9.99581264e-01 -2.73780068e-02 -9.36704954e-03 1.96577114e+02] [ 2.73756581e-02 9.99625145e-01 -3.78894508e-04 2.52382835e+00] [ 9.37391163e-03 1.22306705e-04 9.99956056e-01 2.97923682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.61, Y:2.53, Z:0.31 [[ 9.99647362e-01 -2.48477558e-02 -9.36700125e-03 1.96606880e+02] [ 2.48452848e-02 9.99691236e-01 -3.80084529e-04 2.52565739e+00] [ 9.37355331e-03 1.47224683e-04 9.99956056e-01 3.09294763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:2.53, Z:0.30 [[ 9.99746442e-01 -2.04766034e-02 -9.36809268e-03 1.96635980e+02] [ 2.04741916e-02 9.99790319e-01 -3.53293840e-04 2.52708229e+00] [ 9.37336263e-03 1.61400135e-04 9.99956056e-01 2.96103211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.66, Y:2.53, Z:0.30 [[ 9.99769092e-01 -1.93397105e-02 -9.36687750e-03 1.96664467e+02] [ 1.93369704e-02 9.99812950e-01 -3.83012210e-04 2.52831321e+00] [ 9.37253277e-03 2.01796736e-04 9.99956056e-01 2.96308091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:2.53, Z:0.30 [[ 9.99789289e-01 -1.82658291e-02 -9.36682859e-03 1.96692995e+02] [ 1.82630307e-02 9.99833143e-01 -3.84204425e-04 2.53008934e+00] [ 9.37228349e-03 2.13056790e-04 9.99956056e-01 2.97816029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.72, Y:2.53, Z:0.30 [[ 9.99811732e-01 -1.69930649e-02 -9.36677918e-03 1.96721293e+02] [ 1.69901995e-02 9.99855582e-01 -3.85405392e-04 2.53447163e+00] [ 9.37197567e-03 2.26189386e-04 9.99956056e-01 3.00335947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:2.54, Z:0.31 [[ 9.99821436e-01 -1.64122329e-02 -9.36672953e-03 1.96749612e+02] [ 1.64093308e-02 9.99865283e-01 -3.86608171e-04 2.53741834e+00] [ 9.37181278e-03 2.32837374e-04 9.99956056e-01 3.11512230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.78, Y:2.54, Z:0.30 [[ 9.99832934e-01 -1.56959924e-02 -9.36693055e-03 1.96779037e+02] [ 1.56931042e-02 9.99876783e-01 -3.81764298e-04 2.54040645e+00] [ 9.37176855e-03 2.34704301e-04 9.99956056e-01 3.00196881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.81, Y:2.55, Z:0.30 [[ 9.99840943e-01 -1.51774776e-02 -9.36662401e-03 1.96807898e+02] [ 1.51744976e-02 9.99884785e-01 -3.89142749e-04 2.54572327e+00] [ 9.37145104e-03 2.46947039e-04 9.99956056e-01 2.98910338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.84, Y:2.55, Z:0.30 [[ 9.99838475e-01 -1.53392262e-02 -9.36657393e-03 1.96837068e+02] [ 1.53362421e-02 9.99882317e-01 -3.90344378e-04 2.54897421e+00] [ 9.37145922e-03 2.46633283e-04 9.99956056e-01 2.98933818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.87, Y:2.55, Z:0.30 [[ 9.99834682e-01 -1.55844776e-02 -9.36652435e-03 1.96865840e+02] [ 1.55814930e-02 9.99878525e-01 -3.91530573e-04 2.55230806e+00] [ 9.37148834e-03 2.45521413e-04 9.99956056e-01 2.98545686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.89, Y:2.56, Z:0.30 [[ 9.99824074e-01 -1.62508369e-02 -9.36647448e-03 1.96894217e+02] [ 1.62478705e-02 9.99867918e-01 -3.92719853e-04 2.55564763e+00] [ 9.37161936e-03 2.40465499e-04 9.99956056e-01 2.99264584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.92, Y:2.56, Z:0.30 [[ 9.99775479e-01 -1.90068757e-02 -9.36642435e-03 1.96922510e+02] [ 1.90040190e-02 9.99819330e-01 -3.93911801e-04 2.56055550e+00] [ 9.37221915e-03 2.15823654e-04 9.99956056e-01 2.99826170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:2.56, Z:0.30 [[ 9.99724377e-01 -2.15276814e-02 -9.36637382e-03 1.96951207e+02] [ 2.15249241e-02 9.99768234e-01 -3.95109783e-04 2.56226875e+00] [ 9.37270881e-03 1.93390396e-04 9.99956056e-01 3.00608360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.98, Y:2.56, Z:0.30 [[ 9.99557216e-01 -2.82425817e-02 -9.36632346e-03 1.96980196e+02] [ 2.82401078e-02 9.99601090e-01 -3.96299934e-04 2.56289965e+00] [ 9.37377968e-03 1.31618474e-04 9.99956057e-01 3.00977965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:2.56, Z:0.30 [[ 9.99451976e-01 -3.17493312e-02 -9.36627272e-03 1.97009220e+02] [ 3.17470001e-02 9.99495858e-01 -3.97495665e-04 2.56466178e+00] [ 9.37417101e-03 9.99267675e-05 9.99956057e-01 3.01076234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.04, Y:2.57, Z:0.30 [[ 9.99334555e-01 -3.52522423e-02 -9.36622157e-03 1.97038419e+02] [ 3.52500537e-02 9.99378444e-01 -3.98697250e-04 2.56619945e+00] [ 9.37445491e-03 6.82721252e-05 9.99956057e-01 3.00463452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:2.57, Z:0.30 [[ 9.99216243e-01 -3.84600265e-02 -9.36619591e-03 1.97067742e+02] [ 3.84579732e-02 9.99260139e-01 -3.99299014e-04 2.56659419e+00] [ 9.37462328e-03 3.87811494e-05 9.99956057e-01 3.00603273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.082320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:197.10, Y:2.56, Z:0.30 [[ 9.98970610e-01 -4.43846387e-02 -9.36617059e-03 1.97098457e+02] [ 4.43828401e-02 9.99014516e-01 -3.99892151e-04 2.56403931e+00] [ 9.37468945e-03 -1.62167465e-05 9.99956057e-01 3.01481035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.13, Y:2.56, Z:0.30 [[ 9.98846149e-01 -4.71025098e-02 -9.36617059e-03 1.97130231e+02] [ 4.71008308e-02 9.98890060e-01 -3.99892151e-04 2.56284965e+00] [ 9.37461062e-03 -4.17236812e-05 9.99956057e-01 3.02789119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.16, Y:2.56, Z:0.30 [[ 9.98690161e-01 -5.03014621e-02 -9.36619581e-03 1.97161780e+02] [ 5.02999293e-02 9.98734078e-01 -3.99300483e-04 2.55952592e+00] [ 9.37442433e-03 -7.23415240e-05 9.99956057e-01 3.02640306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:2.56, Z:0.31 [[ 9.98495038e-01 -5.40364020e-02 -9.36622080e-03 1.97190286e+02] [ 5.40350389e-02 9.98538960e-01 -3.98713394e-04 2.55827713e+00] [ 9.37408142e-03 -1.07990760e-04 9.99956057e-01 3.14528513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.22, Y:2.56, Z:0.30 [[ 9.98648212e-01 -5.11284688e-02 -9.36100266e-03 1.97224492e+02] [ 5.11258170e-02 9.98692084e-01 -5.22525469e-04 2.55779940e+00] [ 9.37547518e-03 4.32302164e-05 9.99956048e-01 3.02660219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.26, Y:2.56, Z:0.30 [[ 9.98620617e-01 -5.16636409e-02 -9.36652476e-03 1.97256773e+02] [ 5.16622565e-02 9.98664538e-01 -3.89855596e-04 2.55666024e+00] [ 9.37415748e-03 -9.45779697e-05 9.99956057e-01 3.02984437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.29, Y:2.55, Z:0.30 [[ 9.98643268e-01 -5.12239122e-02 -9.36669212e-03 1.97288246e+02] [ 5.12225466e-02 9.98687189e-01 -3.85792347e-04 2.55244786e+00] [ 9.37415721e-03 -9.45168929e-05 9.99956057e-01 3.02796533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.32, Y:2.55, Z:0.30 [[ 9.98714333e-01 -4.98191298e-02 -9.36671597e-03 1.97319306e+02] [ 4.98177078e-02 9.98758253e-01 -3.85212276e-04 2.55073075e+00] [ 9.37427582e-03 -8.19112987e-05 9.99956057e-01 3.02416105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:197.35, Y:2.55, Z:0.31 [[ 9.98706672e-01 -4.99724728e-02 -9.36673974e-03 1.97348578e+02] [ 4.99710630e-02 9.98750592e-01 -3.84633470e-04 2.54918361e+00] [ 9.37425795e-03 -8.39299291e-05 9.99956057e-01 3.13986337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.38, Y:2.55, Z:0.30 [[ 9.98921177e-01 -4.54840089e-02 -9.36415735e-03 1.97380646e+02] [ 4.54818111e-02 9.98965067e-01 -4.47633586e-04 2.54813534e+00] [ 9.37482624e-03 2.12518326e-05 9.99956055e-01 3.03720613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:197.41, Y:2.55, Z:0.32 [[ 9.99034986e-01 -4.29110481e-02 -9.36690600e-03 1.97411506e+02] [ 4.29093726e-02 9.99078897e-01 -3.79854536e-04 2.54836258e+00] [ 9.37457807e-03 -2.24400888e-05 9.99956057e-01 3.19550677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.44, Y:2.55, Z:0.30 [[ 9.99044277e-01 -4.26936258e-02 -9.36943658e-03 1.97440873e+02] [ 4.26925235e-02 9.99088208e-01 -3.17715227e-04 2.54826860e+00] [ 9.37445802e-03 -8.25933122e-05 9.99956055e-01 3.02923719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.47, Y:2.55, Z:0.30 [[ 9.99248897e-01 -3.76019236e-02 -9.36680683e-03 1.97470329e+02] [ 3.75999932e-02 9.99292797e-01 -3.82169710e-04 2.54735583e+00] [ 9.37455291e-03 2.96907887e-05 9.99956057e-01 3.02363820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.50, Y:2.55, Z:0.30 [[ 9.99317235e-01 -3.57397275e-02 -9.36678246e-03 1.97500044e+02] [ 3.57377096e-02 9.99361131e-01 -3.82766109e-04 2.54777428e+00] [ 9.37447827e-03 4.77574176e-05 9.99956057e-01 3.02360911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.53, Y:2.55, Z:0.30 [[ 9.99421271e-01 -3.27014965e-02 -9.36675800e-03 1.97528706e+02] [ 3.26993396e-02 9.99465160e-01 -3.83363619e-04 2.54856974e+00] [ 9.37428485e-03 7.68549538e-05 9.99956057e-01 3.02901232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.56, Y:2.55, Z:0.30 [[ 9.99587868e-01 -2.71359220e-02 -9.36670870e-03 1.97557895e+02] [ 2.71335095e-02 9.99631745e-01 -3.84564577e-04 2.55034677e+00] [ 9.37369487e-03 1.30254406e-04 9.99956057e-01 3.03177413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.59, Y:2.55, Z:0.30 [[ 9.99641879e-01 -2.50675049e-02 -9.36667146e-03 1.97586386e+02] [ 2.50649932e-02 9.99685749e-01 -3.85469346e-04 2.55317178e+00] [ 9.37339074e-03 1.50555745e-04 9.99956057e-01 3.03056408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.61, Y:2.56, Z:0.30 [[ 9.99687196e-01 -2.31900308e-02 -9.36662103e-03 1.97614799e+02] [ 2.31874253e-02 9.99731061e-01 -3.86691012e-04 2.55676547e+00] [ 9.37306935e-03 1.69382228e-04 9.99956057e-01 3.03404367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.64, Y:2.56, Z:0.32 [[ 9.99753332e-01 -2.01380879e-02 -9.36658340e-03 1.97644209e+02] [ 2.01353399e-02 9.99797188e-01 -3.87600245e-04 2.56152646e+00] [ 9.37248928e-03 1.98905296e-04 9.99956057e-01 3.15255530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.652320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:197.67, Y:2.56, Z:0.32 [[ 9.99770471e-01 -1.92682916e-02 -9.36686332e-03 1.97674361e+02] [ 1.92655685e-02 9.99814329e-01 -3.80860789e-04 2.56329340e+00] [ 9.37246270e-03 2.00315423e-04 9.99956057e-01 3.16273452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.70, Y:2.57, Z:0.30 [[ 9.99790357e-01 -1.82067376e-02 -9.36782346e-03 1.97703557e+02] [ 1.82041841e-02 9.99834226e-01 -3.57781798e-04 2.56532330e+00] [ 9.37278456e-03 1.87173209e-04 9.99956057e-01 3.04453535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.73, Y:2.57, Z:0.31 [[ 9.99796540e-01 -1.78647336e-02 -9.36645016e-03 1.97732034e+02] [ 1.78618568e-02 9.99840388e-01 -3.90704347e-04 2.57262229e+00] [ 9.37193499e-03 2.23322662e-04 9.99956058e-01 3.05512985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.76, Y:2.58, Z:0.31 [[ 9.99799078e-01 -1.77221355e-02 -9.36639925e-03 1.97760985e+02] [ 1.77192411e-02 9.99842925e-01 -3.91921083e-04 2.57694822e+00] [ 9.37187370e-03 2.25876851e-04 9.99956058e-01 3.05812759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.79, Y:2.58, Z:0.31 [[ 9.99786708e-01 -1.84067678e-02 -9.36636161e-03 1.97789878e+02] [ 1.84038951e-02 9.99830557e-01 -3.92818518e-04 2.57937845e+00] [ 9.37200506e-03 2.20357197e-04 9.99956058e-01 3.05490887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.802320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:197.82, Y:2.58, Z:0.32 [[ 9.99786282e-01 -1.84299558e-02 -9.36631047e-03 1.97820259e+02] [ 1.84270727e-02 9.99830129e-01 -3.94034088e-04 2.58050910e+00] [ 9.37198144e-03 2.21356192e-04 9.99956058e-01 3.17374798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.85, Y:2.58, Z:0.31 [[ 9.99758139e-01 -1.98976114e-02 -9.36742276e-03 1.97849256e+02] [ 1.98950404e-02 9.99802007e-01 -3.67578228e-04 2.58203136e+00] [ 9.37288200e-03 1.81124071e-04 9.99956057e-01 3.05350295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.862320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:197.88, Y:2.59, Z:0.31 [[ 9.99750085e-01 -2.02987708e-02 -9.36624953e-03 1.97877717e+02] [ 2.02959571e-02 9.99793938e-01 -3.95371770e-04 2.58602272e+00] [ 9.37234506e-03 2.05175962e-04 9.99956058e-01 3.06348886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.91, Y:2.59, Z:0.31 [[ 9.99733011e-01 -2.11230209e-02 -9.36619843e-03 1.97906460e+02] [ 2.11202320e-02 9.99776864e-01 -3.96578574e-04 2.59035635e+00] [ 9.37248544e-03 1.98656407e-04 9.99956058e-01 3.06499117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.94, Y:2.59, Z:0.31 [[ 9.99719281e-01 -2.17631382e-02 -9.36614693e-03 1.97935276e+02] [ 2.17603660e-02 9.99763136e-01 -3.97791116e-04 2.59426036e+00] [ 9.37258561e-03 1.93868663e-04 9.99956058e-01 3.06737567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:2.60, Z:0.31 [[ 9.99720465e-01 -2.17087221e-02 -9.36609537e-03 1.97963838e+02] [ 2.17059363e-02 9.99764319e-01 -3.99001583e-04 2.60025609e+00] [ 9.37254977e-03 1.95590178e-04 9.99956058e-01 3.07996561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:2.60, Z:0.31 [[ 9.99727334e-01 -2.13900771e-02 -9.36604364e-03 1.97992863e+02] [ 2.13872659e-02 9.99771186e-01 -4.00212042e-04 2.60398127e+00] [ 9.37246113e-03 1.99788851e-04 9.99956058e-01 3.08309970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:2.61, Z:0.31 [[ 9.99724484e-01 -2.15228896e-02 -9.36600432e-03 1.98022136e+02] [ 2.15200757e-02 9.99768336e-01 -4.01130299e-04 2.60520821e+00] [ 9.37246803e-03 1.99462659e-04 9.99956058e-01 3.08584833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.05, Y:2.61, Z:0.31 [[ 9.99712134e-01 -2.20891043e-02 -9.36595086e-03 1.98050419e+02] [ 2.20863036e-02 9.99755987e-01 -4.02374529e-04 2.60848940e+00] [ 9.37255354e-03 1.95399465e-04 9.99956058e-01 3.07917318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.08, Y:2.61, Z:0.32 [[ 9.99734591e-01 -2.10482326e-02 -9.36589729e-03 1.98080991e+02] [ 2.10453746e-02 9.99778440e-01 -4.03617780e-04 2.61192992e+00] [ 9.37231762e-03 2.06401839e-04 9.99956058e-01 3.19639682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.11, Y:2.61, Z:0.31 [[ 9.99717330e-01 -2.18515821e-02 -9.36848397e-03 1.98109919e+02] [ 2.18493217e-02 9.99761216e-01 -3.43574707e-04 2.61394512e+00] [ 9.37375457e-03 1.38782568e-04 9.99956056e-01 3.09301672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:2.62, Z:0.31 [[ 9.99733933e-01 -2.10794628e-02 -9.36581408e-03 1.98138097e+02] [ 2.10765906e-02 9.99777782e-01 -4.05275445e-04 2.61797941e+00] [ 9.37227582e-03 2.07768185e-04 9.99956058e-01 3.09276318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.17, Y:2.63, Z:0.32 [[ 9.99788446e-01 -1.83124383e-02 -9.36576222e-03 1.98168968e+02] [ 1.83094336e-02 9.99832286e-01 -4.06470430e-04 2.62840819e+00] [ 9.37163491e-03 2.34902638e-04 9.99956058e-01 3.16971397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:2.63, Z:0.31 [[ 9.99798759e-01 -1.77392656e-02 -9.36805044e-03 1.98197701e+02] [ 1.77367290e-02 9.99842629e-01 -3.53785170e-04 2.63304662e+00] [ 9.37285207e-03 1.87555402e-04 9.99956056e-01 3.08810452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.23, Y:2.64, Z:0.31 [[ 9.99812795e-01 -1.69310344e-02 -9.36563662e-03 1.98226426e+02] [ 1.69279449e-02 9.99856628e-01 -4.09052121e-04 2.63593618e+00] [ 9.37121953e-03 2.50434563e-04 9.99956058e-01 3.09025780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.26, Y:2.64, Z:0.31 [[ 9.99803500e-01 -1.74713449e-02 -9.36558450e-03 1.98255548e+02] [ 1.74682680e-02 9.99847334e-01 -4.10241962e-04 2.63923277e+00] [ 9.37132217e-03 2.46560810e-04 9.99956058e-01 3.11757201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.29, Y:2.64, Z:0.32 [[ 9.99819072e-01 -1.65562449e-02 -9.36553201e-03 1.98286892e+02] [ 1.65531167e-02 9.99862903e-01 -4.11436701e-04 2.64190076e+00] [ 9.37105988e-03 2.56333516e-04 9.99956058e-01 3.21562693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.312320588 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:198.31, Y:2.64, Z:0.32 [[ 9.99779125e-01 -1.88121822e-02 -9.37036723e-03 1.98314907e+02] [ 1.88101857e-02 9.99823027e-01 -3.01154664e-04 2.64445934e+00] [ 9.37437431e-03 1.24829799e-04 9.99956052e-01 3.21957308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:2.65, Z:0.31 [[ 9.99734178e-01 -2.10670008e-02 -9.36776175e-03 1.98343290e+02] [ 2.10645544e-02 9.99778053e-01 -3.59755080e-04 2.64902316e+00] [ 9.37326156e-03 1.62331723e-04 9.99956057e-01 3.11273436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.37, Y:2.65, Z:0.31 [[ 9.99717060e-01 -2.18653864e-02 -9.36512969e-03 1.98371816e+02] [ 2.18624236e-02 9.99760901e-01 -4.18636019e-04 2.65344462e+00] [ 9.37204414e-03 2.13773138e-04 9.99956059e-01 3.11957369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.40, Y:2.66, Z:0.31 [[ 9.99712130e-01 -2.20896256e-02 -9.36507578e-03 1.98400629e+02] [ 2.20866614e-02 9.99755972e-01 -4.19838586e-04 2.65812690e+00] [ 9.37206451e-03 2.12874469e-04 9.99956059e-01 3.12858561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.43, Y:2.67, Z:0.31 [[ 9.99765951e-01 -1.95022944e-02 -9.36502194e-03 1.98428662e+02] [ 1.94992055e-02 9.99809784e-01 -4.21036177e-04 2.66577948e+00] [ 9.37145173e-03 2.38327147e-04 9.99956059e-01 3.12850246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.46, Y:2.67, Z:0.31 [[ 9.99772905e-01 -1.91425367e-02 -9.36496855e-03 1.98457719e+02] [ 1.91394209e-02 9.99816735e-01 -4.22220408e-04 2.67059715e+00] [ 9.37133465e-03 2.42884448e-04 9.99956059e-01 3.14110074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.49, Y:2.68, Z:0.32 [[ 9.99798239e-01 -1.77701935e-02 -9.36491462e-03 1.98485824e+02] [ 1.77670064e-02 9.99842065e-01 -4.23413058e-04 2.67590412e+00] [ 9.37095971e-03 2.56941131e-04 9.99956059e-01 3.15210807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:2.68, Z:0.31 [[ 9.99820894e-01 -1.64462449e-02 -9.36486084e-03 1.98514265e+02] [ 1.64429887e-02 9.99864715e-01 -4.24599255e-04 2.68353391e+00] [ 9.37057698e-03 2.70536907e-04 9.99956059e-01 3.13905990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.552320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:198.54, Y:2.69, Z:0.33 [[ 9.99784561e-01 -1.85238303e-02 -9.36482063e-03 1.98541511e+02] [ 1.85206569e-02 9.99828387e-01 -4.25484411e-04 2.68774622e+00] [ 9.37109511e-03 2.51950115e-04 9.99956059e-01 3.25513200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:2.69, Z:0.31 [[ 9.99818971e-01 -1.65644248e-02 -9.36192970e-03 1.98572768e+02] [ 1.65605694e-02 9.99862745e-01 -4.89191988e-04 2.69311353e+00] [ 9.36874791e-03 3.34064543e-04 9.99956057e-01 3.13553420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.60, Y:2.70, Z:0.31 [[ 9.99793948e-01 -1.80100099e-02 -9.36486336e-03 1.98601547e+02] [ 1.80068234e-02 9.99837774e-01 -4.24468427e-04 2.69976815e+00] [ 9.37098881e-03 2.55749524e-04 9.99956059e-01 3.14207478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.642320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.63, Y:2.71, Z:0.33 [[ 9.99621812e-01 -2.58559960e-02 -9.36480962e-03 1.98628855e+02] [ 2.58531426e-02 9.99665661e-01 -4.25650664e-04 2.70967576e+00] [ 9.37268422e-03 1.83379930e-04 9.99956059e-01 3.31228252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.66, Y:2.71, Z:0.32 [[ 9.99666873e-01 -2.40526235e-02 -9.36020028e-03 1.98661009e+02] [ 2.40487418e-02 9.99710648e-01 -5.27046417e-04 2.71280614e+00] [ 9.37016874e-03 3.01769803e-04 9.99956053e-01 3.16504356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:2.71, Z:0.32 [[ 9.99590113e-01 -2.70537231e-02 -9.36492403e-03 1.98690190e+02] [ 2.70509536e-02 9.99633967e-01 -4.22291617e-04 2.71478341e+00] [ 9.37292072e-03 1.68788399e-04 9.99956059e-01 3.16441683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.72, Y:2.72, Z:0.32 [[ 9.99475729e-01 -3.09930036e-02 -9.36487074e-03 1.98720418e+02] [ 3.09903960e-02 9.99519593e-01 -4.23470142e-04 2.72342980e+00] [ 9.37349640e-03 1.33027076e-04 9.99956059e-01 3.16865534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.75, Y:2.73, Z:0.32 [[ 9.99445934e-01 -3.19393777e-02 -9.36487074e-03 1.98751926e+02] [ 3.19368116e-02 9.99489800e-01 -4.23470142e-04 2.72954770e+00] [ 9.37361816e-03 1.24151400e-04 9.99956059e-01 3.17145025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.78, Y:2.74, Z:0.32 [[ 9.99355052e-01 -3.46666796e-02 -9.36489720e-03 1.98782706e+02] [ 3.46642387e-02 9.99398925e-01 -4.22884211e-04 2.73538825e+00] [ 9.37392819e-03 9.79844408e-05 9.99956059e-01 3.17176936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.82, Y:2.74, Z:0.32 [[ 9.99308129e-01 -3.59939106e-02 -9.36492360e-03 1.98815005e+02] [ 3.59915334e-02 9.99352006e-01 -4.22298710e-04 2.73705857e+00] [ 9.37405537e-03 8.49485732e-05 9.99956059e-01 3.16473232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:2.74, Z:0.32 [[ 9.99232301e-01 -3.80408057e-02 -9.36510617e-03 1.98847847e+02] [ 3.80385567e-02 9.99276185e-01 -4.18210322e-04 2.73875048e+00] [ 9.37423662e-03 6.16541400e-05 9.99956059e-01 3.16372071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.88, Y:2.74, Z:0.32 [[ 9.98939670e-01 -4.50757908e-02 -9.36531434e-03 1.98880486e+02] [ 4.50738951e-02 9.98983570e-01 -4.13495423e-04 2.73944500e+00] [ 9.37443379e-03 -9.07421480e-06 9.99956059e-01 3.16064347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.912320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.91, Y:2.74, Z:0.33 [[ 9.98710975e-01 -4.98866224e-02 -9.36549392e-03 1.98911084e+02] [ 4.98849767e-02 9.98754886e-01 -4.09387292e-04 2.74070838e+00] [ 9.37425576e-03 -5.83378637e-05 9.99956059e-01 3.28543326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.94, Y:2.74, Z:0.32 [[ 9.98569169e-01 -5.26493173e-02 -9.36286362e-03 1.98944932e+02] [ 5.26472246e-02 9.98613063e-01 -4.70019838e-04 2.74297254e+00] [ 9.37462413e-03 -2.35814646e-05 9.99956057e-01 3.16306166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:2.75, Z:0.32 [[ 9.98440356e-01 -5.50375986e-02 -9.36579048e-03 1.98977757e+02] [ 5.50362506e-02 9.98484276e-01 -4.01795764e-04 2.74550557e+00] [ 9.37370840e-03 -1.14288887e-04 9.99956059e-01 3.16893265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:2.75, Z:0.32 [[ 9.98300355e-01 -5.75211251e-02 -9.36598383e-03 1.99010615e+02] [ 5.75199291e-02 9.98344279e-01 -3.97236897e-04 2.74880690e+00] [ 9.37332589e-03 -1.42168991e-04 9.99956059e-01 3.18272740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:2.75, Z:0.32 [[ 9.98319401e-01 -5.71895813e-02 -9.36617569e-03 1.99043971e+02] [ 5.71884137e-02 9.98363326e-01 -3.92660551e-04 2.75000719e+00] [ 9.37330240e-03 -1.43636084e-04 9.99956059e-01 3.18598149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.07, Y:2.75, Z:0.33 [[ 9.98216761e-01 -5.89539598e-02 -9.36636118e-03 1.99072309e+02] [ 5.89529118e-02 9.98260689e-01 -3.88184716e-04 2.74997211e+00] [ 9.37295520e-03 -1.64681775e-04 9.99956059e-01 3.29002078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.11, Y:2.75, Z:0.33 [[ 9.98333628e-01 -5.69414105e-02 -9.36180561e-03 1.99106008e+02] [ 5.69392390e-02 9.98377521e-01 -4.98542477e-04 2.75084560e+00] [ 9.37500399e-03 -3.53423666e-05 9.99956053e-01 3.28812770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.14, Y:2.75, Z:0.32 [[ 9.98425664e-01 -5.53038872e-02 -9.36338313e-03 1.99140147e+02] [ 5.53020068e-02 9.98469567e-01 -4.59814796e-04 2.75031346e+00] [ 9.37448264e-03 -5.87229845e-05 9.99956057e-01 3.19559193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:2.75, Z:0.32 [[ 9.98416556e-01 -5.54675025e-02 -9.36677462e-03 1.99172948e+02] [ 5.54664235e-02 9.98460483e-01 -3.75132746e-04 2.75099560e+00] [ 9.37316198e-03 -1.45002743e-04 9.99956060e-01 3.20989826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:2.75, Z:0.32 [[ 9.98382387e-01 -5.60791301e-02 -9.36695280e-03 1.99206537e+02] [ 5.60781203e-02 9.98426315e-01 -3.70629559e-04 2.75206300e+00] [ 9.37299675e-03 -1.55251081e-04 9.99956060e-01 3.20117719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:2.75, Z:0.32 [[ 9.98249564e-01 -5.83957664e-02 -9.36712842e-03 1.99238544e+02] [ 5.83949006e-02 9.98293495e-01 -3.66136602e-04 2.75245407e+00] [ 9.37252419e-03 -1.81496830e-04 9.99956060e-01 3.21418147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.27, Y:2.75, Z:0.32 [[ 9.98239219e-01 -5.85723034e-02 -9.36727970e-03 1.99271841e+02] [ 5.85714821e-02 9.98283151e-01 -3.62224342e-04 2.75207810e+00] [ 9.37241381e-03 -1.87068911e-04 9.99956060e-01 3.20777872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:2.75, Z:0.32 [[ 9.98256177e-01 -5.82825500e-02 -9.36744975e-03 1.99304618e+02] [ 5.82817577e-02 9.98300110e-01 -3.57772016e-04 2.75131157e+00] [ 9.37237798e-03 -1.88803312e-04 9.99956060e-01 3.20312513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:2.75, Z:0.32 [[ 9.98251228e-01 -5.83672353e-02 -9.36761782e-03 1.99337545e+02] [ 5.83664885e-02 9.98295161e-01 -3.53315915e-04 2.75068811e+00] [ 9.37226961e-03 -1.94056912e-04 9.99956060e-01 3.19756934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.37, Y:2.75, Z:0.32 [[ 9.98287161e-01 -5.77493562e-02 -9.36778499e-03 1.99369581e+02] [ 5.77486244e-02 9.98331095e-01 -3.48826399e-04 2.74873498e+00] [ 9.37229555e-03 -1.92747781e-04 9.99956060e-01 3.19436182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.40, Y:2.75, Z:0.33 [[ 9.98106115e-01 -6.07982295e-02 -9.36792787e-03 1.99395861e+02] [ 6.07976682e-02 9.98150051e-01 -3.44946312e-04 2.74745859e+00] [ 9.37156980e-03 -2.25255147e-04 9.99956061e-01 3.31757361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.43, Y:2.75, Z:0.32 [[ 9.98576960e-01 -5.25016063e-02 -9.36147235e-03 1.99431093e+02] [ 5.24990448e-02 9.98620839e-01 -5.19323212e-04 2.74599815e+00] [ 9.37582667e-03 2.71158376e-05 9.99956046e-01 3.21438402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.46, Y:2.75, Z:0.32 [[ 9.98702958e-01 -5.00464124e-02 -9.36797772e-03 1.99463773e+02] [ 5.00454227e-02 9.98746885e-01 -3.40180936e-04 2.74627373e+00] [ 9.37326340e-03 -1.29084698e-04 9.99956062e-01 3.22028829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.50, Y:2.75, Z:0.32 [[ 9.98804364e-01 -4.79800079e-02 -9.36814007e-03 1.99496172e+02] [ 4.79789698e-02 9.98848290e-01 -3.35649776e-04 2.74663267e+00] [ 9.37345516e-03 -1.14225249e-04 9.99956062e-01 3.20615618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:2.74, Z:0.32 [[ 9.98992649e-01 -4.38853258e-02 -9.36828041e-03 1.99529054e+02] [ 4.38841448e-02 9.99036572e-01 -3.31685887e-04 2.74357720e+00] [ 9.37381089e-03 -7.97672113e-05 9.99956062e-01 3.19282490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:2.74, Z:0.32 [[ 9.99064842e-01 -4.22098738e-02 -9.36841981e-03 1.99562454e+02] [ 4.22086566e-02 9.99108764e-01 -3.27700487e-04 2.74228755e+00] [ 9.37390254e-03 -6.80343793e-05 9.99956062e-01 3.18770614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.60, Y:2.74, Z:0.32 [[ 9.99151598e-01 -4.01037807e-02 -9.36857836e-03 1.99595878e+02] [ 4.01025140e-02 9.99195518e-01 -3.23103478e-04 2.74223645e+00] [ 9.37399918e-03 -5.28741884e-05 9.99956062e-01 3.20096561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.62, Y:2.74, Z:0.34 [[ 9.99205065e-01 -3.87487296e-02 -9.36873573e-03 1.99624254e+02] [ 3.87474467e-02 9.99248985e-01 -3.18473852e-04 2.74334603e+00] [ 9.37404013e-03 -4.47939024e-05 9.99956062e-01 3.35042566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.65, Y:2.75, Z:0.34 [[ 9.99196947e-01 -3.89581888e-02 -9.36591607e-03 1.99654766e+02] [ 3.89561352e-02 9.99240841e-01 -4.01667219e-04 2.74568471e+00] [ 9.37445408e-03 3.64847661e-05 9.99956058e-01 3.35917548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.69, Y:2.75, Z:0.32 [[ 9.99435540e-01 -3.22635320e-02 -9.36304532e-03 1.99688434e+02] [ 3.22603854e-02 9.99479380e-01 -4.86941050e-04 2.74927975e+00] [ 9.37388117e-03 1.84610740e-04 9.99956047e-01 3.24409781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.72, Y:2.75, Z:0.32 [[ 9.99475798e-01 -3.09895667e-02 -9.36892505e-03 1.99718958e+02] [ 3.09880390e-02 9.99519708e-01 -3.08220398e-04 2.75030887e+00] [ 9.37397685e-03 1.77342139e-05 9.99956063e-01 3.23991175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:2.75, Z:0.32 [[ 9.99548097e-01 -2.85626544e-02 -9.36892505e-03 1.99750018e+02] [ 2.85610201e-02 9.99592003e-01 -3.08220398e-04 2.74918179e+00] [ 9.37390616e-03 4.04950563e-05 9.99956063e-01 3.21878595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.78, Y:2.75, Z:0.33 [[ 9.99573213e-01 -2.76697342e-02 -9.36892505e-03 1.99779354e+02] [ 2.76680607e-02 9.99617118e-01 -3.08220398e-04 2.74871919e+00] [ 9.37386624e-03 4.88688674e-05 9.99956063e-01 3.34401353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.81, Y:2.75, Z:0.32 [[ 9.99585697e-01 -2.72151639e-02 -9.36847611e-03 1.99809353e+02] [ 2.72133420e-02 9.99629597e-01 -3.21909865e-04 2.74938106e+00] [ 9.37376682e-03 6.68289522e-05 9.99956063e-01 3.23540866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.84, Y:2.75, Z:0.32 [[ 9.99589891e-01 -2.70605126e-02 -9.36899489e-03 1.99838446e+02] [ 2.70588328e-02 9.99633796e-01 -3.06027535e-04 2.75301626e+00] [ 9.37384519e-03 5.23879641e-05 9.99956063e-01 3.24978330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:2.76, Z:0.33 [[ 9.99593925e-01 -2.69110898e-02 -9.36897572e-03 1.99868326e+02] [ 2.69093979e-02 9.99637830e-01 -3.06613223e-04 2.75568460e+00] [ 9.37383385e-03 5.43752191e-05 9.99956063e-01 3.25344793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.90, Y:2.76, Z:0.33 [[ 9.99618439e-01 -2.59845844e-02 -9.36895650e-03 1.99898051e+02] [ 2.59828464e-02 9.99662342e-01 -3.07199342e-04 2.75861669e+00] [ 9.37377545e-03 6.36499684e-05 9.99956063e-01 3.26238973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.93, Y:2.76, Z:0.33 [[ 9.99617683e-01 -2.60136650e-02 -9.36893728e-03 1.99927346e+02] [ 2.60119228e-02 9.99661585e-01 -3.07784596e-04 2.75930623e+00] [ 9.37377330e-03 6.39628521e-05 9.99956063e-01 3.26407507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.96, Y:2.76, Z:0.33 [[ 9.99600425e-01 -2.66685801e-02 -9.36891814e-03 1.99957063e+02] [ 2.66668611e-02 9.99644328e-01 -3.08366115e-04 2.75963232e+00] [ 9.37380957e-03 5.84032606e-05 9.99956063e-01 3.26341500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.99, Y:2.76, Z:0.33 [[ 9.99494720e-01 -3.03731532e-02 -9.36889881e-03 1.99986378e+02] [ 3.03715915e-02 9.99538629e-01 -3.08952230e-04 2.75851417e+00] [ 9.37396013e-03 2.42477552e-05 9.99956063e-01 3.26346035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.02, Y:2.76, Z:0.33 [[ 9.99494720e-01 -3.03731587e-02 -9.36887948e-03 2.00017352e+02] [ 3.03715915e-02 9.99538629e-01 -3.09537377e-04 2.75953805e+00] [ 9.37395857e-03 2.48331934e-05 9.99956063e-01 3.26636713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:2.76, Z:0.33 [[ 9.99418984e-01 -3.27706916e-02 -9.36887948e-03 2.00047895e+02] [ 3.27692298e-02 9.99462897e-01 -3.09537377e-04 2.75947301e+00] [ 9.37399117e-03 2.34656579e-06 9.99956063e-01 3.25651938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.08, Y:2.76, Z:0.33 [[ 9.99352199e-01 -3.47477565e-02 -9.36887948e-03 2.00078728e+02] [ 3.47463815e-02 9.99396114e-01 -3.09537377e-04 2.75925494e+00] [ 9.37397747e-03 -1.61978028e-05 9.99956063e-01 3.28485653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.11, Y:2.76, Z:0.33 [[ 9.99248740e-01 -3.76055813e-02 -9.36888904e-03 2.00109655e+02] [ 3.76043347e-02 9.99292659e-01 -3.09247614e-04 2.75762079e+00] [ 9.37389148e-03 -4.32955512e-05 9.99956063e-01 3.28900952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:2.76, Z:0.33 [[ 9.99222040e-01 -3.83084653e-02 -9.36890802e-03 2.00142154e+02] [ 3.83072550e-02 9.99265960e-01 -3.08671495e-04 2.75792936e+00] [ 9.37385560e-03 -5.04657881e-05 9.99956063e-01 3.30617846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.17, Y:2.76, Z:0.34 [[ 9.99114506e-01 -4.10173787e-02 -9.36903849e-03 2.00171287e+02] [ 4.10163250e-02 9.99158430e-01 -3.04659433e-04 2.75754615e+00] [ 9.37365012e-03 -7.98938688e-05 9.99956063e-01 3.43351716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.20, Y:2.76, Z:0.33 [[ 9.99184046e-01 -3.92878110e-02 -9.36541327e-03 2.00204729e+02] [ 3.92856300e-02 9.99227935e-01 -4.16806613e-04 2.75719349e+00] [ 9.37455798e-03 4.85403579e-05 9.99956057e-01 3.30680620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:2.75, Z:0.33 [[ 9.99174385e-01 -3.95318330e-02 -9.36920490e-03 2.00237637e+02] [ 3.95307828e-02 9.99218309e-01 -2.97330151e-04 2.75212138e+00] [ 9.37363509e-03 -7.32873331e-05 9.99956064e-01 3.28830110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.27, Y:2.75, Z:0.33 [[ 9.99189706e-01 -3.91426487e-02 -9.36933119e-03 2.00270038e+02] [ 3.91416192e-02 9.99233630e-01 -2.93295988e-04 2.75031986e+00] [ 9.37363120e-03 -7.36724618e-05 9.99956064e-01 3.29397577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.30, Y:2.75, Z:0.33 [[ 9.99247672e-01 -3.76337923e-02 -9.36945622e-03 2.00302694e+02] [ 3.76327345e-02 9.99291596e-01 -2.89245891e-04 2.74973309e+00] [ 9.37370428e-03 -6.35699748e-05 9.99956064e-01 3.29156213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:2.75, Z:0.33 [[ 9.99376139e-01 -3.40520882e-02 -9.36957808e-03 2.00333786e+02] [ 3.40509104e-02 9.99420059e-01 -2.85242953e-04 2.75028771e+00] [ 9.37385740e-03 -3.39776634e-05 9.99956064e-01 3.28267055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.36, Y:2.75, Z:0.33 [[ 9.99445210e-01 -3.19606553e-02 -9.36959558e-03 2.00364488e+02] [ 3.19593910e-02 9.99489128e-01 -2.84667208e-04 2.75162413e+00] [ 9.37390706e-03 -1.49372911e-05 9.99956064e-01 3.28479770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.39, Y:2.75, Z:0.33 [[ 9.99526397e-01 -2.93119950e-02 -9.36959558e-03 2.00394625e+02] [ 2.93106143e-02 9.99570311e-01 -2.84667208e-04 2.75288654e+00] [ 9.37391373e-03 9.90378700e-06 9.99956064e-01 3.28386668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.42, Y:2.75, Z:0.33 [[ 9.99648255e-01 -2.48108516e-02 -9.36956981e-03 2.00423965e+02] [ 2.48092653e-02 9.99692162e-01 -2.85512930e-04 2.75342265e+00] [ 9.37376932e-03 5.29603584e-05 9.99956064e-01 3.29636638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:2.75, Z:0.33 [[ 9.99672812e-01 -2.38008568e-02 -9.36955205e-03 2.00452733e+02] [ 2.37992206e-02 9.99716717e-01 -2.86094488e-04 2.75421927e+00] [ 9.37370711e-03 6.30128445e-05 9.99956064e-01 3.29926211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.48, Y:2.76, Z:0.33 [[ 9.99683637e-01 -2.33417640e-02 -9.36951644e-03 2.00481655e+02] [ 2.33400968e-02 9.99727542e-01 -2.87255782e-04 2.75533944e+00] [ 9.37366870e-03 6.84794840e-05 9.99956064e-01 3.30240804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.51, Y:2.76, Z:0.33 [[ 9.99673706e-01 -2.37632881e-02 -9.36948052e-03 2.00510707e+02] [ 2.37616285e-02 9.99717611e-01 -2.88422802e-04 2.75573978e+00] [ 9.37368856e-03 6.56945755e-05 9.99956064e-01 3.30146974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.54, Y:2.75, Z:0.33 [[ 9.99679343e-01 -2.35249767e-02 -9.36944454e-03 2.00539099e+02] [ 2.35232957e-02 9.99723247e-01 -2.89586842e-04 2.75344420e+00] [ 9.37366404e-03 6.90937700e-05 9.99956064e-01 3.30332052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:2.75, Z:0.33 [[ 9.99681730e-01 -2.34233586e-02 -9.36940813e-03 2.00567687e+02] [ 2.34216621e-02 9.99725633e-01 -2.90760298e-04 2.75341725e+00] [ 9.37364805e-03 7.12206464e-05 9.99956064e-01 3.30346801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:2.76, Z:0.33 [[ 9.99684353e-01 -2.33111436e-02 -9.36937148e-03 2.00596530e+02] [ 2.33094312e-02 9.99728256e-01 -2.91936353e-04 2.75516625e+00] [ 9.37363078e-03 7.34494838e-05 9.99956064e-01 3.31416092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:2.76, Z:0.33 [[ 9.99697403e-01 -2.27446139e-02 -9.36933504e-03 2.00625690e+02] [ 2.27428657e-02 9.99741305e-01 -2.93101232e-04 2.75866712e+00] [ 9.37357771e-03 7.99270120e-05 9.99956064e-01 3.31609302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:2.76, Z:0.33 [[ 9.99663412e-01 -2.41925386e-02 -9.36929842e-03 2.00654831e+02] [ 2.41908431e-02 9.99707315e-01 -2.94267168e-04 2.75917193e+00] [ 9.37367524e-03 6.75168932e-05 9.99956064e-01 3.31512333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.68, Y:2.76, Z:0.33 [[ 9.99637517e-01 -2.52398770e-02 -9.36926168e-03 2.00684123e+02] [ 2.52382166e-02 9.99681422e-01 -2.95432245e-04 2.75856683e+00] [ 9.37373352e-03 5.88616998e-05 9.99956064e-01 3.30851344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.71, Y:2.76, Z:0.34 [[ 9.99485875e-01 -3.06627223e-02 -9.36922424e-03 2.00712843e+02] [ 3.06612890e-02 9.99529788e-01 -2.96615038e-04 2.75510782e+00] [ 9.37391374e-03 9.19004929e-06 9.99956064e-01 3.42942295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.74, Y:2.75, Z:0.33 [[ 9.99476109e-01 -3.09799380e-02 -9.36759328e-03 2.00744336e+02] [ 3.09780371e-02 9.99520005e-01 -3.47981085e-04 2.75382159e+00] [ 9.37387731e-03 5.76091289e-05 9.99956063e-01 3.28182497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:2.75, Z:0.33 [[ 9.99420020e-01 -3.27389845e-02 -9.36924549e-03 2.00773952e+02] [ 3.27376518e-02 9.99463936e-01 -2.95616301e-04 2.75247995e+00] [ 9.37390115e-03 -1.12822475e-05 9.99956064e-01 3.28838169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.80, Y:2.75, Z:0.33 [[ 9.99370719e-01 -3.42108602e-02 -9.36922683e-03 2.00803772e+02] [ 3.42095866e-02 9.99414637e-01 -2.96206669e-04 2.75236046e+00] [ 9.37387591e-03 -2.44971049e-05 9.99956064e-01 3.29096079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.83, Y:2.75, Z:0.33 [[ 9.99314554e-01 -3.58139784e-02 -9.36920848e-03 2.00833828e+02] [ 3.58127698e-02 9.99358473e-01 -2.96785984e-04 2.75383139e+00] [ 9.37382696e-03 -3.89547530e-05 9.99956064e-01 3.31336419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.86, Y:2.75, Z:0.33 [[ 9.99292295e-01 -3.64297602e-02 -9.36920848e-03 2.00863938e+02] [ 3.64285788e-02 9.99336215e-01 -2.96785984e-04 2.75479459e+00] [ 9.37380118e-03 -4.47310014e-05 9.99956064e-01 3.34075217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:2.75, Z:0.33 [[ 9.99276198e-01 -3.68686642e-02 -9.36920848e-03 2.00894308e+02] [ 3.68675020e-02 9.99320118e-01 -2.96785984e-04 2.75484507e+00] [ 9.37378063e-03 -4.88481425e-05 9.99956064e-01 3.34035670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.92, Y:2.75, Z:0.35 [[ 9.99063845e-01 -4.22333100e-02 -9.36920848e-03 2.00920880e+02] [ 4.22323836e-02 9.99107771e-01 -2.96785984e-04 2.75342524e+00] [ 9.37338325e-03 -9.91758602e-05 9.99956064e-01 3.48546604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.892320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.96, Y:2.75, Z:0.33 [[ 9.99261616e-01 -3.72633029e-02 -9.36313726e-03 2.00956168e+02] [ 3.72603554e-02 9.99305472e-01 -4.89107297e-04 2.75187644e+00] [ 9.37486006e-03 1.39872327e-04 9.99956045e-01 3.31966055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:2.75, Z:0.33 [[ 9.99270822e-01 -3.70140550e-02 -9.36931986e-03 2.00986940e+02] [ 3.70129822e-02 9.99314743e-01 -2.87930667e-04 2.75164402e+00] [ 9.37355695e-03 -5.90657551e-05 9.99956066e-01 3.32013874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:2.75, Z:0.33 [[ 9.99250693e-01 -3.75535390e-02 -9.36931986e-03 2.01017408e+02] [ 3.75524899e-02 9.99294615e-01 -2.87930667e-04 2.75205182e+00] [ 9.37352370e-03 -6.41263709e-05 9.99956066e-01 3.32382335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.05, Y:2.75, Z:0.33 [[ 9.99190496e-01 -3.91224765e-02 -9.36931986e-03 2.01047479e+02] [ 3.91214964e-02 9.99234420e-01 -2.87930667e-04 2.75234351e+00] [ 9.37341145e-03 -7.88442266e-05 9.99956066e-01 3.33969227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:2.75, Z:0.33 [[ 9.99175005e-01 -3.95161291e-02 -9.36931986e-03 2.01078519e+02] [ 3.95151663e-02 9.99218929e-01 -2.87930667e-04 2.75253141e+00] [ 9.37337966e-03 -8.25371064e-05 9.99956066e-01 3.34491803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.11, Y:2.75, Z:0.33 [[ 9.99152962e-01 -4.00696035e-02 -9.36933745e-03 2.01109716e+02] [ 4.00686704e-02 9.99196887e-01 -2.87357116e-04 2.75212193e+00] [ 9.37332710e-03 -8.83031803e-05 9.99956066e-01 3.34654975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:2.75, Z:0.33 [[ 9.99112349e-01 -4.10698116e-02 -9.36935508e-03 2.01140749e+02] [ 4.10689279e-02 9.99156275e-01 -2.86780970e-04 2.74949367e+00] [ 9.37322796e-03 -9.82629602e-05 9.99956066e-01 3.33760928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:2.75, Z:0.33 [[ 9.99102022e-01 -4.13202657e-02 -9.36937261e-03 2.01172445e+02] [ 4.13193983e-02 9.99145948e-01 -2.86207417e-04 2.74966087e+00] [ 9.37319684e-03 -1.01186430e-04 9.99956066e-01 3.34190477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.20, Y:2.75, Z:0.33 [[ 9.99083014e-01 -4.17773300e-02 -9.36939006e-03 2.01204078e+02] [ 4.17764882e-02 9.99126941e-01 -2.85634788e-04 2.75031400e+00] [ 9.37314309e-03 -1.06047348e-04 9.99956066e-01 3.33708830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:201.24, Y:2.75, Z:0.33 [[ 9.99123939e-01 -4.07868699e-02 -9.36940758e-03 2.01235044e+02] [ 4.07859899e-02 9.99167865e-01 -2.85059055e-04 2.75022916e+00] [ 9.37323763e-03 -9.73312364e-05 9.99956066e-01 3.34667089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.27, Y:2.75, Z:0.33 [[ 9.99115119e-01 -4.10023498e-02 -9.36942494e-03 2.01265948e+02] [ 4.10014846e-02 9.99159045e-01 -2.84487348e-04 2.75005977e+00] [ 9.37321032e-03 -9.99247218e-05 9.99956066e-01 3.34146660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:2.75, Z:0.33 [[ 9.99100593e-01 -4.13547918e-02 -9.36944233e-03 2.01296879e+02] [ 4.13539475e-02 9.99144519e-01 -2.83913476e-04 2.74986065e+00] [ 9.37316813e-03 -1.03805304e-04 9.99956066e-01 3.34260885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.33, Y:2.75, Z:0.33 [[ 9.99056878e-01 -4.23977305e-02 -9.36945101e-03 2.01328602e+02] [ 4.23969347e-02 9.99100805e-01 -2.83626741e-04 2.74894946e+00] [ 9.37305118e-03 -1.13876756e-04 9.99956066e-01 3.34146238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.36, Y:2.75, Z:0.33 [[ 9.99011762e-01 -4.34478176e-02 -9.36946858e-03 2.01360361e+02] [ 4.34470735e-02 9.99055690e-01 -2.83045021e-04 2.74811103e+00] [ 9.37291859e-03 -1.24310685e-04 9.99956066e-01 3.33791375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.39, Y:2.74, Z:0.34 [[ 9.98997778e-01 -4.37681604e-02 -9.36948591e-03 2.01392127e+02] [ 4.37674357e-02 9.99041707e-01 -2.82470216e-04 2.74466261e+00] [ 9.37287040e-03 -1.27891254e-04 9.99956066e-01 3.35991692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.42, Y:2.74, Z:0.34 [[ 9.98948374e-01 -4.48816161e-02 -9.36950312e-03 2.01423058e+02] [ 4.48809457e-02 9.98992303e-01 -2.81898092e-04 2.74258291e+00] [ 9.37271354e-03 -1.38910521e-04 9.99956066e-01 3.36218696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.45, Y:2.74, Z:0.35 [[ 9.98978481e-01 -4.42064161e-02 -9.36951178e-03 2.01453987e+02] [ 4.42057188e-02 9.99022410e-01 -2.81610091e-04 2.74037780e+00] [ 9.37280121e-03 -1.32863582e-04 9.99956066e-01 3.48969770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:201.48, Y:2.74, Z:0.35 [[ 9.98883327e-01 -4.63065276e-02 -9.37037849e-03 2.01484239e+02] [ 4.63061934e-02 9.98927261e-01 -2.52729355e-04 2.73577125e+00] [ 9.37202954e-03 -1.81459420e-04 9.99956065e-01 3.47426737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.52, Y:2.74, Z:0.34 [[ 9.98941337e-01 -4.50383616e-02 -9.36758959e-03 2.01516040e+02] [ 4.50370889e-02 9.98985255e-01 -3.46875341e-04 2.73607372e+00] [ 9.37370658e-03 -7.53808485e-05 9.99956063e-01 3.36891607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:2.74, Z:0.34 [[ 9.98943768e-01 -4.49839660e-02 -9.36971129e-03 2.01547000e+02] [ 4.49833701e-02 9.98987698e-01 -2.74438409e-04 2.73618157e+00] [ 9.37257164e-03 -1.47332652e-04 9.99956066e-01 3.37129692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.58, Y:2.73, Z:0.35 [[ 9.99004444e-01 -4.36157038e-02 -9.36972797e-03 2.01578377e+02] [ 4.36150531e-02 9.99048373e-01 -2.73867603e-04 2.73115093e+00] [ 9.37275642e-03 -1.35066230e-04 9.99956066e-01 3.48455406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:2.73, Z:0.34 [[ 9.98970370e-01 -4.43892807e-02 -9.36971219e-03 2.01609353e+02] [ 4.43886589e-02 9.99014300e-01 -2.74408596e-04 2.72825549e+00] [ 9.37265726e-03 -1.41782902e-04 9.99956066e-01 3.37724274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:201.64, Y:2.73, Z:0.35 [[ 9.98936605e-01 -4.51427311e-02 -9.36974520e-03 2.01638388e+02] [ 4.51421531e-02 9.98980536e-01 -2.73276711e-04 2.72670307e+00] [ 9.37252954e-03 -1.49984362e-04 9.99956066e-01 3.51260688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.67, Y:2.73, Z:0.34 [[ 9.98966298e-01 -4.44811527e-02 -9.36820930e-03 2.01670343e+02] [ 4.44800516e-02 9.99010220e-01 -3.25960390e-04 2.72622641e+00] [ 9.37343593e-03 -9.10749894e-05 9.99956064e-01 3.38702433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.70, Y:2.72, Z:0.35 [[ 9.98883466e-01 -4.63036578e-02 -9.36978548e-03 2.01698436e+02] [ 4.63031468e-02 9.98927397e-01 -2.71581422e-04 2.72143553e+00] [ 9.37231063e-03 -1.62572360e-04 9.99956066e-01 3.49917885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.73, Y:2.72, Z:0.34 [[ 9.98982730e-01 -4.41108115e-02 -9.36702820e-03 2.01730881e+02] [ 4.41093080e-02 9.99026643e-01 -3.67144827e-04 2.71812545e+00] [ 9.37410580e-03 -4.64017904e-05 9.99956061e-01 3.36852251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.76, Y:2.71, Z:0.34 [[ 9.98961661e-01 -4.45848061e-02 -9.36988351e-03 2.01760513e+02] [ 4.45842632e-02 9.99005592e-01 -2.66911044e-04 2.71424886e+00] [ 9.37246620e-03 -1.51115453e-04 9.99956066e-01 3.36233821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:2.71, Z:0.35 [[ 9.99025633e-01 -4.31276032e-02 -9.36986713e-03 2.01790119e+02] [ 4.31269908e-02 9.99069563e-01 -2.67484978e-04 2.71053583e+00] [ 9.37268504e-03 -1.36869824e-04 9.99956066e-01 3.52661015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:2.71, Z:0.34 [[ 9.99087372e-01 -4.16729784e-02 -9.36943131e-03 2.01821020e+02] [ 4.16721580e-02 9.99131298e-01 -2.82850281e-04 2.71098564e+00] [ 9.37307928e-03 -1.07852278e-04 9.99956066e-01 3.42263334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.85, Y:2.71, Z:0.35 [[ 9.99194989e-01 -3.90074016e-02 -9.36995643e-03 2.01851495e+02] [ 3.90066386e-02 9.99238917e-01 -2.64228585e-04 2.71107052e+00] [ 9.37313198e-03 -1.01474627e-04 9.99956066e-01 3.52980092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.88, Y:2.71, Z:0.34 [[ 9.99189216e-01 -3.91546623e-02 -9.37134628e-03 2.01880630e+02] [ 3.91543685e-02 9.99233151e-01 -2.14894380e-04 2.70672973e+00] [ 9.37257398e-03 -1.52208997e-04 9.99956065e-01 3.40464876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.91, Y:2.71, Z:0.34 [[ 9.99186785e-01 -3.92170145e-02 -9.36988093e-03 2.01910765e+02] [ 3.92162402e-02 9.99230712e-01 -2.66428801e-04 2.70761543e+00] [ 9.37312133e-03 -1.01239363e-04 9.99956066e-01 3.40755439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:2.70, Z:0.34 [[ 9.99218049e-01 -3.84121857e-02 -9.36986439e-03 2.01940486e+02] [ 3.84113705e-02 9.99261975e-01 -2.67009003e-04 2.70489797e+00] [ 9.37320560e-03 -9.31091179e-05 9.99956066e-01 3.40632874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:2.70, Z:0.34 [[ 9.99238507e-01 -3.78762851e-02 -9.36984782e-03 2.01969587e+02] [ 3.78754409e-02 9.99282432e-01 -2.67589204e-04 2.70184483e+00] [ 9.37325961e-03 -8.75016811e-05 9.99956066e-01 3.40411761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.00, Y:2.70, Z:0.34 [[ 9.99225628e-01 -3.82145467e-02 -9.36982267e-03 2.01998645e+02] [ 3.82137092e-02 9.99269553e-01 -2.68467033e-04 2.69883343e+00] [ 9.37323786e-03 -8.97965394e-05 9.99956066e-01 3.40114269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:2.69, Z:0.34 [[ 9.99220299e-01 -3.83536239e-02 -9.36978847e-03 2.02027939e+02] [ 3.83527813e-02 9.99264225e-01 -2.69655629e-04 2.69317475e+00] [ 9.37323668e-03 -8.99120695e-05 9.99956066e-01 3.41080700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:2.69, Z:0.34 [[ 9.99262207e-01 -3.72457898e-02 -9.36975441e-03 2.02056643e+02] [ 3.72448874e-02 9.99306132e-01 -2.70833895e-04 2.69098837e+00] [ 9.37334045e-03 -7.83413721e-05 9.99956066e-01 3.42203533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:2.69, Z:0.34 [[ 9.99301706e-01 -3.61705478e-02 -9.36972029e-03 2.02085198e+02] [ 3.61695872e-02 9.99345629e-01 -2.72009125e-04 2.68912456e+00] [ 9.37342774e-03 -6.70797322e-05 9.99956066e-01 3.41674180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:2.69, Z:0.34 [[ 9.99361689e-01 -3.44735070e-02 -9.36968552e-03 2.02114520e+02] [ 3.44724607e-02 9.99405611e-01 -2.73201488e-04 2.68787646e+00] [ 9.37353450e-03 -4.99690149e-05 9.99956066e-01 3.42578909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:2.69, Z:0.34 [[ 9.99529849e-01 -2.91940048e-02 -9.36965068e-03 2.02143100e+02] [ 2.91927153e-02 9.99573764e-01 -2.74391171e-04 2.68523000e+00] [ 9.37366758e-03 7.36620983e-07 9.99956066e-01 3.43207075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:2.68, Z:0.34 [[ 9.99630327e-01 -2.55229075e-02 -9.36961541e-03 2.02171552e+02] [ 2.55214455e-02 9.99674237e-01 -2.75590471e-04 2.68456259e+00] [ 9.37359700e-03 3.63624646e-05 9.99956066e-01 3.43008172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:2.68, Z:0.34 [[ 9.99712609e-01 -2.20660472e-02 -9.36958894e-03 2.02200413e+02] [ 2.20644250e-02 9.99756513e-01 -2.76487540e-04 2.68470024e+00] [ 9.37340855e-03 6.96734883e-05 9.99956066e-01 3.42877473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.23, Y:2.69, Z:0.34 [[ 9.99831922e-01 -1.57588106e-02 -9.36955305e-03 2.02228370e+02] [ 1.57569000e-02 9.99875814e-01 -2.77698453e-04 2.68629515e+00] [ 9.37276567e-03 1.30016667e-04 9.99956066e-01 3.43545105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.26, Y:2.69, Z:0.34 [[ 9.99876057e-01 -1.26524324e-02 -9.36949934e-03 2.02256554e+02] [ 1.26503686e-02 9.99919942e-01 -2.79498880e-04 2.68881434e+00] [ 9.37228557e-03 1.60936617e-04 9.99956066e-01 3.43734377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.29, Y:2.69, Z:0.36 [[ 9.99896857e-01 -1.08852896e-02 -9.36944498e-03 2.02285284e+02] [ 1.08831313e-02 9.99940737e-01 -2.81309523e-04 2.69157722e+00] [ 9.37195185e-03 1.79311607e-04 9.99956066e-01 3.57964397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.31, Y:2.69, Z:0.36 [[ 9.99927237e-01 -7.59906187e-03 -9.36886834e-03 2.02314879e+02] [ 7.59658107e-03 9.99971100e-01 -3.00349856e-04 2.69448307e+00] [ 9.37087996e-03 2.29156633e-04 9.99956066e-01 3.58269920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.34, Y:2.70, Z:0.35 [[ 9.99944555e-01 -4.80671094e-03 -9.36920610e-03 2.02344298e+02] [ 4.80421150e-03 9.99988418e-01 -2.89259871e-04 2.69927892e+00] [ 9.37048798e-03 2.44232186e-04 9.99956066e-01 3.48887455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:2.70, Z:0.35 [[ 9.99946283e-01 -4.43242048e-03 -9.36929963e-03 2.02373472e+02] [ 4.42993329e-03 9.99990147e-01 -2.86198086e-04 2.70292282e+00] [ 9.37047586e-03 2.44677340e-04 9.99956066e-01 3.47265863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.40, Y:2.71, Z:0.35 [[ 9.99946863e-01 -4.29989025e-03 -9.36926232e-03 2.02402662e+02] [ 4.29738586e-03 9.99990725e-01 -2.87414263e-04 2.70665827e+00] [ 9.37041127e-03 2.47135655e-04 9.99956066e-01 3.45475031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.43, Y:2.71, Z:0.35 [[ 9.99947028e-01 -4.26132883e-03 -9.36922486e-03 2.02431849e+02] [ 4.25881136e-03 9.99990890e-01 -2.88630211e-04 2.70973462e+00] [ 9.37036945e-03 2.48713160e-04 9.99956066e-01 3.45036916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.46, Y:2.72, Z:0.35 [[ 9.99944950e-01 -4.72385634e-03 -9.36918746e-03 2.02460446e+02] [ 4.72134784e-03 9.99988812e-01 -2.89839236e-04 2.71515654e+00] [ 9.37045180e-03 2.45588087e-04 9.99956066e-01 3.47642931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:2.72, Z:0.35 [[ 9.99940063e-01 -5.66474880e-03 -9.36914987e-03 2.02489648e+02] [ 5.66227025e-03 9.99983927e-01 -2.91049176e-04 2.71876808e+00] [ 9.37064800e-03 2.37981072e-04 9.99956066e-01 3.49085278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.52, Y:2.72, Z:0.36 [[ 9.99896309e-01 -1.09357604e-02 -9.36912149e-03 2.02518437e+02] [ 1.09335046e-02 9.99940185e-01 -2.91960212e-04 2.72330034e+00] [ 9.37175388e-03 1.89492606e-04 9.99956066e-01 3.61223786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.55, Y:2.73, Z:0.35 [[ 9.99870809e-01 -1.30610951e-02 -9.36868762e-03 2.02548147e+02] [ 1.30588031e-02 9.99914683e-01 -3.05776315e-04 2.72568731e+00] [ 9.37188209e-03 1.83392965e-04 9.99956066e-01 3.48242174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.58, Y:2.73, Z:0.35 [[ 9.99829584e-01 -1.59067402e-02 -9.36900879e-03 2.02576770e+02] [ 1.59046685e-02 9.99873469e-01 -2.95596591e-04 2.72773940e+00] [ 9.37252530e-03 1.46535238e-04 9.99956066e-01 3.46868003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:2.73, Z:0.35 [[ 9.99783052e-01 -1.86029735e-02 -9.36897046e-03 2.02604290e+02] [ 1.86010088e-02 9.99826942e-01 -2.96806508e-04 2.72944478e+00] [ 9.37287057e-03 1.22469814e-04 9.99956066e-01 3.47416614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.63, Y:2.73, Z:0.35 [[ 9.99713796e-01 -2.20124811e-02 -9.36891246e-03 2.02633064e+02] [ 2.20106490e-02 9.99757692e-01 -2.98626336e-04 2.73155094e+00] [ 9.37321580e-03 9.23250242e-05 9.99956066e-01 3.48442294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:2.73, Z:0.35 [[ 9.99564993e-01 -2.79651346e-02 -9.36887380e-03 2.02661364e+02] [ 2.79635526e-02 9.99608898e-01 -2.99834180e-04 2.73443746e+00] [ 9.37359452e-03 3.77167547e-05 9.99956066e-01 3.49141340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.69, Y:2.73, Z:0.36 [[ 9.99485867e-01 -3.06631133e-02 -9.36883473e-03 2.02690592e+02] [ 3.06616384e-02 9.99529776e-01 -3.01050077e-04 2.73433960e+00] [ 9.37366041e-03 1.36314746e-05 9.99956066e-01 3.59995512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.72, Y:2.73, Z:0.35 [[ 9.99374018e-01 -3.41145091e-02 -9.36873995e-03 2.02721174e+02] [ 3.41131583e-02 9.99417931e-01 -3.03994739e-04 2.73255505e+00] [ 9.37365732e-03 -1.57928651e-05 9.99956066e-01 3.46848210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.75, Y:2.73, Z:0.35 [[ 9.99095916e-01 -4.14677775e-02 -9.36880904e-03 2.02750101e+02] [ 4.14667700e-02 9.99139838e-01 -3.01850340e-04 2.72504724e+00] [ 9.37326741e-03 -8.69168080e-05 9.99956066e-01 3.45222643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.78, Y:2.72, Z:0.35 [[ 9.98945274e-01 -4.49507085e-02 -9.36877054e-03 2.02779866e+02] [ 4.49498429e-02 9.98989199e-01 -3.03040586e-04 2.72345799e+00] [ 9.37292246e-03 -1.18403803e-04 9.99956066e-01 3.46458574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.81, Y:2.72, Z:0.35 [[ 9.98841744e-01 -4.71953020e-02 -9.36875165e-03 2.02809839e+02] [ 4.71945297e-02 9.98885671e-01 -3.03623476e-04 2.72219945e+00] [ 9.37264138e-03 -1.38882025e-04 9.99956066e-01 3.47958422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.84, Y:2.72, Z:0.36 [[ 9.98696150e-01 -5.01819395e-02 -9.36873272e-03 2.02839080e+02] [ 5.01812930e-02 9.98740079e-01 -3.04206366e-04 2.71811367e+00] [ 9.37219452e-03 -1.66325396e-04 9.99956066e-01 3.60771688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:2.72, Z:0.36 [[ 9.98773150e-01 -4.86255352e-02 -9.36763222e-03 2.02870328e+02] [ 4.86245027e-02 9.98817072e-01 -3.38082921e-04 2.71636101e+00] [ 9.37299045e-03 -1.17828313e-04 9.99956066e-01 3.61413108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.90, Y:2.71, Z:0.35 [[ 9.98663219e-01 -5.08328391e-02 -9.37000907e-03 2.02900144e+02] [ 5.08325949e-02 9.98707153e-01 -2.64376396e-04 2.71432877e+00] [ 9.37133408e-03 -2.12278892e-04 9.99956066e-01 3.47792054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:2.71, Z:0.36 [[ 9.98746947e-01 -4.91605623e-02 -9.36879196e-03 2.02930210e+02] [ 4.91598905e-02 9.98790876e-01 -3.02119351e-04 2.70696372e+00] [ 9.37231629e-03 -1.58828007e-04 9.99956066e-01 3.61315839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:2.70, Z:0.36 [[ 9.98783392e-01 -4.84143488e-02 -9.36948986e-03 2.02959726e+02] [ 4.84138472e-02 9.98827323e-01 -2.80470572e-04 2.70343870e+00] [ 9.37208127e-03 -1.73483702e-04 9.99956066e-01 3.59472347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.99, Y:2.70, Z:0.35 [[ 9.98787702e-01 -4.83254010e-02 -9.36919047e-03 2.02990173e+02] [ 4.83248085e-02 9.98831632e-01 -2.89750816e-04 2.70014942e+00] [ 9.37224614e-03 -1.63364784e-04 9.99956066e-01 3.48460069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:2.69, Z:0.35 [[ 9.98885772e-01 -4.62540705e-02 -9.36881316e-03 2.03019429e+02] [ 4.62532769e-02 9.98929699e-01 -3.01476295e-04 2.69389182e+00] [ 9.37273022e-03 -1.32197928e-04 9.99956066e-01 3.50434661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:203.05, Y:2.69, Z:0.36 [[ 9.98963108e-01 -4.45526189e-02 -9.36877517e-03 2.03049239e+02] [ 4.45517395e-02 9.99007032e-01 -3.02652274e-04 2.69125896e+00] [ 9.37295624e-03 -1.15056775e-04 9.99956066e-01 3.63737770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.08, Y:2.69, Z:0.35 [[ 9.99001613e-01 -4.36805829e-02 -9.36930102e-03 2.03079018e+02] [ 4.36798176e-02 9.99045540e-01 -2.86390672e-04 2.68845580e+00] [ 9.37286811e-03 -1.23144617e-04 9.99956066e-01 3.53232958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.11, Y:2.68, Z:0.35 [[ 9.99121495e-01 -4.08468356e-02 -9.36879656e-03 2.03107642e+02] [ 4.08457990e-02 9.99165416e-01 -3.02038379e-04 2.68236519e+00] [ 9.37331483e-03 -8.09029442e-05 9.99956066e-01 3.53773586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:2.68, Z:0.35 [[ 9.99203500e-01 -3.87890827e-02 -9.36875804e-03 2.03136111e+02] [ 3.87879445e-02 9.99247419e-01 -3.03228624e-04 2.68150463e+00] [ 9.37346924e-03 -6.04077647e-05 9.99956066e-01 3.52987240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.16, Y:2.68, Z:0.35 [[ 9.99297118e-01 -3.62973525e-02 -9.36871898e-03 2.03164579e+02] [ 3.62960935e-02 9.99341033e-01 -3.04430748e-04 2.68136435e+00] [ 9.37359533e-03 -3.58311309e-05 9.99956066e-01 3.52520712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.19, Y:2.68, Z:0.35 [[ 9.99447573e-01 -3.18869369e-02 -9.36867976e-03 2.03193212e+02] [ 3.18854729e-02 9.99491482e-01 -3.05632868e-04 2.67887583e+00] [ 9.37366132e-03 6.73924384e-06 9.99956066e-01 3.51370738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.22, Y:2.68, Z:0.36 [[ 9.99537521e-01 -2.89304729e-02 -9.36864000e-03 2.03222997e+02] [ 2.89288676e-02 9.99581426e-01 -3.06846883e-04 2.67780646e+00] [ 9.37359575e-03 3.56808274e-05 9.99956066e-01 3.63426463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.202320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:203.25, Y:2.68, Z:0.35 [[ 9.99584618e-01 -2.72542289e-02 -9.37013268e-03 2.03251268e+02] [ 2.72529779e-02 9.99628534e-01 -2.61188577e-04 2.67768498e+00] [ 9.37377049e-03 5.71606501e-06 9.99956065e-01 3.54547402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:2.68, Z:0.36 [[ 9.99631634e-01 -2.54720758e-02 -9.36851001e-03 2.03280304e+02] [ 2.54702873e-02 9.99675531e-01 -3.10196545e-04 2.67836396e+00] [ 9.37337157e-03 7.14636385e-05 9.99956066e-01 3.55507579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:2.68, Z:0.36 [[ 9.99724478e-01 -2.15220558e-02 -9.36846959e-03 2.03308745e+02] [ 2.15200824e-02 9.99768368e-01 -3.11412395e-04 2.68108715e+00] [ 9.37300179e-03 1.09716357e-04 9.99956066e-01 3.57038998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:2.68, Z:0.36 [[ 9.99764279e-01 -1.95861918e-02 -9.36842895e-03 2.03337497e+02] [ 1.95841220e-02 9.99808164e-01 -3.12630327e-04 2.68384197e+00] [ 9.37275498e-03 1.29084179e-04 9.99956066e-01 3.56370555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:2.69, Z:0.36 [[ 9.99773252e-01 -1.91227185e-02 -9.36838797e-03 2.03366265e+02] [ 1.91206169e-02 9.99817135e-01 -3.13853391e-04 2.68610077e+00] [ 9.37267655e-03 1.34652868e-04 9.99956066e-01 3.55577447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:2.69, Z:0.35 [[ 9.99792805e-01 -1.80715681e-02 -9.36834704e-03 2.03395363e+02] [ 1.80694089e-02 9.99836685e-01 -3.15070380e-04 2.68873412e+00] [ 9.37251087e-03 1.45724605e-04 9.99956066e-01 3.54808180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.42, Y:2.69, Z:0.35 [[ 9.99794971e-01 -1.79513718e-02 -9.36830599e-03 2.03423847e+02] [ 1.79491960e-02 9.99838850e-01 -3.16286433e-04 2.69341343e+00] [ 9.37247406e-03 1.48068024e-04 9.99956066e-01 3.54973643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.45, Y:2.70, Z:0.37 [[ 9.99812738e-01 -1.69329626e-02 -9.36826454e-03 2.03454461e+02] [ 1.69307307e-02 9.99856614e-01 -3.17509480e-04 2.69655455e+00] [ 9.37229764e-03 1.58838459e-04 9.99956066e-01 3.65469748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.48, Y:2.70, Z:0.36 [[ 9.99788964e-01 -1.82817534e-02 -9.37038274e-03 2.03482586e+02] [ 1.82801645e-02 9.99832871e-01 -2.55188353e-04 2.69948758e+00] [ 9.37348197e-03 8.38423611e-05 9.99956064e-01 3.55091462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.51, Y:2.71, Z:0.36 [[ 9.99756984e-01 -1.99552398e-02 -9.36813701e-03 2.03510946e+02] [ 1.99531099e-02 9.99800865e-01 -3.20774767e-04 2.70664493e+00] [ 9.37267263e-03 1.33773346e-04 9.99956067e-01 3.55158356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.54, Y:2.71, Z:0.36 [[ 9.99715848e-01 -2.19194260e-02 -9.36809494e-03 2.03539461e+02] [ 2.19173709e-02 9.99759734e-01 -3.21998734e-04 2.71099541e+00] [ 9.37290213e-03 1.16583226e-04 9.99956067e-01 3.55032571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.57, Y:2.71, Z:0.35 [[ 9.99651389e-01 -2.46847988e-02 -9.36805281e-03 2.03568151e+02] [ 2.46828536e-02 9.99695280e-01 -3.23219648e-04 2.71379421e+00] [ 9.37317679e-03 9.18766941e-05 9.99956067e-01 3.54629722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.60, Y:2.71, Z:0.37 [[ 9.99482278e-01 -3.07801139e-02 -9.36801043e-03 2.03598722e+02] [ 3.07784250e-02 9.99526179e-01 -3.24443604e-04 2.71335185e+00] [ 9.37355808e-03 3.59430271e-05 9.99956067e-01 3.65023448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.63, Y:2.71, Z:0.35 [[ 9.99291964e-01 -3.64386716e-02 -9.36985224e-03 2.03628146e+02] [ 3.64377313e-02 9.99335889e-01 -2.71111268e-04 2.71343244e+00] [ 9.37350855e-03 -7.04968470e-05 9.99956065e-01 3.54003876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:2.71, Z:0.35 [[ 9.99127455e-01 -4.07009781e-02 -9.36793978e-03 2.03656955e+02] [ 4.06997098e-02 9.99171370e-01 -3.26058351e-04 2.71456399e+00] [ 9.37344812e-03 -5.54985802e-05 9.99956067e-01 3.54967414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:2.72, Z:0.36 [[ 9.98927774e-01 -4.53381253e-02 -9.36789769e-03 2.03686060e+02] [ 4.53370496e-02 9.98971694e-01 -3.27263324e-04 2.71535416e+00] [ 9.37310213e-03 -9.78004191e-05 9.99956067e-01 3.55401505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:2.71, Z:0.36 [[ 9.98568601e-01 -5.26592160e-02 -9.36785576e-03 2.03715902e+02] [ 5.26584511e-02 9.98612527e-01 -3.28459257e-04 2.71011732e+00] [ 9.37215452e-03 -1.65307673e-04 9.99956067e-01 3.56176472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:2.71, Z:0.35 [[ 9.98408143e-01 -5.56185621e-02 -9.36783522e-03 2.03744927e+02] [ 5.56179219e-02 9.98452071e-01 -3.29044012e-04 2.70750847e+00] [ 9.37163543e-03 -1.92499306e-04 9.99956067e-01 3.54709799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:2.71, Z:0.35 [[ 9.98404718e-01 -5.56800134e-02 -9.36779389e-03 2.03775061e+02] [ 5.56793649e-02 9.98448646e-01 -3.30216400e-04 2.70855479e+00] [ 9.37164758e-03 -1.91903203e-04 9.99956067e-01 3.54992559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.80, Y:2.71, Z:0.36 [[ 9.98253877e-01 -5.83218804e-02 -9.36777353e-03 2.03804356e+02] [ 5.83213428e-02 9.98297807e-01 -3.30792904e-04 2.70706871e+00] [ 9.37112024e-03 -2.16125833e-04 9.99956067e-01 3.55931322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:2.71, Z:0.36 [[ 9.98125916e-01 -6.04723259e-02 -9.36773271e-03 2.03834096e+02] [ 6.04718721e-02 9.98169847e-01 -3.31944954e-04 2.70640563e+00] [ 9.37066180e-03 -2.35161473e-04 9.99956067e-01 3.56101948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:2.70, Z:0.36 [[ 9.97950411e-01 -6.33026320e-02 -9.36771242e-03 2.03864503e+02] [ 6.33022974e-02 9.97994343e-01 -3.32516494e-04 2.70003220e+00] [ 9.36997317e-03 -2.61162746e-04 9.99956067e-01 3.56913028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.89, Y:2.70, Z:0.36 [[ 9.97872612e-01 -6.45174205e-02 -9.36768773e-03 2.03894819e+02] [ 6.45171328e-02 9.97916544e-01 -3.33210542e-04 2.69570519e+00] [ 9.36966845e-03 -2.71874680e-04 9.99956067e-01 3.56568769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.92, Y:2.69, Z:0.36 [[ 9.97781457e-01 -6.59121465e-02 -9.36767768e-03 2.03924121e+02] [ 6.59119176e-02 9.97825389e-01 -3.33493092e-04 2.69181208e+00] [ 9.36928787e-03 -2.84688376e-04 9.99956067e-01 3.56651802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.95, Y:2.69, Z:0.35 [[ 9.97803226e-01 -6.55817711e-02 -9.36764724e-03 2.03953773e+02] [ 6.55815197e-02 9.97847159e-01 -3.34345786e-04 2.68677207e+00] [ 9.36940717e-03 -2.80733238e-04 9.99956067e-01 3.54415568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.98, Y:2.68, Z:0.36 [[ 9.97914699e-01 -6.38631463e-02 -9.36762686e-03 2.03983214e+02] [ 6.38628139e-02 9.97958631e-01 -3.34915893e-04 2.68492155e+00] [ 9.36989286e-03 -2.64025518e-04 9.99956067e-01 3.64683254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:2.68, Z:0.35 [[ 9.97962203e-01 -6.31164777e-02 -9.36754768e-03 2.04013169e+02] [ 6.31160917e-02 9.98006135e-01 -3.37126358e-04 2.68296474e+00] [ 9.37014828e-03 -2.54803634e-04 9.99956067e-01 3.54840630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.04, Y:2.68, Z:0.37 [[ 9.98190900e-01 -5.93900292e-02 -9.36758756e-03 2.04043344e+02] [ 5.93894896e-02 9.98234830e-01 -3.36014546e-04 2.67600113e+00] [ 9.37100808e-03 -2.20929581e-04 9.99956067e-01 3.67327056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.07, Y:2.67, Z:0.36 [[ 9.98204578e-01 -5.91595187e-02 -9.36871365e-03 2.04072933e+02] [ 5.91592631e-02 9.98248511e-01 -3.04659442e-04 2.67233982e+00] [ 9.37032795e-03 -2.50133746e-04 9.99956066e-01 3.56499787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:2.67, Z:0.36 [[ 9.98329797e-01 -5.70075849e-02 -9.36753545e-03 2.04101688e+02] [ 5.70069277e-02 9.98373726e-01 -3.37373587e-04 2.66881709e+00] [ 9.37153412e-03 -1.97204311e-04 9.99956067e-01 3.55006069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.13, Y:2.66, Z:0.36 [[ 9.98576636e-01 -5.25066775e-02 -9.36749359e-03 2.04130665e+02] [ 5.25058114e-02 9.98620561e-01 -3.38531888e-04 2.66423546e+00] [ 9.37234689e-03 -1.53797818e-04 9.99956067e-01 3.55204726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.16, Y:2.66, Z:0.36 [[ 9.98704846e-01 -5.00088163e-02 -9.36745101e-03 2.04159701e+02] [ 5.00078294e-02 9.98748768e-01 -3.39705965e-04 2.66436981e+00] [ 9.37271845e-03 -1.29179898e-04 9.99956067e-01 3.56277283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.19, Y:2.66, Z:0.37 [[ 9.98815111e-01 -4.77558846e-02 -9.36741885e-03 2.04187899e+02] [ 4.77547902e-02 9.98859031e-01 -3.40590551e-04 2.66388894e+00] [ 9.37299612e-03 -1.07152133e-04 9.99956067e-01 3.69601353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:2.66, Z:0.36 [[ 9.99141077e-01 -4.03656108e-02 -9.36618981e-03 2.04217739e+02] [ 4.03638750e-02 9.99184977e-01 -3.74366823e-04 2.65943285e+00] [ 9.37366769e-03 -4.01044410e-06 9.99956066e-01 3.59124179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:2.66, Z:0.36 [[ 9.99236549e-01 -3.79284950e-02 -9.36740491e-03 2.04246143e+02] [ 3.79269650e-02 9.99280456e-01 -3.40986373e-04 2.65753970e+00] [ 9.37359775e-03 -1.45511912e-05 9.99956067e-01 3.60199560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:2.66, Z:0.36 [[ 9.99318789e-01 -3.56961056e-02 -9.36733366e-03 2.04274920e+02] [ 3.56944593e-02 9.99362691e-01 -3.42932679e-04 2.65693452e+00] [ 9.37360513e-03 8.33716019e-06 9.99956067e-01 3.59680552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:204.30, Y:2.65, Z:0.36 [[ 9.99369643e-01 -3.42428316e-02 -9.36728862e-03 2.04303503e+02] [ 3.42411099e-02 9.99413542e-01 -3.44158428e-04 2.65463418e+00] [ 9.37358006e-03 2.31951254e-05 9.99956067e-01 3.60680373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.33, Y:2.65, Z:0.36 [[ 9.99378185e-01 -3.39926171e-02 -9.36725479e-03 2.04332472e+02] [ 3.39908758e-02 9.99422084e-01 -3.45076807e-04 2.65155569e+00] [ 9.37357137e-03 2.64610382e-05 9.99956067e-01 3.59658719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.36, Y:2.65, Z:0.36 [[ 9.99399700e-01 -3.33540879e-02 -9.36720886e-03 2.04361712e+02] [ 3.33523070e-02 9.99443597e-01 -3.46319260e-04 2.64852316e+00] [ 9.37354808e-03 3.36933394e-05 9.99956067e-01 3.60321685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.39, Y:2.65, Z:0.37 [[ 9.99419468e-01 -3.27564331e-02 -9.36716292e-03 2.04391933e+02] [ 3.27546143e-02 9.99463363e-01 -3.47557369e-04 2.64674817e+00] [ 9.37352089e-03 4.05377925e-05 9.99956067e-01 3.70238843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.42, Y:2.65, Z:0.37 [[ 9.99448235e-01 -3.18665869e-02 -9.36733513e-03 2.04420051e+02] [ 3.18647723e-02 9.99492130e-01 -3.42931907e-04 2.64660936e+00] [ 9.37350581e-03 4.42546876e-05 9.99956067e-01 3.72160711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:2.65, Z:0.36 [[ 9.99539905e-01 -2.88491253e-02 -9.36514447e-03 2.04452018e+02] [ 2.88466303e-02 9.99583769e-01 -4.01417685e-04 2.64806387e+00] [ 9.37282696e-03 1.31080135e-04 9.99956066e-01 3.60508839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:2.65, Z:0.36 [[ 9.99600261e-01 -2.66753843e-02 -9.36712119e-03 2.04480747e+02] [ 2.66732920e-02 9.99644144e-01 -3.48248733e-04 2.64783339e+00] [ 9.37307751e-03 9.82575657e-05 9.99956067e-01 3.62248701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.51, Y:2.65, Z:0.37 [[ 9.99668078e-01 -2.39998342e-02 -9.36707455e-03 2.04510679e+02] [ 2.39976127e-02 9.99711955e-01 -3.49498714e-04 2.64594273e+00] [ 9.37276432e-03 1.24595280e-04 9.99956067e-01 3.73751689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.54, Y:2.65, Z:0.36 [[ 9.99710765e-01 -2.21500629e-02 -9.36807045e-03 2.04540261e+02] [ 2.21480098e-02 9.99754651e-01 -3.22861023e-04 2.64576570e+00] [ 9.37292339e-03 1.15283524e-04 9.99956067e-01 3.61956315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.57, Y:2.65, Z:0.36 [[ 9.99715613e-01 -2.19306186e-02 -9.36699476e-03 2.04569411e+02] [ 2.19282873e-02 9.99759484e-01 -3.51524607e-04 2.64568429e+00] [ 9.37245101e-03 1.46022486e-04 9.99956067e-01 3.62257852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:2.65, Z:0.36 [[ 9.99712473e-01 -2.20733456e-02 -9.36694802e-03 2.04598424e+02] [ 2.20710090e-02 9.99756343e-01 -3.52765821e-04 2.64566339e+00] [ 9.37245242e-03 1.45926397e-04 9.99956067e-01 3.62194063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.63, Y:2.65, Z:0.38 [[ 9.99664931e-01 -2.41306072e-02 -9.36690090e-03 2.04628976e+02] [ 2.41283492e-02 9.99708806e-01 -3.54012601e-04 2.64500351e+00] [ 9.37271586e-03 1.27886127e-04 9.99956067e-01 3.75162133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.66, Y:2.65, Z:0.38 [[ 9.99642196e-01 -2.50543507e-02 -9.36804825e-03 2.04658804e+02] [ 2.50524172e-02 9.99686087e-01 -3.23711562e-04 2.64577139e+00] [ 9.37321787e-03 8.89034836e-05 9.99956066e-01 3.76360312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.672320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:204.69, Y:2.65, Z:0.38 [[ 9.99633023e-01 -2.54176562e-02 -9.36812653e-03 2.04688501e+02] [ 2.54157578e-02 9.99676916e-01 -3.21655579e-04 2.64689718e+00] [ 9.37327557e-03 8.34395038e-05 9.99956066e-01 3.76465903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.72, Y:2.65, Z:0.36 [[ 9.99601376e-01 -2.66329714e-02 -9.36874697e-03 2.04716895e+02] [ 2.66312786e-02 9.99645278e-01 -3.05415897e-04 2.64751363e+00] [ 9.37355780e-03 5.57924408e-05 9.99956066e-01 3.64286404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.75, Y:2.65, Z:0.38 [[ 9.99581451e-01 -2.73713123e-02 -9.36661498e-03 2.04746888e+02] [ 2.73691333e-02 9.99625330e-01 -3.60769002e-04 2.64884557e+00] [ 9.37298031e-03 1.04261869e-04 9.99956067e-01 3.76256878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.78, Y:2.65, Z:0.38 [[ 9.99554214e-01 -2.83482047e-02 -9.36765985e-03 2.04775674e+02] [ 2.83463214e-02 9.99598107e-01 -3.33775574e-04 2.65028146e+00] [ 9.37335698e-03 6.80880844e-05 9.99956067e-01 3.77292471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.80, Y:2.65, Z:0.36 [[ 9.99485229e-01 -3.06843195e-02 -9.36743429e-03 2.04804170e+02] [ 3.06824845e-02 9.99529124e-01 -3.39577337e-04 2.65059134e+00] [ 9.37344309e-03 5.19863757e-05 9.99956067e-01 3.64755073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822320588 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:204.83, Y:2.65, Z:0.38 [[ 9.99398696e-01 -3.33843780e-02 -9.36637976e-03 2.04833006e+02] [ 3.33824090e-02 9.99442585e-01 -3.66525582e-04 2.65016792e+00] [ 9.37339502e-03 5.36328692e-05 9.99956067e-01 3.79361519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.86, Y:2.65, Z:0.37 [[ 9.99306116e-01 -3.60493110e-02 -9.36663132e-03 2.04860777e+02] [ 3.60475188e-02 9.99350012e-01 -3.60142149e-04 2.64931872e+00] [ 9.37352600e-03 2.22484332e-05 9.99956067e-01 3.73259362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:2.65, Z:0.37 [[ 9.99290061e-01 -3.64924047e-02 -9.36370036e-03 2.04892198e+02] [ 3.64899385e-02 9.99333926e-01 -4.34147425e-04 2.64974754e+00] [ 9.37330653e-03 9.21583560e-05 9.99956065e-01 3.65878411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:2.65, Z:0.37 [[ 9.99169872e-01 -3.96464487e-02 -9.36625048e-03 2.04920085e+02] [ 3.96447268e-02 9.99213770e-01 -3.69507843e-04 2.65022540e+00] [ 9.37353613e-03 -2.12133760e-06 9.99956067e-01 3.67890650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.95, Y:2.65, Z:0.37 [[ 9.99137542e-01 -4.04530230e-02 -9.36617613e-03 2.04949372e+02] [ 4.04513189e-02 9.99181441e-01 -3.71382786e-04 2.65052011e+00] [ 9.37353293e-03 -7.81169456e-06 9.99956067e-01 3.67612371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.972320588 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:204.98, Y:2.65, Z:0.38 [[ 9.99061060e-01 -4.22998010e-02 -9.36612679e-03 2.04977217e+02] [ 4.22981665e-02 9.99104963e-01 -3.72623156e-04 2.65022577e+00] [ 9.37350564e-03 -2.38967050e-05 9.99956067e-01 3.84851441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:205.01, Y:2.65, Z:0.38 [[ 9.99081306e-01 -4.18192966e-02 -9.36431570e-03 2.05006194e+02] [ 4.18172171e-02 9.99125190e-01 -4.17842449e-04 2.65178430e+00] [ 9.37359758e-03 2.58689573e-05 9.99956067e-01 3.84614492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.032320588 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:205.04, Y:2.65, Z:0.38 [[ 9.99146823e-01 -4.02236228e-02 -9.36413809e-03 2.05035547e+02] [ 4.02214316e-02 9.99190702e-01 -4.22284458e-04 2.65257754e+00] [ 9.37354551e-03 4.52851348e-05 9.99956066e-01 3.82396071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062320588 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:205.06, Y:2.65, Z:0.38 [[ 9.99168218e-01 -3.96883269e-02 -9.36534268e-03 2.05063141e+02] [ 3.96863943e-02 9.99212108e-01 -3.92184981e-04 2.65208669e+00] [ 9.37352897e-03 2.01820867e-05 9.99956067e-01 3.81565730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.09, Y:2.65, Z:0.37 [[ 9.99282959e-01 -3.66861534e-02 -9.36448902e-03 2.05093352e+02] [ 3.66838904e-02 9.99326834e-01 -4.13367137e-04 2.65310783e+00] [ 9.37335002e-03 6.95448471e-05 9.99956067e-01 3.68850911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:205.12, Y:2.66, Z:0.37 [[ 9.99308054e-01 -3.59957228e-02 -9.36591334e-03 2.05121180e+02] [ 3.59937601e-02 9.99351943e-01 -3.78084064e-04 2.65638186e+00] [ 9.37345310e-03 4.07080121e-05 9.99956067e-01 3.69640201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.15, Y:2.66, Z:0.37 [[ 9.99340999e-01 -3.50692130e-02 -9.36583761e-03 2.05149397e+02] [ 3.50671921e-02 9.99384885e-01 -3.79950891e-04 2.65976360e+00] [ 9.37340111e-03 5.12668761e-05 9.99956067e-01 3.69689919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.18, Y:2.66, Z:0.37 [[ 9.99361551e-01 -3.44785843e-02 -9.36576163e-03 2.05177841e+02] [ 3.44765200e-02 9.99405435e-01 -3.81814433e-04 2.65996552e+00] [ 9.37335750e-03 5.86717953e-05 9.99956067e-01 3.68127072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:2.66, Z:0.37 [[ 9.99349606e-01 -3.48231074e-02 -9.36571053e-03 2.05206954e+02] [ 3.48210466e-02 9.99393490e-01 -3.83063995e-04 2.66029267e+00] [ 9.37336961e-03 5.66910096e-05 9.99956067e-01 3.68103452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24232058799998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:205.24, Y:2.66, Z:0.38 [[ 9.99306858e-01 -3.60289992e-02 -9.36565937e-03 2.05235279e+02] [ 3.60269797e-02 9.99350744e-01 -3.84310610e-04 2.66234727e+00] [ 9.37342499e-03 4.66278080e-05 9.99956067e-01 3.80741421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:2.67, Z:0.37 [[ 9.99371957e-01 -3.41760026e-02 -9.36446901e-03 2.05265763e+02] [ 3.41736307e-02 9.99415825e-01 -4.13233767e-04 2.66991066e+00] [ 9.37312120e-03 9.29563332e-05 9.99956067e-01 3.69937380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.29, Y:2.67, Z:0.37 [[ 9.99377324e-01 -3.40183633e-02 -9.36564357e-03 2.05294853e+02] [ 3.40162524e-02 9.99421206e-01 -3.84633865e-04 2.67264082e+00] [ 9.37330740e-03 6.58102665e-05 9.99956067e-01 3.69507058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.32, Y:2.67, Z:0.37 [[ 9.99350054e-01 -3.48102830e-02 -9.36559222e-03 2.05323701e+02] [ 3.48081952e-02 9.99393937e-01 -3.85880235e-04 2.67327764e+00] [ 9.37334867e-03 5.96300714e-05 9.99956067e-01 3.69659331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:2.67, Z:0.37 [[ 9.99298760e-01 -3.62529254e-02 -9.36554100e-03 2.05352939e+02] [ 3.62508894e-02 9.99342646e-01 -3.87119328e-04 2.67311840e+00] [ 9.37341873e-03 4.73386735e-05 9.99956067e-01 3.70676698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.38, Y:2.67, Z:0.37 [[ 9.99260765e-01 -3.72855458e-02 -9.36548935e-03 2.05381392e+02] [ 3.72835435e-02 9.99304652e-01 -3.88364708e-04 2.67313643e+00] [ 9.37345747e-03 3.88989856e-05 9.99956067e-01 3.70300598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.41, Y:2.67, Z:0.37 [[ 9.99155442e-01 -4.00086382e-02 -9.36543746e-03 2.05410702e+02] [ 4.00067437e-02 9.99199334e-01 -3.89612035e-04 2.67265192e+00] [ 9.37352672e-03 1.46023288e-05 9.99956067e-01 3.71174969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.452320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:205.44, Y:2.67, Z:0.37 [[ 9.99091044e-01 -4.15857535e-02 -9.36538487e-03 2.05439107e+02] [ 4.15839166e-02 9.99134938e-01 -3.90872177e-04 2.67373707e+00] [ 9.37353795e-03 1.06750831e-06 9.99956067e-01 3.71639383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.482320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:205.47, Y:2.68, Z:0.37 [[ 9.99015329e-01 -4.33666124e-02 -9.36533260e-03 2.05468282e+02] [ 4.33648419e-02 9.99059226e-01 -3.92120707e-04 2.67564948e+00] [ 9.37352688e-03 -1.43915705e-05 9.99956067e-01 3.71686687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.50, Y:2.68, Z:0.38 [[ 9.98912234e-01 -4.56797569e-02 -9.36527984e-03 2.05495872e+02] [ 4.56780764e-02 9.98956134e-01 -3.93376612e-04 2.67533204e+00] [ 9.37347310e-03 -3.48392572e-05 9.99956067e-01 3.82507726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.53, Y:2.67, Z:0.37 [[ 9.98936636e-01 -4.51435814e-02 -9.36235771e-03 2.05527335e+02] [ 4.51412225e-02 9.98980508e-01 -4.63223422e-04 2.67313993e+00] [ 9.37372442e-03 4.01025742e-05 9.99956065e-01 3.72875275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.572320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:205.56, Y:2.67, Z:0.37 [[ 9.98871268e-01 -4.65669428e-02 -9.36534921e-03 2.05556689e+02] [ 4.65653169e-02 9.98915170e-01 -3.91698330e-04 2.67049529e+00] [ 9.37342960e-03 -4.48442470e-05 9.99956067e-01 3.73057356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.58, Y:2.67, Z:0.37 [[ 9.98837602e-01 -4.72835809e-02 -9.36529778e-03 2.05584469e+02] [ 4.72819751e-02 9.98881505e-01 -3.92924046e-04 2.66675290e+00] [ 9.37340160e-03 -5.03424647e-05 9.99956067e-01 3.71565635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:2.67, Z:0.37 [[ 9.98828261e-01 -4.74804897e-02 -9.36522002e-03 2.05612939e+02] [ 4.74788752e-02 9.98872164e-01 -3.94768786e-04 2.66790526e+00] [ 9.37340141e-03 -5.03438932e-05 9.99956067e-01 3.71832699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.662320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:205.64, Y:2.67, Z:0.38 [[ 9.98856050e-01 -4.68922766e-02 -9.36514184e-03 2.05641284e+02] [ 4.68906190e-02 9.98899951e-01 -3.96614938e-04 2.66727577e+00] [ 9.37343790e-03 -4.29760674e-05 9.99956067e-01 3.82585438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:2.67, Z:0.37 [[ 9.98867694e-01 -4.66435720e-02 -9.36520758e-03 2.05670634e+02] [ 4.66419180e-02 9.98911595e-01 -3.95069316e-04 2.66665606e+00] [ 9.37344189e-03 -4.21892671e-05 9.99956067e-01 3.70376991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.70, Y:2.67, Z:0.38 [[ 9.98872233e-01 -4.65463127e-02 -9.36503260e-03 2.05699050e+02] [ 4.65446158e-02 9.98916132e-01 -3.99174570e-04 2.66553524e+00] [ 9.37346225e-03 -3.71674502e-05 9.99956067e-01 3.81873755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.73, Y:2.66, Z:0.37 [[ 9.99027509e-01 -4.30852418e-02 -9.36476360e-03 2.05728899e+02] [ 4.30833339e-02 9.99071400e-01 -4.05471377e-04 2.66489360e+00] [ 9.37353731e-03 1.61182224e-06 9.99956067e-01 3.70341750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.76, Y:2.66, Z:0.38 [[ 9.99104107e-01 -4.12708246e-02 -9.36494922e-03 2.05758475e+02] [ 4.12688775e-02 9.99147996e-01 -4.01137925e-04 2.66491548e+00] [ 9.37352554e-03 1.42976057e-05 9.99956067e-01 3.82688140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.812320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:205.79, Y:2.66, Z:0.38 [[ 9.99159434e-01 -3.99087555e-02 -9.36568064e-03 2.05787695e+02] [ 3.99069078e-02 9.99203328e-01 -3.84162061e-04 2.66411554e+00] [ 9.37355070e-03 1.00837932e-05 9.99956067e-01 3.82733619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:2.66, Z:0.37 [[ 9.99313913e-01 -3.58327925e-02 -9.36559369e-03 2.05816534e+02] [ 3.58307469e-02 9.99357798e-01 -3.86171188e-04 2.66145702e+00] [ 9.37341668e-03 5.03300239e-05 9.99956067e-01 3.69313518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.85, Y:2.66, Z:0.37 [[ 9.99373836e-01 -3.41209483e-02 -9.36465009e-03 2.05845494e+02] [ 3.41186245e-02 9.99417707e-01 -4.07837862e-04 2.66305246e+00] [ 9.37311294e-03 8.80735079e-05 9.99956068e-01 3.70003027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:2.67, Z:0.37 [[ 9.99461924e-01 -3.14351284e-02 -9.36459575e-03 2.05874120e+02] [ 3.14326750e-02 9.99505788e-01 -4.09081912e-04 2.66588519e+00] [ 9.37282719e-03 1.14507500e-04 9.99956068e-01 3.70533072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:2.67, Z:0.37 [[ 9.99597889e-01 -2.67649996e-02 -9.36454196e-03 2.05902775e+02] [ 2.67623298e-02 9.99641740e-01 -4.10309423e-04 2.66894892e+00] [ 9.37216896e-03 1.59527472e-04 9.99956068e-01 3.70743536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:2.67, Z:0.37 [[ 9.99662672e-01 -2.42249619e-02 -9.36448819e-03 2.05931140e+02] [ 2.42221693e-02 9.99706516e-01 -4.11532918e-04 2.67081970e+00] [ 9.37170923e-03 1.84565878e-04 9.99956068e-01 3.70967233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:2.67, Z:0.37 [[ 9.99719010e-01 -2.17763296e-02 -9.36443463e-03 2.05958854e+02] [ 2.17734182e-02 9.99762846e-01 -4.12748245e-04 2.67331751e+00] [ 9.37120196e-03 2.08736515e-04 9.99956068e-01 3.70060374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:2.68, Z:0.37 [[ 9.99818486e-01 -1.65923140e-02 -9.36435497e-03 2.05986098e+02] [ 1.65891586e-02 9.99862305e-01 -4.14547683e-04 2.68005776e+00] [ 9.36994385e-03 2.59125667e-04 9.99956068e-01 3.69540445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:2.68, Z:0.37 [[ 9.99855087e-01 -1.42167308e-02 -9.36427503e-03 2.06014790e+02] [ 1.42134543e-02 9.99898897e-01 -4.16345748e-04 2.68419706e+00] [ 9.36924735e-03 2.83186718e-04 9.99956068e-01 3.69107679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:206.04, Y:2.69, Z:0.38 [[ 9.99857542e-01 -1.40430771e-02 -9.36422257e-03 2.06043510e+02] [ 1.40397820e-02 9.99901350e-01 -4.17522236e-04 2.68779688e+00] [ 9.36916209e-03 2.85991113e-04 9.99956068e-01 3.80160605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:2.69, Z:0.37 [[ 9.99865725e-01 -1.34482245e-02 -9.36359472e-03 2.06073409e+02] [ 1.34447725e-02 9.99909522e-01 -4.31516290e-04 2.69225288e+00] [ 9.36855065e-03 3.05566948e-04 9.99956067e-01 3.69992105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:206.10, Y:2.70, Z:0.37 [[ 9.99854811e-01 -1.42363040e-02 -9.36404954e-03 2.06101853e+02] [ 1.42329811e-02 9.99898617e-01 -4.21410021e-04 2.69505856e+00] [ 9.36909950e-03 2.88070497e-04 9.99956068e-01 3.70571426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:2.70, Z:0.37 [[ 9.99832793e-01 -1.57067272e-02 -9.36399640e-03 2.06130802e+02] [ 1.57034577e-02 9.99876604e-01 -4.22587563e-04 2.69777440e+00] [ 9.36947838e-03 2.75469783e-04 9.99956068e-01 3.70260350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:206.16, Y:2.70, Z:0.37 [[ 9.99786341e-01 -1.84279428e-02 -9.36394272e-03 2.06159150e+02] [ 1.84247814e-02 9.99830159e-01 -4.23773645e-04 2.70205950e+00] [ 9.37016162e-03 2.51154503e-04 9.99956068e-01 3.70307210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.19, Y:2.71, Z:0.37 [[ 9.99763299e-01 -1.96382971e-02 -9.36388863e-03 2.06188247e+02] [ 1.96351776e-02 9.99807121e-01 -4.24965486e-04 2.70585542e+00] [ 9.37042813e-03 2.41003280e-04 9.99956068e-01 3.70711802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.22, Y:2.71, Z:0.37 [[ 9.99744942e-01 -2.05516111e-02 -9.36383426e-03 2.06216793e+02] [ 2.05485205e-02 9.99788766e-01 -4.26160224e-04 2.70954588e+00] [ 9.37061457e-03 2.33638589e-04 9.99956068e-01 3.69679078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:2.71, Z:0.37 [[ 9.99718152e-01 -2.18159793e-02 -9.36377965e-03 2.06245378e+02] [ 2.18129329e-02 9.99761978e-01 -4.27356755e-04 2.71269524e+00] [ 9.37087407e-03 2.22984809e-04 9.99956068e-01 3.69652355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:2.71, Z:0.37 [[ 9.99620370e-01 -2.59120977e-02 -9.36372479e-03 2.06273570e+02] [ 2.59092197e-02 9.99664208e-01 -4.28555302e-04 2.71410744e+00] [ 9.37168529e-03 1.85785807e-04 9.99956068e-01 3.68683750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.30, Y:2.71, Z:0.37 [[ 9.99535656e-01 -2.89964421e-02 -9.36364100e-03 2.06301775e+02] [ 2.89936823e-02 9.99579502e-01 -4.30378280e-04 2.71458326e+00] [ 9.37218305e-03 1.58692005e-04 9.99956068e-01 3.69229689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.33, Y:2.72, Z:0.37 [[ 9.99405839e-01 -3.31706729e-02 -9.36355614e-03 2.06330422e+02] [ 3.31680790e-02 9.99449694e-01 -4.32216659e-04 2.71543914e+00] [ 9.37274024e-03 1.21388682e-04 9.99956068e-01 3.70415454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:206.36, Y:2.72, Z:0.37 [[ 9.99328057e-01 -3.54367051e-02 -9.36349923e-03 2.06358822e+02] [ 3.54341991e-02 9.99371918e-01 -4.33446161e-04 2.71669833e+00] [ 9.37297808e-03 1.01366814e-04 9.99956068e-01 3.71715457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.39, Y:2.72, Z:0.37 [[ 9.99255676e-01 -3.74221755e-02 -9.36344122e-03 2.06387347e+02] [ 3.74197450e-02 9.99299542e-01 -4.34695657e-04 2.71741856e+00] [ 9.37314978e-03 8.39945204e-05 9.99956068e-01 3.71307150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:2.72, Z:0.37 [[ 9.99229755e-01 -3.81080514e-02 -9.36338379e-03 2.06416033e+02] [ 3.81056394e-02 9.99273621e-01 -4.35929192e-04 2.71771620e+00] [ 9.37319484e-03 7.87956933e-05 9.99956068e-01 3.70929512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.45, Y:2.72, Z:0.38 [[ 9.99237902e-01 -3.78938532e-02 -9.36332604e-03 2.06445135e+02] [ 3.78914203e-02 9.99281767e-01 -4.37166063e-04 2.71795077e+00] [ 9.37316690e-03 8.20431777e-05 9.99956068e-01 3.82018111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:2.72, Z:0.37 [[ 9.99232532e-01 -3.80346369e-02 -9.36558151e-03 2.06473450e+02] [ 3.80326607e-02 9.99276421e-01 -3.89086569e-04 2.72067912e+00] [ 9.37360354e-03 3.25899743e-05 9.99956066e-01 3.70796252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.50, Y:2.72, Z:0.37 [[ 9.99254489e-01 -3.74539564e-02 -9.36304313e-03 2.06501736e+02] [ 3.74514517e-02 9.99298350e-01 -4.42765379e-04 2.72323931e+00] [ 9.37305686e-03 9.17757353e-05 9.99956068e-01 3.71977008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.53, Y:2.72, Z:0.37 [[ 9.99263767e-01 -3.72056235e-02 -9.36298404e-03 2.06529212e+02] [ 3.72030962e-02 9.99307627e-01 -4.44011402e-04 2.72427181e+00] [ 9.37302108e-03 9.53525099e-05 9.99956068e-01 3.72632993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:2.72, Z:0.37 [[ 9.99257018e-01 -3.73864667e-02 -9.36289494e-03 2.06556847e+02] [ 3.73839298e-02 9.99300877e-01 -4.45882391e-04 2.72227381e+00] [ 9.37301909e-03 9.55293017e-05 9.99956068e-01 3.74380110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:2.72, Z:0.39 [[ 9.99250009e-01 -3.75733673e-02 -9.36280621e-03 2.06586147e+02] [ 3.75708213e-02 9.99293867e-01 -4.47737743e-04 2.72424021e+00] [ 9.37301784e-03 9.56336249e-05 9.99956068e-01 3.85342663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.61, Y:2.73, Z:0.38 [[ 9.99205427e-01 -3.87402355e-02 -9.36532255e-03 2.06613642e+02] [ 3.87382323e-02 9.99249315e-01 -3.95268203e-04 2.72686847e+00] [ 9.37360492e-03 3.21580924e-05 9.99956066e-01 3.75037772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.64, Y:2.73, Z:0.37 [[ 9.99155906e-01 -3.99977239e-02 -9.36257005e-03 2.06642446e+02] [ 3.99952420e-02 9.99199768e-01 -4.52251141e-04 2.73028577e+00] [ 9.37316684e-03 7.74111433e-05 9.99956068e-01 3.73332990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.67, Y:2.73, Z:0.37 [[ 9.99125491e-01 -4.07504080e-02 -9.36250944e-03 2.06671492e+02] [ 4.07479474e-02 9.99169355e-01 -4.53502481e-04 2.73044145e+00] [ 9.37321293e-03 7.16028467e-05 9.99956068e-01 3.73281603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:206.70, Y:2.73, Z:0.37 [[ 9.99085808e-01 -4.17120157e-02 -9.36244908e-03 2.06700235e+02] [ 4.17095856e-02 9.99129673e-01 -4.54745274e-04 2.73030446e+00] [ 9.37326903e-03 6.38256780e-05 9.99956068e-01 3.74073359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:2.73, Z:0.37 [[ 9.99037159e-01 -4.28614022e-02 -9.36238859e-03 2.06728961e+02] [ 4.28590110e-02 9.99081026e-01 -4.55987088e-04 2.73032418e+00] [ 9.37332905e-03 5.42853295e-05 9.99956068e-01 3.74647360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:2.73, Z:0.37 [[ 9.99011450e-01 -4.34565342e-02 -9.36232770e-03 2.06757378e+02] [ 4.34541574e-02 9.99055317e-01 -4.57234001e-04 2.73073346e+00] [ 9.37335307e-03 4.99499406e-05 9.99956068e-01 3.74891407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.79, Y:2.73, Z:0.38 [[ 9.98964935e-01 -4.45129971e-02 -9.36226695e-03 2.06785800e+02] [ 4.45106551e-02 9.99008804e-01 -4.58474594e-04 2.73015488e+00] [ 9.37339519e-03 4.12794084e-05 9.99956068e-01 3.75149469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.82, Y:2.73, Z:0.38 [[ 9.98964786e-01 -4.45163631e-02 -9.36219054e-03 2.06815035e+02] [ 4.45140066e-02 9.99008654e-01 -4.60029480e-04 2.73129143e+00] [ 9.37338822e-03 4.28046385e-05 9.99956068e-01 3.75333237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:2.73, Z:0.38 [[ 9.98994755e-01 -4.38386894e-02 -9.36212884e-03 2.06843863e+02] [ 4.38362915e-02 9.99038621e-01 -4.61281755e-04 2.73316431e+00] [ 9.37335028e-03 5.04170444e-05 9.99956068e-01 3.75804871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:2.74, Z:0.38 [[ 9.99064824e-01 -4.22117287e-02 -9.36206734e-03 2.06872404e+02] [ 4.22092476e-02 9.99108686e-01 -4.62526680e-04 2.73685828e+00] [ 9.37324684e-03 6.69283172e-05 9.99956068e-01 3.77311580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.90, Y:2.74, Z:0.38 [[ 9.99072059e-01 -4.20401562e-02 -9.36200557e-03 2.06901299e+02] [ 4.20376560e-02 9.99115919e-01 -4.63773550e-04 2.73833333e+00] [ 9.37322592e-03 6.97864258e-05 9.99956068e-01 3.77515672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:206.93, Y:2.74, Z:0.38 [[ 9.99101166e-01 -4.13426529e-02 -9.36194399e-03 2.06929951e+02] [ 4.13401104e-02 9.99145024e-01 -4.65013367e-04 2.73936886e+00] [ 9.37316464e-03 7.75715987e-05 9.99956068e-01 3.77049155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:2.74, Z:0.38 [[ 9.99103967e-01 -4.12749124e-02 -9.36188156e-03 2.06958758e+02] [ 4.12723552e-02 9.99147825e-01 -4.66266835e-04 2.74037293e+00] [ 9.37314872e-03 7.94621436e-05 9.99956068e-01 3.76433774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.99, Y:2.74, Z:0.38 [[ 9.99038763e-01 -4.28241344e-02 -9.36181976e-03 2.06987267e+02] [ 4.28216336e-02 9.99082624e-01 -4.67504471e-04 2.74202453e+00] [ 9.37325192e-03 6.61666726e-05 9.99956068e-01 3.77668057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:207.02, Y:2.74, Z:0.38 [[ 9.98998941e-01 -4.37432744e-02 -9.36175774e-03 2.07015803e+02] [ 4.37408023e-02 9.99042803e-01 -4.68743064e-04 2.74307279e+00] [ 9.37330105e-03 5.87830293e-05 9.99956068e-01 3.78663882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:207.04, Y:2.74, Z:0.38 [[ 9.99006056e-01 -4.35804885e-02 -9.36169497e-03 2.07044445e+02] [ 4.35779976e-02 9.99049917e-01 -4.69993310e-04 2.74388973e+00] [ 9.37328313e-03 6.15622421e-05 9.99956068e-01 3.78796132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.07, Y:2.74, Z:0.38 [[ 9.99047398e-01 -4.26222431e-02 -9.36163236e-03 2.07072742e+02] [ 4.26196985e-02 9.99091257e-01 -4.71237203e-04 2.74492064e+00] [ 9.37321022e-03 7.17983530e-05 9.99956068e-01 3.79320765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.10, Y:2.75, Z:0.38 [[ 9.99185079e-01 -3.92624462e-02 -9.36153831e-03 2.07101009e+02] [ 3.92597367e-02 9.99228927e-01 -4.73098098e-04 2.74744364e+00] [ 9.37289488e-03 1.05181031e-04 9.99956068e-01 3.79735461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.13, Y:2.75, Z:0.38 [[ 9.99266249e-01 -3.71392806e-02 -9.36147556e-03 2.07129822e+02] [ 3.71364663e-02 9.99310091e-01 -4.74336653e-04 2.75061185e+00] [ 9.37263351e-03 1.26336487e-04 9.99956068e-01 3.79216870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.16, Y:2.75, Z:0.38 [[ 9.99359863e-01 -3.45286652e-02 -9.36141300e-03 2.07158451e+02] [ 3.45257248e-02 9.99403696e-01 -4.75568017e-04 2.75353768e+00] [ 9.37225149e-03 1.52054019e-04 9.99956068e-01 3.80045786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:2.75, Z:0.39 [[ 9.99335399e-01 -3.52296111e-02 -9.36135071e-03 2.07186297e+02] [ 3.52266900e-02 9.99379234e-01 -4.76791103e-04 2.75495435e+00] [ 9.37233667e-03 1.46704827e-04 9.99956068e-01 3.90981282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.22, Y:2.76, Z:0.38 [[ 9.99417632e-01 -3.28147919e-02 -9.35874560e-03 2.07217478e+02] [ 3.28112872e-02 9.99461425e-01 -5.27816289e-04 2.75740440e+00] [ 9.37102540e-03 2.20436416e-04 9.99956067e-01 3.82427051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:207.25, Y:2.76, Z:0.38 [[ 9.99442562e-01 -3.20457584e-02 -9.36133617e-03 2.07245758e+02] [ 3.20426960e-02 9.99486387e-01 -4.76972492e-04 2.76099600e+00] [ 9.37181302e-03 1.76744160e-04 9.99956068e-01 3.83151241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:2.77, Z:0.38 [[ 9.99479841e-01 -3.08611972e-02 -9.36127379e-03 2.07274184e+02] [ 3.08580714e-02 9.99523662e-01 -4.78193687e-04 2.76916749e+00] [ 9.37157229e-03 1.89074095e-04 9.99956068e-01 3.83415968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:2.77, Z:0.38 [[ 9.99485787e-01 -3.06680441e-02 -9.36121122e-03 2.07302521e+02] [ 3.06648984e-02 9.99529606e-01 -4.79415586e-04 2.77334589e+00] [ 9.37151050e-03 1.92108474e-04 9.99956068e-01 3.83147043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:2.78, Z:0.39 [[ 9.99488310e-01 -3.05857368e-02 -9.36114867e-03 2.07331065e+02] [ 3.05825761e-02 9.99532128e-01 -4.80633729e-04 2.77690125e+00] [ 9.37146939e-03 1.94099753e-04 9.99956068e-01 3.85645501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:207.36, Y:2.78, Z:0.39 [[ 9.99487189e-01 -3.06223646e-02 -9.36108614e-03 2.07359438e+02] [ 3.06191942e-02 9.99531006e-01 -4.81848621e-04 2.78013910e+00] [ 9.37145119e-03 1.94972610e-04 9.99956068e-01 3.86898627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:207.39, Y:2.78, Z:0.40 [[ 9.99391432e-01 -3.36026211e-02 -9.36102292e-03 2.07387663e+02] [ 3.35995699e-02 9.99435258e-01 -4.83073549e-04 2.78379473e+00] [ 9.37196890e-03 1.68253222e-04 9.99956068e-01 3.99861237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:2.79, Z:0.39 [[ 9.99408283e-01 -3.30982503e-02 -9.35892422e-03 2.07418856e+02] [ 3.30947956e-02 9.99452080e-01 -5.23813867e-04 2.78837889e+00] [ 9.37113360e-03 2.13772234e-04 9.99956067e-01 3.86471248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:2.79, Z:0.39 [[ 9.99401704e-01 -3.32957072e-02 -9.36105525e-03 2.07447306e+02] [ 3.32926481e-02 9.99445530e-01 -4.82466614e-04 2.78976361e+00] [ 9.37192889e-03 1.70523638e-04 9.99956068e-01 3.86737205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:2.79, Z:0.39 [[ 9.99361008e-01 -3.44956186e-02 -9.36095937e-03 2.07475905e+02] [ 3.44925948e-02 9.99404836e-01 -4.84319810e-04 2.79432625e+00] [ 9.37209498e-03 1.61126555e-04 9.99956068e-01 3.85181022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:2.80, Z:0.39 [[ 9.99223713e-01 -3.82667623e-02 -9.36089529e-03 2.07504803e+02] [ 3.82638924e-02 9.99267551e-01 -4.85555167e-04 2.79965890e+00] [ 9.37261954e-03 1.26993947e-04 9.99956068e-01 3.94574012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.642320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:207.54, Y:2.80, Z:0.40 [[ 9.99146880e-01 -4.02232904e-02 -9.35947579e-03 2.07535746e+02] [ 4.02202501e-02 9.99190707e-01 -5.12909869e-04 2.80278003e+00] [ 9.37253215e-03 1.36031837e-04 9.99956068e-01 3.95830124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:2.81, Z:0.40 [[ 9.99054815e-01 -4.24482746e-02 -9.36057294e-03 2.07563946e+02] [ 4.24455308e-02 9.99098661e-01 -4.91678506e-04 2.80574871e+00] [ 9.37300680e-03 9.38992916e-05 9.99956068e-01 3.97135181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:2.81, Z:0.39 [[ 9.98918042e-01 -4.55535801e-02 -9.36036367e-03 2.07593549e+02] [ 4.55509347e-02 9.98961894e-01 -4.95721486e-04 2.80941479e+00] [ 9.37322852e-03 6.88118219e-05 9.99956068e-01 3.87176024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:2.81, Z:0.39 [[ 9.98810117e-01 -4.78614863e-02 -9.36102051e-03 2.07622580e+02] [ 4.78590616e-02 9.98853982e-01 -4.82991092e-04 2.80939815e+00] [ 9.37340928e-03 3.44067323e-05 9.99956068e-01 3.85526684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:2.81, Z:0.39 [[ 9.98711978e-01 -4.98674090e-02 -9.36095693e-03 2.07651435e+02] [ 4.98650608e-02 9.98755847e-01 -4.84220261e-04 2.80883169e+00] [ 9.37345727e-03 1.68118876e-05 9.99956068e-01 3.86290181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:2.81, Z:0.39 [[ 9.98466586e-01 -5.45605114e-02 -9.36089330e-03 2.07680328e+02] [ 5.45583580e-02 9.98510466e-01 -4.85447293e-04 2.80920782e+00] [ 9.37343618e-03 -2.60120658e-05 9.99956068e-01 3.87342347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:2.81, Z:0.39 [[ 9.98324524e-01 -5.71009646e-02 -9.36082918e-03 2.07709377e+02] [ 5.70989113e-02 9.98368408e-01 -4.86680492e-04 2.81085399e+00] [ 9.37334605e-03 -4.86280847e-05 9.99956068e-01 3.87990734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:2.81, Z:0.39 [[ 9.98189928e-01 -5.94074372e-02 -9.36076537e-03 2.07737798e+02] [ 5.94054737e-02 9.98233816e-01 -4.87904670e-04 2.81071578e+00] [ 9.37321771e-03 -6.90591736e-05 9.99956068e-01 3.86982792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:2.80, Z:0.39 [[ 9.97939856e-01 -6.34698510e-02 -9.36070194e-03 2.07767178e+02] [ 6.34680548e-02 9.97983751e-01 -4.89118584e-04 2.80407945e+00] [ 9.37287272e-03 -1.05994615e-04 9.99956068e-01 3.86082583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:2.80, Z:0.39 [[ 9.97856809e-01 -6.47623972e-02 -9.36063887e-03 2.07795828e+02] [ 6.47606466e-02 9.97900706e-01 -4.90322623e-04 2.80240100e+00] [ 9.37274261e-03 -1.16929259e-04 9.99956068e-01 3.86439514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:2.80, Z:0.39 [[ 9.97873582e-01 -6.45034466e-02 -9.36057616e-03 2.07824358e+02] [ 6.45016734e-02 9.97917478e-01 -4.91516946e-04 2.80195570e+00] [ 9.37278709e-03 -1.13301052e-04 9.99956068e-01 3.87477904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:2.80, Z:0.39 [[ 9.97938280e-01 -6.34946424e-02 -9.36051330e-03 2.07853178e+02] [ 6.34928137e-02 9.97982174e-01 -4.92711260e-04 2.80274717e+00] [ 9.37290993e-03 -1.02629899e-04 9.99956068e-01 3.87914818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:2.80, Z:0.39 [[ 9.98054475e-01 -6.16412782e-02 -9.36044978e-03 2.07882000e+02] [ 6.16393566e-02 9.98098365e-01 -4.93915054e-04 2.80339159e+00] [ 9.37309517e-03 -8.40179717e-05 9.99956068e-01 3.87474117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:2.80, Z:0.39 [[ 9.98162913e-01 -5.98596913e-02 -9.36038579e-03 2.07910387e+02] [ 5.98576800e-02 9.98206799e-01 -4.95124782e-04 2.80334009e+00] [ 9.37323875e-03 -6.60757824e-05 9.99956068e-01 3.87265964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:2.80, Z:0.39 [[ 9.98265245e-01 -5.81281735e-02 -9.36032194e-03 2.07939074e+02] [ 5.81260748e-02 9.98309127e-01 -4.96328780e-04 2.80314753e+00] [ 9.37334551e-03 -4.86110027e-05 9.99956068e-01 3.86898460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:2.80, Z:0.39 [[ 9.98500770e-01 -5.39314191e-02 -9.36025736e-03 2.07967843e+02] [ 5.39291246e-02 9.98544642e-01 -4.97543788e-04 2.80165943e+00] [ 9.37346808e-03 -7.99263007e-06 9.99956068e-01 3.85866654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:2.80, Z:0.39 [[ 9.98606115e-01 -5.19443384e-02 -9.36019210e-03 2.07997139e+02] [ 5.19419452e-02 9.98649982e-01 -4.98768607e-04 2.80123795e+00] [ 9.37346387e-03 1.18867968e-05 9.99956068e-01 3.85894224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:208.03, Y:2.80, Z:0.40 [[ 9.98765815e-01 -4.87774034e-02 -9.36012601e-03 2.08025172e+02] [ 4.87748594e-02 9.98809673e-01 -5.00005786e-04 2.80107554e+00] [ 9.37337338e-03 4.28498562e-05 9.99956068e-01 3.95888975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:2.80, Z:0.39 [[ 9.98926209e-01 -4.53744317e-02 -9.35898547e-03 2.08055049e+02] [ 4.53715393e-02 9.98970045e-01 -5.21248856e-04 2.80465882e+00] [ 9.37299751e-03 9.60575662e-05 9.99956068e-01 3.88225249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:208.08, Y:2.81, Z:0.39 [[ 9.99042883e-01 -4.27283041e-02 -9.36003603e-03 2.08084045e+02] [ 4.27254792e-02 9.99086724e-01 -5.01646802e-04 2.80850439e+00] [ 9.37292225e-03 1.01254643e-04 9.99956068e-01 3.88462601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:2.81, Z:0.39 [[ 9.99170727e-01 -3.96263746e-02 -9.35996972e-03 2.08111453e+02] [ 3.96234021e-02 9.99214558e-01 -5.02881077e-04 2.81142895e+00] [ 9.37254536e-03 1.31590208e-04 9.99956068e-01 3.88879706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:2.81, Z:0.39 [[ 9.99292933e-01 -3.64146447e-02 -9.35986962e-03 2.08140233e+02] [ 3.64115139e-02 9.99336754e-01 -5.04737293e-04 2.81325124e+00] [ 9.37204155e-03 1.63573387e-04 9.99956068e-01 3.89062514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:2.82, Z:0.39 [[ 9.99495813e-01 -3.03399655e-02 -9.35980302e-03 2.08168375e+02] [ 3.03365568e-02 9.99539613e-01 -5.05969400e-04 2.81768655e+00] [ 9.37084498e-03 2.21770101e-04 9.99956068e-01 3.89603632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:2.82, Z:0.39 [[ 9.99564842e-01 -2.79736042e-02 -9.35971999e-03 2.08196660e+02] [ 2.79700776e-02 9.99608632e-01 -5.07500563e-04 2.82242977e+00] [ 9.37025352e-03 2.45487626e-04 9.99956068e-01 3.89144450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:2.83, Z:0.39 [[ 9.99632326e-01 -2.54481746e-02 -9.35965412e-03 2.08224980e+02] [ 2.54445261e-02 9.99676106e-01 -5.08712488e-04 2.82646848e+00] [ 9.36956839e-03 2.70373484e-04 9.99956068e-01 3.89052346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:2.83, Z:0.39 [[ 9.99677898e-01 -2.35902297e-02 -9.35958901e-03 2.08253733e+02] [ 2.35864885e-02 9.99721670e-01 -5.09907583e-04 2.82990908e+00] [ 9.36901280e-03 2.88983502e-04 9.99956068e-01 3.90655995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:2.83, Z:0.39 [[ 9.99668083e-01 -2.40025837e-02 -9.35952345e-03 2.08281516e+02] [ 2.39988494e-02 9.99711855e-01 -5.11108309e-04 2.83220379e+00] [ 9.36909447e-03 2.86320870e-04 9.99956068e-01 3.90877138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:2.84, Z:0.39 [[ 9.99665410e-01 -2.41136535e-02 -9.35942520e-03 2.08310275e+02] [ 2.41099073e-02 9.99709182e-01 -5.12901059e-04 2.83587781e+00] [ 9.36907123e-03 2.87074574e-04 9.99956068e-01 3.91549441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:2.84, Z:0.39 [[ 9.99658191e-01 -2.44111307e-02 -9.35935858e-03 2.08338467e+02] [ 2.44073862e-02 9.99701963e-01 -5.14113872e-04 2.84018689e+00] [ 9.36911925e-03 2.85500664e-04 9.99956068e-01 3.91765379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:2.85, Z:0.39 [[ 9.99625911e-01 -2.56990643e-02 -9.35929267e-03 2.08366842e+02] [ 2.56953650e-02 9.99669687e-01 -5.15310948e-04 2.84648073e+00] [ 9.36944418e-03 2.74627734e-04 9.99956068e-01 3.93364031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:2.85, Z:0.39 [[ 9.99616402e-01 -2.60663294e-02 -9.35922673e-03 2.08395943e+02] [ 2.60626349e-02 9.99660178e-01 -5.16505780e-04 2.84944702e+00] [ 9.36950968e-03 2.72381540e-04 9.99956068e-01 3.94524726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:2.85, Z:0.40 [[ 9.99600284e-01 -2.66772896e-02 -9.35915987e-03 2.08425123e+02] [ 2.66736106e-02 9.99644062e-01 -5.17714430e-04 2.85223351e+00] [ 9.36963981e-03 2.67864905e-04 9.99956068e-01 3.95579138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:2.86, Z:0.40 [[ 9.99581987e-01 -2.73543017e-02 -9.35911046e-03 2.08452877e+02] [ 2.73506440e-02 9.99625767e-01 -5.18606147e-04 2.85573333e+00] [ 9.36979408e-03 2.62411665e-04 9.99956068e-01 3.96103348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:2.86, Z:0.39 [[ 9.99546467e-01 -2.86228727e-02 -9.35900997e-03 2.08481047e+02] [ 2.86192537e-02 9.99590250e-01 -5.20413402e-04 2.85883896e+00] [ 9.37007084e-03 2.52329497e-04 9.99956068e-01 3.94939159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:2.86, Z:0.39 [[ 9.99541456e-01 -2.87973647e-02 -9.35889900e-03 2.08509619e+02] [ 2.87937348e-02 9.99585238e-01 -5.22401398e-04 2.86183850e+00] [ 9.37006107e-03 2.52684199e-04 9.99956068e-01 3.94611023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:2.86, Z:0.39 [[ 9.99552930e-01 -2.83963429e-02 -9.35883155e-03 2.08538783e+02] [ 2.83926841e-02 9.99596709e-01 -5.23607032e-04 2.86497783e+00] [ 9.36992575e-03 2.57650596e-04 9.99956068e-01 3.94417580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:2.87, Z:0.40 [[ 9.99524470e-01 -2.93810693e-02 -9.35876315e-03 2.08567321e+02] [ 2.93774422e-02 9.99568252e-01 -5.24826736e-04 2.86947251e+00] [ 9.37014249e-03 2.49640642e-04 9.99956068e-01 3.96113445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:2.87, Z:0.40 [[ 9.99497911e-01 -3.02711291e-02 -9.35869483e-03 2.08594819e+02] [ 3.02675297e-02 9.99541695e-01 -5.26042246e-04 2.87253896e+00] [ 9.37032958e-03 2.42513553e-04 9.99956068e-01 3.97555095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:208.62, Y:2.87, Z:0.41 [[ 9.99476098e-01 -3.09830064e-02 -9.35859147e-03 2.08624550e+02] [ 3.09794209e-02 9.99519883e-01 -5.27874727e-04 2.87486827e+00] [ 9.37045339e-03 2.37674428e-04 9.99956068e-01 4.07485378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:2.88, Z:0.40 [[ 9.99556490e-01 -2.82706633e-02 -9.35907748e-03 2.08654053e+02] [ 2.82670394e-02 9.99600273e-01 -5.19281884e-04 2.87806673e+00] [ 9.37001685e-03 2.54498165e-04 9.99956068e-01 3.95381710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:2.88, Z:0.40 [[ 9.99576047e-01 -2.75707182e-02 -9.35852457e-03 2.08682669e+02] [ 2.75669722e-02 9.99619819e-01 -5.29062360e-04 2.88187012e+00] [ 9.36955326e-03 2.70851876e-04 9.99956068e-01 3.95584998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:2.89, Z:0.40 [[ 9.99618559e-01 -2.59837768e-02 -9.35845592e-03 2.08710794e+02] [ 2.59799500e-02 9.99662323e-01 -5.30273907e-04 2.88738699e+00] [ 9.36907431e-03 2.86939422e-04 9.99956068e-01 3.96587829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:2.90, Z:0.40 [[ 9.99714306e-01 -2.19937986e-02 -9.35838750e-03 2.08738775e+02] [ 2.19897859e-02 9.99758054e-01 -5.31478569e-04 2.89887236e+00] [ 9.36781251e-03 3.25537791e-04 9.99956068e-01 3.98605751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:208.77, Y:2.90, Z:0.41 [[ 9.99713678e-01 -2.20223530e-02 -9.35831870e-03 2.08766882e+02] [ 2.20183302e-02 9.99757425e-01 -5.32687332e-04 2.90353301e+00] [ 9.36777964e-03 3.26480260e-04 9.99956068e-01 4.08386507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:2.91, Z:0.40 [[ 9.99774095e-01 -1.90842358e-02 -9.35684270e-03 2.08796499e+02] [ 1.90798428e-02 9.99817807e-01 -5.58543159e-04 2.90732983e+00] [ 9.36579732e-03 3.79889894e-04 9.99956068e-01 3.98404276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:2.91, Z:0.40 [[ 9.99766115e-01 -1.94971533e-02 -9.35825271e-03 2.08824446e+02] [ 1.94930094e-02 9.99809851e-01 -5.33825046e-04 2.91153538e+00] [ 9.36688131e-03 3.51279685e-04 9.99956068e-01 3.97759843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:2.92, Z:0.40 [[ 9.99762049e-01 -1.97045901e-02 -9.35815063e-03 2.08853029e+02] [ 1.97004386e-02 9.99805784e-01 -5.35608529e-04 2.92026971e+00] [ 9.36688707e-03 3.51121408e-04 9.99956068e-01 3.97840143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:2.93, Z:0.40 [[ 9.99761301e-01 -1.97425503e-02 -9.35808220e-03 2.08880206e+02] [ 1.97383893e-02 9.99805035e-01 -5.36801421e-04 2.92629873e+00] [ 9.36685553e-03 3.51959818e-04 9.99956068e-01 3.97872289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.082320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:208.91, Y:2.93, Z:0.41 [[ 9.99725573e-01 -2.14757129e-02 -9.35796205e-03 2.08908228e+02] [ 2.14716083e-02 9.99769313e-01 -5.38887820e-04 2.93271976e+00] [ 9.36737630e-03 3.37809439e-04 9.99956068e-01 4.06629967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:2.95, Z:0.41 [[ 9.99753577e-01 -2.01310582e-02 -9.35551431e-03 2.08937169e+02] [ 2.01264992e-02 9.99797273e-01 -5.81211275e-04 2.94596192e+00] [ 9.36531809e-03 3.92774300e-04 9.99956067e-01 4.08791657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:2.95, Z:0.40 [[ 9.99785119e-01 -1.84972097e-02 -9.35779753e-03 2.08967187e+02] [ 1.84929474e-02 9.99828844e-01 -5.41812281e-04 2.95341893e+00] [ 9.36621790e-03 3.68642599e-04 9.99956068e-01 3.99264538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:209.00, Y:2.96, Z:0.40 [[ 9.99752857e-01 -2.01657236e-02 -9.35776667e-03 2.08995491e+02] [ 2.01615293e-02 9.99796589e-01 -5.42344780e-04 2.96006443e+00] [ 9.36679996e-03 3.53543857e-04 9.99956068e-01 3.99116781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:2.97, Z:0.40 [[ 9.99677553e-01 -2.36055725e-02 -9.35769738e-03 2.09024321e+02] [ 2.36015175e-02 9.99721298e-01 -5.43537623e-04 2.96806644e+00] [ 9.36791988e-03 3.22506502e-04 9.99956068e-01 3.98320223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:209.05, Y:2.97, Z:0.40 [[ 9.99619197e-01 -2.59594997e-02 -9.35762720e-03 2.09052627e+02] [ 2.59555365e-02 9.99662950e-01 -5.44743102e-04 2.97114337e+00] [ 9.36861447e-03 3.01653428e-04 9.99956068e-01 3.97337518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:2.98, Z:0.40 [[ 9.99555663e-01 -2.83004027e-02 -9.35752130e-03 2.09081532e+02] [ 2.82965250e-02 9.99599424e-01 -5.46556233e-04 2.97526816e+00] [ 9.36924066e-03 2.81528042e-04 9.99956068e-01 3.97668177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:2.99, Z:0.40 [[ 9.99409820e-01 -3.30522183e-02 -9.35744998e-03 2.09110150e+02] [ 3.30485373e-02 9.99453598e-01 -5.47774604e-04 2.98762779e+00] [ 9.37044221e-03 2.38201283e-04 9.99956068e-01 3.97229610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:2.99, Z:0.40 [[ 9.99371911e-01 -3.41792717e-02 -9.35737854e-03 2.09138203e+02] [ 3.41756286e-02 9.99415692e-01 -5.48992257e-04 2.99425651e+00] [ 9.37067510e-03 2.28853147e-04 9.99956068e-01 3.96602095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:3.00, Z:0.40 [[ 9.99338431e-01 -3.51445703e-02 -9.35730724e-03 2.09167007e+02] [ 3.51409582e-02 9.99382214e-01 -5.50204804e-04 2.99922179e+00] [ 9.37086315e-03 2.21016062e-04 9.99956068e-01 3.96649153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:3.01, Z:0.40 [[ 9.99298699e-01 -3.62567600e-02 -9.35723684e-03 2.09194978e+02] [ 3.62531855e-02 9.99342485e-01 -5.51399599e-04 3.00566648e+00] [ 9.37107628e-03 2.11783259e-04 9.99956068e-01 3.97606534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.412320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:209.22, Y:3.01, Z:0.41 [[ 9.99270977e-01 -3.70129418e-02 -9.35714772e-03 2.09224796e+02] [ 3.70093863e-02 9.99314765e-01 -5.52907723e-04 3.01072762e+00] [ 9.37120062e-03 2.06202346e-04 9.99956068e-01 4.10447165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:209.25, Y:3.01, Z:0.41 [[ 9.99258806e-01 -3.73393024e-02 -9.36024306e-03 2.09253035e+02] [ 3.73362521e-02 9.99302634e-01 -5.00468040e-04 3.01223441e+00] [ 9.37240267e-03 1.50620702e-04 9.99956067e-01 4.10704390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:209.28, Y:3.02, Z:0.40 [[ 9.99215480e-01 -3.84813489e-02 -9.36004840e-03 2.09281991e+02] [ 3.84783180e-02 9.99259308e-01 -5.03747190e-04 3.01697457e+00] [ 9.37250036e-03 1.43193071e-04 9.99956067e-01 3.97721130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:209.31, Y:3.02, Z:0.40 [[ 9.99178801e-01 -3.94229951e-02 -9.35682692e-03 2.09311784e+02] [ 3.94194995e-02 9.99222594e-01 -5.57787401e-04 3.02224146e+00] [ 9.37154251e-03 1.88487912e-04 9.99956068e-01 3.98611678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.532320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:209.34, Y:3.03, Z:0.40 [[ 9.99112936e-01 -4.10583993e-02 -9.35679136e-03 2.09341130e+02] [ 4.10549698e-02 9.99156733e-01 -5.58383271e-04 3.02784562e+00] [ 9.37182741e-03 1.73745162e-04 9.99956068e-01 3.99704774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:3.04, Z:0.40 [[ 9.98976926e-01 -4.42442356e-02 -9.35677346e-03 2.09370185e+02] [ 4.42409430e-02 9.99020734e-01 -5.58682971e-04 3.03801068e+00] [ 9.37232920e-03 1.44158915e-04 9.99956068e-01 3.98160601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.592320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:209.40, Y:3.04, Z:0.41 [[ 9.98894925e-01 -4.60584388e-02 -9.35673696e-03 2.09400535e+02] [ 4.60552201e-02 9.98938739e-01 -5.59293694e-04 3.04226222e+00] [ 9.37256721e-03 1.27749053e-04 9.99956068e-01 4.13178717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:3.05, Z:0.40 [[ 9.98753336e-01 -4.90330591e-02 -9.35591404e-03 2.09431462e+02] [ 4.90298414e-02 9.98797150e-01 -5.73110151e-04 3.04541498e+00] [ 9.37276162e-03 1.13676693e-04 9.99956068e-01 3.98101592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:3.05, Z:0.40 [[ 9.98648029e-01 -5.11327820e-02 -9.35696563e-03 2.09462195e+02] [ 5.11298224e-02 9.98691861e-01 -5.55393634e-04 3.04822172e+00] [ 9.37312423e-03 7.62227671e-05 9.99956068e-01 3.99348686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:3.05, Z:0.40 [[ 9.98538789e-01 -5.32234348e-02 -9.35698317e-03 2.09493188e+02] [ 5.32205698e-02 9.98582627e-01 -5.55097898e-04 3.05250052e+00] [ 9.37326505e-03 5.63028066e-05 9.99956068e-01 3.99978849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:209.52, Y:3.06, Z:0.41 [[ 9.98406279e-01 -5.56538311e-02 -9.35701840e-03 2.09524047e+02] [ 5.56510784e-02 9.98450124e-01 -5.54503390e-04 3.05633107e+00] [ 9.37337642e-03 3.28915019e-05 9.99956068e-01 4.12488487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:209.56, Y:3.06, Z:0.40 [[ 9.98153551e-01 -6.00162964e-02 -9.35591824e-03 2.09556050e+02] [ 6.00135603e-02 9.98197397e-01 -5.73173656e-04 3.05877286e+00] [ 9.37345300e-03 1.06333569e-05 9.99956068e-01 3.98573494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:3.06, Z:0.40 [[ 9.98065536e-01 -6.14624046e-02 -9.35730577e-03 2.09589145e+02] [ 6.14599535e-02 9.98109399e-01 -5.49547879e-04 3.06039799e+00] [ 9.37339137e-03 -2.66147792e-05 9.99956068e-01 3.98762044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:3.06, Z:0.40 [[ 9.97979296e-01 -6.28471204e-02 -9.35758150e-03 2.09622439e+02] [ 6.28447746e-02 9.98023165e-01 -5.44812026e-04 3.06248320e+00] [ 9.37332297e-03 -4.43639773e-05 9.99956068e-01 3.98843403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:3.06, Z:0.40 [[ 9.97907142e-01 -6.39825479e-02 -9.35785602e-03 2.09654456e+02] [ 6.39802966e-02 9.97951016e-01 -5.40055145e-04 3.06405642e+00] [ 9.37323603e-03 -5.97935174e-05 9.99956068e-01 4.00365266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:3.07, Z:0.40 [[ 9.97923928e-01 -6.37201763e-02 -9.35808936e-03 2.09687518e+02] [ 6.37179517e-02 9.97967803e-01 -5.35981132e-04 3.06573349e+00] [ 9.37322469e-03 -6.14098895e-05 9.99956068e-01 4.00646698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:3.07, Z:0.40 [[ 9.97890654e-01 -6.42391125e-02 -9.35835317e-03 2.09719680e+02] [ 6.42369543e-02 9.97934533e-01 -5.31334711e-04 3.06728702e+00] [ 9.37315627e-03 -7.09381619e-05 9.99956068e-01 4.00831161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:3.07, Z:0.40 [[ 9.97918029e-01 -6.38124204e-02 -9.35858316e-03 2.09752380e+02] [ 6.38102816e-02 9.97961908e-01 -5.27252391e-04 3.06931030e+00] [ 9.37315476e-03 -7.10191607e-05 9.99956068e-01 4.00300741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:3.07, Z:0.40 [[ 9.97970893e-01 -6.29802178e-02 -9.35884347e-03 2.09784789e+02] [ 6.29780862e-02 9.98014773e-01 -5.22590638e-04 3.07114174e+00] [ 9.37317692e-03 -6.78718043e-05 9.99956069e-01 4.00251050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:3.07, Z:0.40 [[ 9.97986175e-01 -6.27375638e-02 -9.35906632e-03 2.09816770e+02] [ 6.27354592e-02 9.98030056e-01 -5.18568780e-04 3.07294890e+00] [ 9.37316322e-03 -6.96208496e-05 9.99956069e-01 4.00087052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:3.07, Z:0.40 [[ 9.98016885e-01 -6.22470909e-02 -9.35928916e-03 2.09848451e+02] [ 6.22450028e-02 9.98060767e-01 -5.14515099e-04 3.07485672e+00] [ 9.37316639e-03 -6.90742229e-05 9.99956069e-01 4.00893278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:3.08, Z:0.41 [[ 9.97958868e-01 -6.31703813e-02 -9.35949477e-03 2.09878615e+02] [ 6.31683691e-02 9.98002754e-01 -5.10747324e-04 3.07722186e+00] [ 9.37306566e-03 -8.15191988e-05 9.99956069e-01 4.12867393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:3.08, Z:0.40 [[ 9.98053254e-01 -6.16615408e-02 -9.35714140e-03 2.09911689e+02] [ 6.16590561e-02 9.98097116e-01 -5.54060484e-04 3.07927011e+00] [ 9.37350007e-03 -2.39706378e-05 9.99956067e-01 4.01850780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:3.08, Z:0.40 [[ 9.98188817e-01 -5.94262664e-02 -9.35976774e-03 2.09943972e+02] [ 5.94241395e-02 9.98232696e-01 -5.05424471e-04 3.08259086e+00] [ 9.37326167e-03 -5.16870888e-05 9.99956069e-01 4.01393936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:3.09, Z:0.40 [[ 9.98251556e-01 -5.83628369e-02 -9.35998608e-03 2.09976818e+02] [ 5.83607015e-02 9.98295436e-01 -5.01348029e-04 3.08686498e+00] [ 9.37329148e-03 -4.57839029e-05 9.99956069e-01 4.01521372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:3.09, Z:0.40 [[ 9.98311495e-01 -5.73283915e-02 -9.36023644e-03 2.10008688e+02] [ 5.73262549e-02 9.98355375e-01 -4.96629472e-04 3.09034394e+00] [ 9.37331332e-03 -4.07963886e-05 9.99956069e-01 4.00869493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:210.04, Y:3.09, Z:0.41 [[ 9.98141960e-01 -6.02080540e-02 -9.36045087e-03 2.10037253e+02] [ 6.02060822e-02 9.98185847e-01 -4.92554431e-04 3.08960183e+00] [ 9.37312532e-03 -7.19168287e-05 9.99956069e-01 4.13134484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:210.07, Y:3.09, Z:0.41 [[ 9.98169419e-01 -5.97521080e-02 -9.35396223e-03 2.10068324e+02] [ 5.97489541e-02 9.98213245e-01 -6.16502098e-04 3.09081752e+00] [ 9.37408629e-03 5.64840807e-05 9.99956061e-01 4.14230074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:3.09, Z:0.40 [[ 9.98397431e-01 -5.58130418e-02 -9.35280245e-03 2.10102548e+02] [ 5.58095043e-02 9.98441231e-01 -6.38996451e-04 3.09466399e+00] [ 9.37388792e-03 1.15997146e-04 9.99956057e-01 3.98713322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:3.10, Z:0.42 [[ 9.98251730e-01 -5.83597038e-02 -9.36105306e-03 2.10130820e+02] [ 5.83577953e-02 9.98295618e-01 -4.77123890e-04 3.09995683e+00] [ 9.37294306e-03 -7.00006703e-05 9.99956071e-01 4.16235108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:3.11, Z:0.40 [[ 9.98427828e-01 -5.52661424e-02 -9.35556006e-03 2.10164273e+02] [ 5.52630914e-02 9.98471657e-01 -5.84515045e-04 3.10652441e+00] [ 9.37356545e-03 6.65789164e-05 9.99956065e-01 4.01412186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:3.11, Z:0.40 [[ 9.98479613e-01 -5.43215490e-02 -9.36113050e-03 2.10196985e+02] [ 5.43194862e-02 9.98523494e-01 -4.74656567e-04 3.10732333e+00] [ 9.37309281e-03 -3.45568939e-05 9.99956071e-01 4.01142716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:3.11, Z:0.40 [[ 9.98542061e-01 -5.31612487e-02 -9.36133504e-03 2.10229565e+02] [ 5.31591731e-02 9.98585941e-01 -4.70587606e-04 3.10872578e+00] [ 9.37311458e-03 -2.77393120e-05 9.99956071e-01 4.00643362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:3.11, Z:0.40 [[ 9.98607306e-01 -5.19211990e-02 -9.36153870e-03 2.10262192e+02] [ 5.19191072e-02 9.98651185e-01 -4.66500775e-04 3.11110870e+00] [ 9.37313299e-03 -2.01916496e-05 9.99956071e-01 4.01044086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:3.12, Z:0.40 [[ 9.98595179e-01 -5.21538630e-02 -9.36173993e-03 2.10293910e+02] [ 5.21518196e-02 9.98639061e-01 -4.62426775e-04 3.11705147e+00] [ 9.37311652e-03 -2.64546238e-05 9.99956071e-01 4.03250790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:3.12, Z:0.40 [[ 9.98607145e-01 -5.19242181e-02 -9.36194002e-03 2.10326151e+02] [ 5.19222029e-02 9.98651028e-01 -4.58339769e-04 3.12087656e+00] [ 9.37310996e-03 -2.83911821e-05 9.99956071e-01 4.04609215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:3.12, Z:0.40 [[ 9.98532355e-01 -5.33431060e-02 -9.36213872e-03 2.10358153e+02] [ 5.33411915e-02 9.98576242e-01 -4.54244535e-04 3.12434378e+00] [ 9.37304012e-03 -4.58097693e-05 9.99956071e-01 4.03039132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:3.13, Z:0.40 [[ 9.98498079e-01 -5.39808496e-02 -9.36233516e-03 2.10390120e+02] [ 5.39790015e-02 9.98541969e-01 -4.50158968e-04 3.12635693e+00] [ 9.37298456e-03 -5.58866387e-05 9.99956071e-01 4.03019905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:3.13, Z:0.40 [[ 9.98475145e-01 -5.44033898e-02 -9.36252982e-03 2.10423121e+02] [ 5.44015986e-02 9.98519037e-01 -4.46073316e-04 3.12819208e+00] [ 9.37293216e-03 -6.39434703e-05 9.99956071e-01 4.03144246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:3.13, Z:0.40 [[ 9.98478498e-01 -5.43417721e-02 -9.36274993e-03 2.10456361e+02] [ 5.43400219e-02 9.98522392e-01 -4.41404599e-04 3.13008555e+00] [ 9.37290216e-03 -6.80390361e-05 9.99956071e-01 4.04297237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:210.49, Y:3.13, Z:0.41 [[ 9.98363368e-01 -5.64173762e-02 -9.36296618e-03 2.10488872e+02] [ 5.64157608e-02 9.98407267e-01 -4.36768884e-04 3.13330831e+00] [ 9.37269483e-03 -9.21648057e-05 9.99956071e-01 4.06440123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:210.52, Y:3.14, Z:0.41 [[ 9.98387819e-01 -5.59829822e-02 -9.36318093e-03 2.10522222e+02] [ 5.59813913e-02 9.98431719e-01 -4.32115639e-04 3.13661616e+00] [ 9.37268795e-03 -9.27449048e-05 9.99956071e-01 4.06192887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:3.14, Z:0.40 [[ 9.98298525e-01 -5.75532935e-02 -9.36339344e-03 2.10555469e+02] [ 5.75518154e-02 9.98342429e-01 -4.27460669e-04 3.14001322e+00] [ 9.37247472e-03 -1.12146935e-04 9.99956071e-01 4.03664909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:3.14, Z:0.40 [[ 9.98251170e-01 -5.83688704e-02 -9.36360314e-03 2.10587463e+02] [ 5.83674716e-02 9.98295076e-01 -4.22816618e-04 3.14030307e+00] [ 9.37231824e-03 -1.24452657e-04 9.99956071e-01 4.02858646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:3.14, Z:0.40 [[ 9.98137998e-01 -6.02731833e-02 -9.36378091e-03 2.10620758e+02] [ 6.02719055e-02 9.98181908e-01 -4.18842417e-04 3.13912199e+00] [ 9.37200166e-03 -1.46310387e-04 9.99956071e-01 4.04776137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:210.65, Y:3.14, Z:0.41 [[ 9.97983087e-01 -6.27859414e-02 -9.36398370e-03 2.10654036e+02] [ 6.27848173e-02 9.98027001e-01 -4.14258402e-04 3.13781473e+00] [ 9.37151818e-03 -1.74493127e-04 9.99956071e-01 4.05520836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:3.13, Z:0.41 [[ 9.97612124e-01 -6.84277814e-02 -9.36418574e-03 2.10686202e+02] [ 6.84269489e-02 9.97656045e-01 -4.09639931e-04 3.13431129e+00] [ 9.37026726e-03 -2.32100897e-04 9.99956071e-01 4.07384115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:3.13, Z:0.41 [[ 9.97527469e-01 -6.96509730e-02 -9.36435745e-03 2.10719252e+02] [ 6.96502315e-02 9.97571391e-01 -4.05676186e-04 3.13375948e+00] [ 9.36987084e-03 -2.47556525e-04 9.99956071e-01 4.07758565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:3.13, Z:0.41 [[ 9.97561396e-01 -6.91633353e-02 -9.36455147e-03 2.10751683e+02] [ 6.91626149e-02 9.97605319e-01 -4.01147003e-04 3.13289913e+00] [ 9.36987102e-03 -2.47508102e-04 9.99956071e-01 4.07403720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:210.78, Y:3.13, Z:0.42 [[ 9.97715440e-01 -6.69044258e-02 -9.36471738e-03 2.10782385e+02] [ 6.69036426e-02 9.97759362e-01 -3.97235814e-04 3.12923027e+00] [ 9.37031127e-03 -2.30205399e-04 9.99956071e-01 4.20560095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:3.13, Z:0.41 [[ 9.97727862e-01 -6.67189446e-02 -9.36461795e-03 2.10814866e+02] [ 6.67181312e-02 9.97771783e-01 -3.99582814e-04 3.12973156e+00] [ 9.37041129e-03 -2.26114902e-04 9.99956071e-01 4.07680024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:210.85, Y:3.13, Z:0.42 [[ 9.97922664e-01 -6.37389580e-02 -9.36489588e-03 2.10846163e+02] [ 6.37380756e-02 9.97966584e-01 -3.92959253e-04 3.12856563e+00] [ 9.37089997e-03 -2.04757496e-04 9.99956071e-01 4.22985529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.972320588 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:210.88, Y:3.12, Z:0.42 [[ 9.97920872e-01 -6.37671850e-02 -9.36368205e-03 2.10875112e+02] [ 6.37660315e-02 9.97964787e-01 -4.21988439e-04 3.12478021e+00] [ 9.37153397e-03 -1.75973773e-04 9.99956071e-01 4.21663139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.002320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:210.91, Y:3.13, Z:0.41 [[ 9.98225371e-01 -5.88090256e-02 -9.35987464e-03 2.10908809e+02] [ 5.88067996e-02 9.98269251e-01 -5.13100455e-04 3.12562791e+00] [ 9.37384998e-03 -3.82343803e-05 9.99956064e-01 4.09761927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.032320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:210.94, Y:3.13, Z:0.41 [[ 9.98337989e-01 -5.68643480e-02 -9.36511371e-03 2.10940594e+02] [ 5.68632285e-02 9.98381903e-01 -3.85988357e-04 3.12677611e+00] [ 9.37190903e-03 -1.47183761e-04 9.99956072e-01 4.08934602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:3.13, Z:0.41 [[ 9.98493366e-01 -5.40674627e-02 -9.36527972e-03 2.10972291e+02] [ 5.40662583e-02 9.98537277e-01 -3.81917681e-04 3.12808661e+00] [ 9.37223023e-03 -1.25003361e-04 9.99956072e-01 4.09184221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:3.13, Z:0.41 [[ 9.98551077e-01 -5.29909197e-02 -9.36530313e-03 2.11003149e+02] [ 5.29896733e-02 9.98594988e-01 -3.81342617e-04 3.12857030e+00] [ 9.37235246e-03 -1.15474272e-04 9.99956072e-01 4.10264148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:3.13, Z:0.41 [[ 9.98564214e-01 -5.27427885e-02 -9.36532661e-03 2.11034168e+02] [ 5.27415367e-02 9.98608124e-01 -3.80765262e-04 3.12870608e+00] [ 9.37237385e-03 -1.13723153e-04 9.99956072e-01 4.11214383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:211.07, Y:3.13, Z:0.41 [[ 9.98596312e-01 -5.21315327e-02 -9.36534993e-03 2.11065050e+02] [ 5.21302594e-02 9.98640221e-01 -3.80190711e-04 3.12670600e+00] [ 9.37243505e-03 -1.08561079e-04 9.99956072e-01 4.10441594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:211.10, Y:3.13, Z:0.41 [[ 9.98553295e-01 -5.29490990e-02 -9.36534993e-03 2.11095244e+02] [ 5.29478616e-02 9.98597206e-01 -3.80190711e-04 3.12523351e+00] [ 9.37234303e-03 -1.16234565e-04 9.99956072e-01 4.09828901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:211.13, Y:3.12, Z:0.41 [[ 9.98555189e-01 -5.29133626e-02 -9.36534993e-03 2.11125716e+02] [ 5.29121236e-02 9.98599100e-01 -3.80190711e-04 3.12406696e+00] [ 9.37234718e-03 -1.15899146e-04 9.99956072e-01 4.10972637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:3.12, Z:0.41 [[ 9.98527279e-01 -5.34374682e-02 -9.36534993e-03 2.11156119e+02] [ 5.34362523e-02 9.98571190e-01 -3.80190711e-04 3.12269419e+00] [ 9.37228506e-03 -1.20818406e-04 9.99956072e-01 4.12140409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:3.12, Z:0.41 [[ 9.98466919e-01 -5.45536625e-02 -9.36534993e-03 2.11186412e+02] [ 5.45524957e-02 9.98510832e-01 -3.80190711e-04 3.11844401e+00] [ 9.37214414e-03 -1.31295364e-04 9.99956072e-01 4.13820850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.302320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:211.22, Y:3.12, Z:0.42 [[ 9.98418456e-01 -5.54335442e-02 -9.36534993e-03 2.11216748e+02] [ 5.54324160e-02 9.98462369e-01 -3.80190711e-04 3.11527264e+00] [ 9.37202480e-03 -1.39554551e-04 9.99956072e-01 4.15272435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.332320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:211.25, Y:3.11, Z:0.41 [[ 9.98368180e-01 -5.63317620e-02 -9.36534993e-03 2.11247295e+02] [ 5.63306734e-02 9.98412095e-01 -3.80190711e-04 3.10858268e+00] [ 9.37189545e-03 -1.47986160e-04 9.99956072e-01 4.14030904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.362320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:211.28, Y:3.11, Z:0.41 [[ 9.98368180e-01 -5.63317620e-02 -9.36534993e-03 2.11278263e+02] [ 5.63306734e-02 9.98412095e-01 -3.80190711e-04 3.10983984e+00] [ 9.37189545e-03 -1.47986160e-04 9.99956072e-01 4.14321422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:3.11, Z:0.41 [[ 9.98391866e-01 -5.59103952e-02 -9.36534993e-03 2.11308550e+02] [ 5.59092881e-02 9.98435780e-01 -3.80190711e-04 3.10902937e+00] [ 9.37195708e-03 -1.44030734e-04 9.99956072e-01 4.13803003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:3.11, Z:0.41 [[ 9.98420933e-01 -5.53889037e-02 -9.36534993e-03 2.11338102e+02] [ 5.53877736e-02 9.98464847e-01 -3.80190711e-04 3.10867941e+00] [ 9.37203103e-03 -1.39135517e-04 9.99956072e-01 4.14555715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:211.37, Y:3.10, Z:0.41 [[ 9.98489774e-01 -5.41337391e-02 -9.36532637e-03 2.11368207e+02] [ 5.41325484e-02 9.98533686e-01 -3.80770107e-04 3.10332310e+00] [ 9.37220637e-03 -1.26773925e-04 9.99956072e-01 4.14084804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.482320588 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:211.40, Y:3.10, Z:0.43 [[ 9.98537151e-01 -5.32526989e-02 -9.36530267e-03 2.11397237e+02] [ 5.32514639e-02 9.98581061e-01 -3.81352252e-04 3.10022806e+00] [ 9.37232192e-03 -1.17921686e-04 9.99956072e-01 4.26593655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.512320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:211.43, Y:3.10, Z:0.42 [[ 9.98563920e-01 -5.27486509e-02 -9.36366229e-03 2.11427912e+02] [ 5.27470151e-02 9.98607818e-01 -4.21742997e-04 3.09867777e+00] [ 9.37287274e-03 -7.27678961e-05 9.99956071e-01 4.16406337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.542320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:211.46, Y:3.10, Z:0.42 [[ 9.98701928e-01 -5.00674354e-02 -9.36542445e-03 2.11457818e+02] [ 5.00660909e-02 9.98745835e-01 -3.78094457e-04 3.09610277e+00] [ 9.37260888e-03 -9.12865292e-05 9.99956072e-01 4.15959910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:211.49, Y:3.09, Z:0.42 [[ 9.98775395e-01 -4.85798266e-02 -9.36540070e-03 2.11486242e+02] [ 4.85784112e-02 9.98819300e-01 -3.78681756e-04 3.09499694e+00] [ 9.37273927e-03 -7.67382656e-05 9.99956072e-01 4.15869639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:211.52, Y:3.09, Z:0.42 [[ 9.98836982e-01 -4.72966468e-02 -9.36535247e-03 2.11515223e+02] [ 4.72951639e-02 9.98880885e-01 -3.79870893e-04 3.09368327e+00] [ 9.37283818e-03 -6.35067833e-05 9.99956072e-01 4.16487335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:3.09, Z:0.42 [[ 9.98972469e-01 -4.43429514e-02 -9.36530406e-03 2.11544052e+02] [ 4.43413275e-02 9.99016367e-01 -3.81060699e-04 3.09386729e+00] [ 9.37298939e-03 -3.46008675e-05 9.99956072e-01 4.18998927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:3.10, Z:0.42 [[ 9.99078912e-01 -4.18762416e-02 -9.36525548e-03 2.11572751e+02] [ 4.18744982e-02 9.99122805e-01 -3.82250714e-04 3.09618138e+00] [ 9.37304756e-03 -1.02667463e-05 9.99956072e-01 4.18958933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.692320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:211.60, Y:3.10, Z:0.42 [[ 9.99168240e-01 -3.96877981e-02 -9.36520640e-03 2.11601856e+02] [ 3.96859473e-02 9.99212129e-01 -3.83449450e-04 3.09680019e+00] [ 9.37304609e-03 1.14634244e-05 9.99956072e-01 4.19531800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:211.63, Y:3.10, Z:0.42 [[ 9.99255766e-01 -3.74193505e-02 -9.36515696e-03 2.11630633e+02] [ 3.74173888e-02 9.99299650e-01 -3.84653157e-04 3.09618802e+00] [ 9.37299155e-03 3.39471661e-05 9.99956072e-01 4.19152722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.752320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:211.66, Y:3.09, Z:0.43 [[ 9.99350127e-01 -3.48083119e-02 -9.36510717e-03 2.11659890e+02] [ 3.48062242e-02 9.99394005e-01 -3.85861656e-04 3.09404172e+00] [ 9.37286316e-03 5.96468746e-05 9.99956072e-01 4.31017362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782320588 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:211.69, Y:3.09, Z:0.43 [[ 9.99345892e-01 -3.49295947e-02 -9.36542925e-03 2.11689010e+02] [ 3.49275853e-02 9.99389774e-01 -3.78079749e-04 3.09470507e+00] [ 9.37292040e-03 5.07206157e-05 9.99956072e-01 4.31786970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:3.09, Z:0.42 [[ 9.99356581e-01 -3.46224509e-02 -9.36540553e-03 2.11717790e+02] [ 3.46204227e-02 9.99400462e-01 -3.78650393e-04 3.09468865e+00] [ 9.37290041e-03 5.41724638e-05 9.99956072e-01 4.20610025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:211.75, Y:3.09, Z:0.42 [[ 9.99302806e-01 -3.61413688e-02 -9.36495740e-03 2.11747249e+02] [ 3.61393063e-02 9.99346686e-01 -3.89427098e-04 3.09189086e+00] [ 9.37291357e-03 5.07125286e-05 9.99956072e-01 4.20244148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.872320588 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:211.78, Y:3.09, Z:0.43 [[ 9.99328775e-01 -3.54160647e-02 -9.36491931e-03 2.11776606e+02] [ 3.54139618e-02 9.99372653e-01 -3.90340855e-04 3.09190878e+00] [ 9.37286859e-03 5.84299542e-05 9.99956072e-01 4.32379462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902320588 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:211.81, Y:3.09, Z:0.42 [[ 9.99282430e-01 -3.66999995e-02 -9.36673778e-03 2.11805892e+02] [ 3.66983596e-02 9.99326328e-01 -3.46945887e-04 3.09293297e+00] [ 9.37316059e-03 2.95301728e-06 9.99956071e-01 4.21716939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93232058799998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:211.83, Y:3.09, Z:0.42 [[ 9.99287038e-01 -3.65748186e-02 -9.36469007e-03 2.11834488e+02] [ 3.65727187e-02 9.99330916e-01 -3.95439450e-04 3.09434522e+00] [ 9.37288744e-03 5.26653411e-05 9.99956072e-01 4.21831077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:211.86, Y:3.09, Z:0.43 [[ 9.99215858e-01 -3.84704237e-02 -9.36463864e-03 2.11864172e+02] [ 3.84683957e-02 9.99259739e-01 -3.96653874e-04 3.09353676e+00] [ 9.37296580e-03 3.61002168e-05 9.99956072e-01 4.34864448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:211.89, Y:3.09, Z:0.42 [[ 9.99283482e-01 -3.66716499e-02 -9.36549200e-03 2.11893546e+02] [ 3.66697318e-02 9.99327368e-01 -3.76499614e-04 3.09388364e+00] [ 9.37299933e-03 3.27997647e-05 9.99956072e-01 4.21772104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:211.92, Y:3.09, Z:0.42 [[ 9.99311059e-01 -3.59125684e-02 -9.36455027e-03 2.11922483e+02] [ 3.59104097e-02 9.99354934e-01 -3.98622966e-04 3.09452359e+00] [ 9.37282509e-03 6.20635011e-05 9.99956072e-01 4.21881660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:211.95, Y:3.10, Z:0.42 [[ 9.99285145e-01 -3.66265527e-02 -9.36449898e-03 2.11951017e+02] [ 3.66244141e-02 9.99329021e-01 -3.99824329e-04 3.09619193e+00] [ 9.37285978e-03 5.65692247e-05 9.99956072e-01 4.22219633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:3.10, Z:0.42 [[ 9.99300615e-01 -3.62020315e-02 -9.36444684e-03 2.11979830e+02] [ 3.61998628e-02 9.99344490e-01 -4.01041744e-04 3.09752465e+00] [ 9.37282688e-03 6.17695701e-05 9.99956072e-01 4.21719344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.112320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:212.01, Y:3.10, Z:0.43 [[ 9.99392252e-01 -3.35773005e-02 -9.36439477e-03 2.12012367e+02] [ 3.35750052e-02 9.99436120e-01 -4.02254060e-04 3.09658542e+00] [ 9.37262097e-03 8.75999874e-05 9.99956072e-01 4.32688966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.04, Y:3.10, Z:0.42 [[ 9.99309340e-01 -3.59590635e-02 -9.36957167e-03 2.12039658e+02] [ 3.59580057e-02 9.99353262e-01 -2.81388587e-04 3.09689706e+00] [ 9.37363048e-03 -5.57168679e-05 9.99956065e-01 4.20500144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:3.10, Z:0.42 [[ 9.99297038e-01 -3.63007116e-02 -9.36423100e-03 2.12068171e+02] [ 3.62985110e-02 9.99340910e-01 -4.04903990e-04 3.09828119e+00] [ 9.37275743e-03 6.47117151e-05 9.99956073e-01 4.21091067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:3.10, Z:0.42 [[ 9.99324157e-01 -3.55463405e-02 -9.36417817e-03 2.12096468e+02] [ 3.55440954e-02 9.99368026e-01 -4.06122302e-04 3.10028950e+00] [ 9.37269641e-03 7.30065855e-05 9.99956073e-01 4.21515263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.13, Y:3.10, Z:0.43 [[ 9.99412313e-01 -3.29748567e-02 -9.36412530e-03 2.12129273e+02] [ 3.29724874e-02 9.99456177e-01 -4.07337588e-04 3.10154470e+00] [ 9.37246477e-03 9.83396983e-05 9.99956073e-01 4.33174727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:3.10, Z:0.42 [[ 9.99318471e-01 -3.57042732e-02 -9.37003776e-03 2.12156032e+02] [ 3.57033044e-02 9.99362397e-01 -2.70708583e-04 3.10248432e+00] [ 9.37372885e-03 -6.40172227e-05 9.99956064e-01 4.20978200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.18, Y:3.10, Z:0.42 [[ 9.99318505e-01 -3.57049423e-02 -9.36387365e-03 2.12184412e+02] [ 3.57026574e-02 9.99362372e-01 -4.11110722e-04 3.10463075e+00] [ 9.37258167e-03 7.65153795e-05 9.99956073e-01 4.20880601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:3.11, Z:0.42 [[ 9.99310690e-01 -3.59230300e-02 -9.36382027e-03 2.12213141e+02] [ 3.59207434e-02 9.99354557e-01 -4.12322964e-04 3.10717990e+00] [ 9.37258834e-03 7.56833608e-05 9.99956073e-01 4.21364278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:3.11, Z:0.42 [[ 9.99299425e-01 -3.62350485e-02 -9.36376641e-03 2.12241530e+02] [ 3.62327641e-02 9.99343292e-01 -4.13542384e-04 3.10780795e+00] [ 9.37260188e-03 7.39775262e-05 9.99956073e-01 4.22353049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:3.11, Z:0.42 [[ 9.99171398e-01 -3.96085746e-02 -9.36371280e-03 2.12270777e+02] [ 3.96064270e-02 9.99215272e-01 -4.14752765e-04 3.10759025e+00] [ 9.37279260e-03 4.35458924e-05 9.99956073e-01 4.21460585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.30, Y:3.11, Z:0.42 [[ 9.99113079e-01 -4.10533394e-02 -9.36365868e-03 2.12299166e+02] [ 4.10512438e-02 9.99156956e-01 -4.15971010e-04 3.10750860e+00] [ 9.37284170e-03 3.12122406e-05 9.99956073e-01 4.21489733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.33, Y:3.11, Z:0.42 [[ 9.99079130e-01 -4.18714115e-02 -9.36360412e-03 2.12328501e+02] [ 4.18693404e-02 9.99123008e-01 -4.17195560e-04 3.10736076e+00] [ 9.37286088e-03 2.47634488e-05 9.99956073e-01 4.21890233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.36, Y:3.11, Z:0.42 [[ 9.99056673e-01 -4.24038561e-02 -9.36356340e-03 2.12357797e+02] [ 4.24017998e-02 9.99100552e-01 -4.18107618e-04 3.10741141e+00] [ 9.37287073e-03 2.06812654e-05 9.99956073e-01 4.22970039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:3.11, Z:0.42 [[ 9.99059133e-01 -4.23458844e-02 -9.36348218e-03 2.12386428e+02] [ 4.23438086e-02 9.99103010e-01 -4.19918560e-04 3.10908484e+00] [ 9.37286506e-03 2.30379755e-05 9.99956073e-01 4.23140778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:3.11, Z:0.42 [[ 9.99089988e-01 -4.16115555e-02 -9.36342735e-03 2.12415262e+02] [ 4.16094360e-02 9.99133864e-01 -4.21137709e-04 3.11030288e+00] [ 9.37284154e-03 3.11475380e-05 9.99956073e-01 4.23081309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:3.11, Z:0.42 [[ 9.99237938e-01 -3.78928739e-02 -9.36337290e-03 2.12444420e+02] [ 3.78905798e-02 9.99281805e-01 -4.22344844e-04 3.11007867e+00] [ 9.37265203e-03 6.72393631e-05 9.99956073e-01 4.23268912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:3.11, Z:0.44 [[ 9.99316776e-01 -3.57534654e-02 -9.36331802e-03 2.12475080e+02] [ 3.57510661e-02 9.99360637e-01 -4.23557945e-04 3.11180134e+00] [ 9.37247513e-03 8.85199587e-05 9.99956073e-01 4.35208883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:3.11, Z:0.44 [[ 9.99389403e-01 -3.36620061e-02 -9.36432542e-03 2.12506147e+02] [ 3.36597241e-02 9.99433270e-01 -4.01225643e-04 3.11403168e+00] [ 9.37252444e-03 8.57800455e-05 9.99956073e-01 4.37079184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:3.12, Z:0.42 [[ 9.99411074e-01 -3.30116485e-02 -9.36671031e-03 2.12534212e+02] [ 3.30098317e-02 9.99454966e-01 -3.48538334e-04 3.11622013e+00] [ 9.37311096e-03 3.91395403e-05 9.99956071e-01 4.23526624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:3.12, Z:0.42 [[ 9.99471427e-01 -3.11319551e-02 -9.36307188e-03 2.12563215e+02] [ 3.11293103e-02 9.99515274e-01 -4.28113415e-04 3.11825129e+00] [ 9.37186136e-03 1.36421156e-04 9.99956074e-01 4.22081133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:3.12, Z:0.42 [[ 9.99508018e-01 -2.99341790e-02 -9.36301652e-03 2.12591856e+02] [ 2.99314703e-02 9.99551861e-01 -4.29320725e-04 3.12050709e+00] [ 9.37167195e-03 1.48860656e-04 9.99956074e-01 4.23037680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:3.12, Z:0.42 [[ 9.99537346e-01 -2.89383729e-02 -9.36296046e-03 2.12621051e+02] [ 2.89356091e-02 9.99581185e-01 -4.30539814e-04 3.12358687e+00] [ 9.37149824e-03 1.59417658e-04 9.99956074e-01 4.23170594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.65, Y:3.13, Z:0.43 [[ 9.99654051e-01 -2.45787343e-02 -9.36290443e-03 2.12649324e+02] [ 2.45757680e-02 9.99697877e-01 -4.31754941e-04 3.13053871e+00] [ 9.37068767e-03 2.01505009e-04 9.99956074e-01 4.25844619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.68, Y:3.13, Z:0.43 [[ 9.99709177e-01 -2.22238298e-02 -9.36284866e-03 2.12677630e+02] [ 2.22207490e-02 9.99752995e-01 -4.32961092e-04 3.13414845e+00] [ 9.37015804e-03 2.24785667e-04 9.99956074e-01 4.26104762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.71, Y:3.14, Z:0.43 [[ 9.99739019e-01 -2.08382466e-02 -9.36279226e-03 2.12706412e+02] [ 2.08350936e-02 9.99782832e-01 -4.34177135e-04 3.13743168e+00] [ 9.36980645e-03 2.38989169e-04 9.99956074e-01 4.26300483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.73, Y:3.14, Z:0.43 [[ 9.99791560e-01 -1.81432074e-02 -9.36273505e-03 2.12734854e+02] [ 1.81399248e-02 9.99835363e-01 -4.35407489e-04 3.14452925e+00] [ 9.36909329e-03 2.65477422e-04 9.99956074e-01 4.26197224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.892320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.76, Y:3.15, Z:0.44 [[ 9.99770347e-01 -1.92767772e-02 -9.36267862e-03 2.12763443e+02] [ 1.92735330e-02 9.99814153e-01 -4.36617513e-04 3.14858879e+00] [ 9.36935517e-03 2.56065347e-04 9.99956074e-01 4.36642864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.79, Y:3.15, Z:0.43 [[ 9.99796620e-01 -1.78633510e-02 -9.36056851e-03 2.12794360e+02] [ 1.78596229e-02 9.99840388e-01 -4.81719499e-04 3.15260834e+00] [ 9.36767957e-03 3.14445302e-04 9.99956073e-01 4.25549711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:3.16, Z:0.43 [[ 9.99720459e-01 -2.17104412e-02 -9.36270418e-03 2.12823392e+02] [ 2.17073109e-02 9.99764274e-01 -4.35841380e-04 3.15814017e+00] [ 9.36995945e-03 2.32480414e-04 9.99956074e-01 4.26647578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:3.16, Z:0.43 [[ 9.99650302e-01 -2.47308318e-02 -9.36264727e-03 2.12851613e+02] [ 2.47278224e-02 9.99694125e-01 -4.37060427e-04 3.16099878e+00] [ 9.37059234e-03 2.05389709e-04 9.99956074e-01 4.27271975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:3.16, Z:0.43 [[ 9.99584271e-01 -2.72695197e-02 -9.36257148e-03 2.12880153e+02] [ 2.72666065e-02 9.99628101e-01 -4.38678034e-04 3.16316414e+00] [ 9.37105209e-03 1.83210110e-04 9.99956074e-01 4.28675446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.91, Y:3.17, Z:0.43 [[ 9.99483575e-01 -3.07396687e-02 -9.36251491e-03 2.12908868e+02] [ 3.07368964e-02 9.99527413e-01 -4.39882093e-04 3.16531905e+00] [ 9.37161214e-03 1.51880276e-04 9.99956074e-01 4.27406513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.94, Y:3.17, Z:0.43 [[ 9.99425941e-01 -3.25596865e-02 -9.36245718e-03 2.12937424e+02] [ 3.25569826e-02 9.99469784e-01 -4.41107438e-04 3.16775124e+00] [ 9.37185537e-03 1.36040860e-04 9.99956074e-01 4.27871445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.97, Y:3.17, Z:0.43 [[ 9.99358219e-01 -3.45759507e-02 -9.36240020e-03 2.12966214e+02] [ 3.45733240e-02 9.99402066e-01 -4.42313531e-04 3.17029566e+00] [ 9.37209551e-03 1.18340367e-04 9.99956074e-01 4.27846020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.00, Y:3.17, Z:0.43 [[ 9.99231640e-01 -3.80588505e-02 -9.36234306e-03 2.12995215e+02] [ 3.80563653e-02 9.99275496e-01 -4.43519617e-04 3.17197160e+00] [ 9.37243985e-03 8.68820863e-05 9.99956074e-01 4.29368604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.02, Y:3.17, Z:0.43 [[ 9.99146472e-01 -4.02327546e-02 -9.36228559e-03 2.13024416e+02] [ 4.02303535e-02 9.99190333e-01 -4.44729591e-04 3.17191699e+00] [ 9.37259795e-03 6.77019430e-05 9.99956074e-01 4.29233875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.05, Y:3.17, Z:0.44 [[ 9.99074959e-01 -4.19711248e-02 -9.36222800e-03 2.13054160e+02] [ 4.19687887e-02 9.99118823e-01 -4.45938637e-04 3.17264304e+00] [ 9.37269476e-03 5.26047566e-05 9.99956074e-01 4.37976241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.08, Y:3.17, Z:0.43 [[ 9.98954113e-01 -4.47550296e-02 -9.36307251e-03 2.13083556e+02] [ 4.47529819e-02 9.98997992e-01 -4.28209034e-04 3.17352183e+00] [ 9.37285514e-03 8.73576134e-06 9.99956074e-01 4.28781947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:3.17, Z:0.43 [[ 9.98948396e-01 -4.48826684e-02 -9.36211485e-03 2.13112831e+02] [ 4.48804388e-02 9.98992265e-01 -4.48212393e-04 3.17490637e+00] [ 9.37279729e-03 2.75652284e-05 9.99956074e-01 4.29059080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.14, Y:3.17, Z:0.43 [[ 9.98704617e-01 -5.00143957e-02 -9.36205751e-03 2.13141520e+02] [ 5.00123803e-02 9.98748497e-01 -4.49406905e-04 3.17462401e+00] [ 9.37281768e-03 -1.93940300e-05 9.99956074e-01 4.29672161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.17, Y:3.17, Z:0.43 [[ 9.98592391e-01 -5.22071743e-02 -9.36199997e-03 2.13171632e+02] [ 5.22052441e-02 9.98636275e-01 -4.50602309e-04 3.17351166e+00] [ 9.37275745e-03 -3.87774571e-05 9.99956074e-01 4.30463085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.20, Y:3.17, Z:0.43 [[ 9.98532059e-01 -5.33486771e-02 -9.36197126e-03 2.13201753e+02] [ 5.33467915e-02 9.98575944e-01 -4.51198062e-04 3.17214370e+00] [ 9.37271011e-03 -4.88953994e-05 9.99956074e-01 4.31120722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.372320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:213.23, Y:3.17, Z:0.44 [[ 9.98335059e-01 -5.69162828e-02 -9.36194256e-03 2.13230653e+02] [ 5.69145484e-02 9.98378951e-01 -4.51792813e-04 3.16924534e+00] [ 9.37248076e-03 -8.17901280e-05 9.99956074e-01 4.41559978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.26, Y:3.17, Z:0.44 [[ 9.98323131e-01 -5.71256698e-02 -9.35864360e-03 2.13261080e+02] [ 5.71233013e-02 9.98366995e-01 -5.20413577e-04 3.16963121e+00] [ 9.37308986e-03 -1.50557065e-05 9.99956072e-01 4.42453974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.29, Y:3.17, Z:0.43 [[ 9.98218382e-01 -5.89273913e-02 -9.36074842e-03 2.13292380e+02] [ 5.89255148e-02 9.98262269e-01 -4.76378563e-04 3.16863147e+00] [ 9.37255370e-03 -7.60570805e-05 9.99956074e-01 4.30213484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.32, Y:3.16, Z:0.44 [[ 9.98000930e-01 -6.25019570e-02 -9.36215877e-03 2.13322074e+02] [ 6.25005148e-02 9.98044832e-01 -4.46828488e-04 3.16355730e+00] [ 9.37178182e-03 -1.39204496e-04 9.99956074e-01 4.39261447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.35, Y:3.16, Z:0.44 [[ 9.98006633e-01 -6.24111746e-02 -9.35976521e-03 2.13351712e+02] [ 6.24092588e-02 9.98050519e-01 -4.96905979e-04 3.16215551e+00] [ 9.37253101e-03 -8.82205458e-05 9.99956073e-01 4.39872451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.38, Y:3.16, Z:0.43 [[ 9.97952594e-01 -6.32691066e-02 -9.36167329e-03 2.13381636e+02] [ 6.32676046e-02 9.97996494e-01 -4.56799409e-04 3.16083635e+00] [ 9.37181841e-03 -1.36426490e-04 9.99956074e-01 4.30389373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.41, Y:3.16, Z:0.43 [[ 9.97865441e-01 -6.46290167e-02 -9.36227903e-03 2.13411834e+02] [ 6.46276943e-02 9.97909347e-01 -4.44027437e-04 3.15817293e+00] [ 9.37140281e-03 -1.61982873e-04 9.99956074e-01 4.30333405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.44, Y:3.15, Z:0.43 [[ 9.97850251e-01 -6.48631228e-02 -9.36225133e-03 2.13440823e+02] [ 6.48618052e-02 9.97894157e-01 -4.44610882e-04 3.15000011e+00] [ 9.37137475e-03 -1.63597442e-04 9.99956074e-01 4.33019547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.47, Y:3.15, Z:0.43 [[ 9.97868443e-01 -6.45826608e-02 -9.36219593e-03 2.13470107e+02] [ 6.45813200e-02 9.97912348e-01 -4.45774227e-04 3.14762469e+00] [ 9.37144021e-03 -1.59798937e-04 9.99956074e-01 4.33331405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.50, Y:3.15, Z:0.43 [[ 9.97914666e-01 -6.38644621e-02 -9.36213987e-03 2.13498574e+02] [ 6.38630787e-02 9.97958570e-01 -4.46948506e-04 3.14631931e+00] [ 9.37157185e-03 -1.51878607e-04 9.99956074e-01 4.34355617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.53, Y:3.14, Z:0.43 [[ 9.97998827e-01 -6.25355377e-02 -9.36208371e-03 2.13527291e+02] [ 6.25340848e-02 9.98042728e-01 -4.48121911e-04 3.14117160e+00] [ 9.37178311e-03 -1.38224196e-04 9.99956074e-01 4.33820729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.55, Y:3.14, Z:0.44 [[ 9.97833732e-01 -6.51167801e-02 -9.36202740e-03 2.13554249e+02] [ 6.51154298e-02 9.97877637e-01 -4.49295308e-04 3.13848806e+00] [ 9.37141444e-03 -1.61290424e-04 9.99956074e-01 4.44622386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.59, Y:3.13, Z:0.45 [[ 9.98085282e-01 -6.11411597e-02 -9.35568997e-03 2.13585275e+02] [ 6.11383925e-02 9.98129129e-01 -5.81770943e-04 3.13337610e+00] [ 9.37375683e-03 8.66517052e-06 9.99956065e-01 4.46305073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.62, Y:3.13, Z:0.44 [[ 9.98287330e-01 -5.77478464e-02 -9.35913290e-03 2.13616641e+02] [ 5.77456104e-02 9.98331200e-01 -5.09187324e-04 3.13114105e+00] [ 9.37291885e-03 -3.21335878e-05 9.99956073e-01 4.36409626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.65, Y:3.13, Z:0.44 [[ 9.98322811e-01 -5.71306511e-02 -9.36235020e-03 2.13645960e+02] [ 5.71290286e-02 9.98366706e-01 -4.40863946e-04 3.12837359e+00] [ 9.37224557e-03 -9.47374382e-05 9.99956075e-01 4.36436231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.68, Y:3.12, Z:0.44 [[ 9.98556386e-01 -5.28913222e-02 -9.36230815e-03 2.13675121e+02] [ 5.28895050e-02 9.98600273e-01 -4.41755140e-04 3.12310126e+00] [ 9.37256849e-03 -5.40504277e-05 9.99956075e-01 4.35478881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.70, Y:3.12, Z:0.44 [[ 9.98696259e-01 -5.01809832e-02 -9.36225080e-03 2.13703494e+02] [ 5.01790355e-02 9.98740140e-01 -4.42967178e-04 3.12356231e+00] [ 9.37268421e-03 -2.73990514e-05 9.99956075e-01 4.35465104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:213.73, Y:3.12, Z:0.45 [[ 9.98798486e-01 -4.81033569e-02 -9.36219316e-03 2.13731229e+02] [ 4.81013066e-02 9.98842363e-01 -4.44182214e-04 3.12488191e+00] [ 9.37272179e-03 -6.68520041e-06 9.99956075e-01 4.47432751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.76, Y:3.13, Z:0.44 [[ 9.99017099e-01 -4.33270318e-02 -9.35972864e-03 2.13760301e+02] [ 4.33242874e-02 9.99060939e-01 -4.95875020e-04 3.12660305e+00] [ 9.37242408e-03 8.98840501e-05 9.99956074e-01 4.44402021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.79, Y:3.13, Z:0.44 [[ 9.99375287e-01 -3.40795037e-02 -9.36072043e-03 2.13790309e+02] [ 3.40765485e-02 9.99419113e-01 -4.75062890e-04 3.12577230e+00] [ 9.37147281e-03 1.55785069e-04 9.99956075e-01 4.35628068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.82, Y:3.13, Z:0.45 [[ 9.99457806e-01 -3.15665271e-02 -9.36211426e-03 2.13819080e+02] [ 3.15637358e-02 9.99501642e-01 -4.45790900e-04 3.12606120e+00] [ 9.37152064e-03 1.50045893e-04 9.99956075e-01 4.47736462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.85, Y:3.13, Z:0.44 [[ 9.99598208e-01 -2.67542878e-02 -9.36111275e-03 2.13849164e+02] [ 2.67510896e-02 9.99642017e-01 -4.66715908e-04 3.12749280e+00] [ 9.37024828e-03 2.16108420e-04 9.99956075e-01 4.36766979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.88, Y:3.13, Z:0.44 [[ 9.99698789e-01 -2.26866314e-02 -9.36204232e-03 2.13878081e+02] [ 2.26834370e-02 9.99742598e-01 -4.47258106e-04 3.13173002e+00] [ 9.36977929e-03 2.34760090e-04 9.99956075e-01 4.36353980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.91, Y:3.14, Z:0.44 [[ 9.99748211e-01 -2.03928326e-02 -9.36198373e-03 2.13906632e+02] [ 2.03895263e-02 9.99792011e-01 -4.48481275e-04 3.13535820e+00] [ 9.36918234e-03 2.57481939e-04 9.99956075e-01 4.36667749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.94, Y:3.14, Z:0.44 [[ 9.99793879e-01 -1.80153687e-02 -9.36192565e-03 2.13935666e+02] [ 1.80119470e-02 9.99837671e-01 -4.49690282e-04 3.13862579e+00] [ 9.36850727e-03 2.80971083e-04 9.99956075e-01 4.37140799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.96, Y:3.14, Z:0.44 [[ 9.99835834e-01 -1.55132452e-02 -9.36186752e-03 2.13964353e+02] [ 1.55097025e-02 9.99879616e-01 -4.50897222e-04 3.14460236e+00] [ 9.36773538e-03 3.05623420e-04 9.99956075e-01 4.38030676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.99, Y:3.15, Z:0.45 [[ 9.99805191e-01 -1.73763207e-02 -9.36180975e-03 2.13991341e+02] [ 1.73728485e-02 9.99848978e-01 -4.52093502e-04 3.14922967e+00] [ 9.36825164e-03 2.89364128e-04 9.99956075e-01 4.48517679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.02, Y:3.15, Z:0.44 [[ 9.99852288e-01 -1.44167733e-02 -9.35730618e-03 2.14022871e+02] [ 1.44122959e-02 9.99895989e-01 -5.45749056e-04 3.15318369e+00] [ 9.36420085e-03 4.10808176e-04 9.99956071e-01 4.39477761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.05, Y:3.16, Z:0.44 [[ 9.99826198e-01 -1.61222491e-02 -9.36194257e-03 2.14051802e+02] [ 1.61187500e-02 9.99869984e-01 -4.49099455e-04 3.15761976e+00] [ 9.36796586e-03 2.98118589e-04 9.99956075e-01 4.39322121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.08, Y:3.16, Z:0.44 [[ 9.99802064e-01 -1.75552581e-02 -9.36188523e-03 2.14080386e+02] [ 1.75518106e-02 9.99845854e-01 -4.50291719e-04 3.16056980e+00] [ 9.36834712e-03 2.85884554e-04 9.99956075e-01 4.40397255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.11, Y:3.16, Z:0.44 [[ 9.99779978e-01 -1.87710341e-02 -9.36182744e-03 2.14108768e+02] [ 1.87676286e-02 9.99823771e-01 -4.51490023e-04 3.16465365e+00] [ 9.36865254e-03 2.75691385e-04 9.99956075e-01 4.40337128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.14, Y:3.17, Z:0.44 [[ 9.99716899e-01 -2.18741775e-02 -9.36176941e-03 2.14136786e+02] [ 2.18708967e-02 9.99760701e-01 -4.52690130e-04 3.17201780e+00] [ 9.36943137e-03 2.47811681e-04 9.99956075e-01 4.38978186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:214.16, Y:3.18, Z:0.45 [[ 9.99640355e-01 -2.51300399e-02 -9.36169590e-03 2.14164752e+02] [ 2.51268877e-02 9.99684167e-01 -4.54205299e-04 3.17514861e+00] [ 9.37015336e-03 2.18811665e-04 9.99956075e-01 4.50647996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:3.18, Z:0.44 [[ 9.99671460e-01 -2.38616840e-02 -9.35904270e-03 2.14196559e+02] [ 2.38579661e-02 9.99715229e-01 -5.08709961e-04 3.17785262e+00] [ 9.36851620e-03 2.85255106e-04 9.99956074e-01 4.40483835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:214.22, Y:3.18, Z:0.45 [[ 9.99598317e-01 -2.67500167e-02 -9.36171096e-03 2.14224164e+02] [ 2.67469407e-02 9.99642134e-01 -4.53646509e-04 3.18408508e+00] [ 9.37049577e-03 2.03067160e-04 9.99956075e-01 4.52987200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.26, Y:3.19, Z:0.44 [[ 9.99648075e-01 -2.48223792e-02 -9.35816119e-03 2.14255529e+02] [ 2.48185346e-02 9.99691834e-01 -5.26747305e-04 3.18849263e+00] [ 9.36835244e-03 2.94306083e-04 9.99956073e-01 4.41684552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.28, Y:3.19, Z:0.44 [[ 9.99607502e-01 -2.64045455e-02 -9.36174033e-03 2.14284363e+02] [ 2.64014628e-02 9.99651318e-01 -4.52738036e-04 3.19075026e+00] [ 9.37043041e-03 2.05396698e-04 9.99956075e-01 4.41388388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:3.19, Z:0.44 [[ 9.99579259e-01 -2.74529310e-02 -9.36168087e-03 2.14312636e+02] [ 2.74498828e-02 9.99623078e-01 -4.53964225e-04 3.19256796e+00] [ 9.37061490e-03 1.96796181e-04 9.99956075e-01 4.40536956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:3.20, Z:0.45 [[ 9.99431117e-01 -3.24006738e-02 -9.36160629e-03 2.14340121e+02] [ 3.23978282e-02 9.99474949e-01 -4.55497164e-04 3.19846484e+00] [ 9.37144938e-03 1.51942327e-04 9.99956075e-01 4.54375092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:214.37, Y:3.20, Z:0.44 [[ 9.99488870e-01 -3.05684972e-02 -9.35768110e-03 2.14371301e+02] [ 3.05648143e-02 9.99532643e-01 -5.36362620e-04 3.20368803e+00] [ 9.36970352e-03 2.50072684e-04 9.99956072e-01 4.41735997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:214.40, Y:3.21, Z:0.44 [[ 9.99468997e-01 -3.12102710e-02 -9.36173625e-03 2.14400134e+02] [ 3.12074017e-02 9.99512828e-01 -4.52459070e-04 3.20698261e+00] [ 9.37129684e-03 1.60063350e-04 9.99956076e-01 4.41794129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.43, Y:3.21, Z:0.44 [[ 9.99446777e-01 -3.19139341e-02 -9.36167742e-03 2.14428534e+02] [ 3.19110842e-02 9.99490609e-01 -4.53673110e-04 3.20838916e+00] [ 9.37138715e-03 1.54680852e-04 9.99956076e-01 4.42360861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.46, Y:3.21, Z:0.44 [[ 9.99371743e-01 -3.41830217e-02 -9.36163307e-03 2.14457014e+02] [ 3.41802628e-02 9.99415581e-01 -4.54586378e-04 3.21041457e+00] [ 9.37170109e-03 1.34317703e-04 9.99956076e-01 4.42165755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.49, Y:3.21, Z:0.44 [[ 9.99312454e-01 -3.58745063e-02 -9.36157272e-03 2.14485520e+02] [ 3.58718100e-02 9.99356296e-01 -4.55825912e-04 3.21290813e+00] [ 9.37189916e-03 1.19695953e-04 9.99956076e-01 4.42095309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:3.21, Z:0.44 [[ 9.99253705e-01 -3.74752521e-02 -9.36151296e-03 2.14513855e+02] [ 3.74726146e-02 9.99297550e-01 -4.57049961e-04 3.21467513e+00] [ 9.37206503e-03 1.05908501e-04 9.99956076e-01 4.41465352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.54, Y:3.21, Z:0.45 [[ 9.99101561e-01 -4.13332151e-02 -9.36145357e-03 2.14542923e+02] [ 4.13307355e-02 9.99145415e-01 -4.58263045e-04 3.21371779e+00] [ 9.37239490e-03 7.09355619e-05 9.99956076e-01 4.52057030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.57, Y:3.22, Z:0.44 [[ 9.99055639e-01 -4.24284628e-02 -9.36243853e-03 2.14571847e+02] [ 4.24262199e-02 9.99099507e-01 -4.38133327e-04 3.21550532e+00] [ 9.37259704e-03 4.05066953e-05 9.99956075e-01 4.44082643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.60, Y:3.22, Z:0.44 [[ 9.98981049e-01 -4.41500702e-02 -9.36134083e-03 2.14600656e+02] [ 4.41476938e-02 9.99024909e-01 -4.60450448e-04 3.22070735e+00] [ 9.37254160e-03 4.66996638e-05 9.99956076e-01 4.44428331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.63, Y:3.22, Z:0.44 [[ 9.98945450e-01 -4.49483412e-02 -9.36128067e-03 2.14629615e+02] [ 4.49459884e-02 9.98989312e-01 -4.61670481e-04 3.22209851e+00] [ 9.37257065e-03 4.04316140e-05 9.99956076e-01 4.42945280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.66, Y:3.22, Z:0.44 [[ 9.98897801e-01 -4.59951165e-02 -9.36122028e-03 2.14658414e+02] [ 4.59927982e-02 9.98941664e-01 -4.62891669e-04 3.22185993e+00] [ 9.37260372e-03 3.18327547e-05 9.99956076e-01 4.43242699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.69, Y:3.22, Z:0.44 [[ 9.98781287e-01 -4.84593493e-02 -9.36116083e-03 2.14687135e+02] [ 4.84571280e-02 9.98825156e-01 -4.64090792e-04 3.22095776e+00] [ 9.37265246e-03 9.91022964e-06 9.99956076e-01 4.44585378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:3.22, Z:0.45 [[ 9.98740535e-01 -4.92921185e-02 -9.36110085e-03 2.14715982e+02] [ 4.92899224e-02 9.98784405e-01 -4.65297633e-04 3.22385060e+00] [ 9.37265704e-03 3.30367308e-06 9.99956076e-01 4.45410606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:3.23, Z:0.45 [[ 9.98762345e-01 -4.88482311e-02 -9.36104005e-03 2.14744932e+02] [ 4.88460041e-02 9.98806213e-01 -4.66517634e-04 3.22723888e+00] [ 9.37265352e-03 8.69084553e-06 9.99956076e-01 4.45706037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.77, Y:3.23, Z:0.46 [[ 9.98698170e-01 -5.01431655e-02 -9.36097954e-03 2.14774215e+02] [ 5.01409841e-02 9.98742040e-01 -4.67728584e-04 3.22932662e+00] [ 9.37265720e-03 -2.24904470e-06 9.99956076e-01 4.56305521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.80, Y:3.23, Z:0.45 [[ 9.98699929e-01 -5.01081845e-02 -9.36068769e-03 2.14804784e+02] [ 5.01059468e-02 9.98743796e-01 -4.73567322e-04 3.23087364e+00] [ 9.37265836e-03 3.92553050e-06 9.99956076e-01 4.45046472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:3.23, Z:0.45 [[ 9.98707176e-01 -4.99634860e-02 -9.36093144e-03 2.14833887e+02] [ 4.99612876e-02 9.98751045e-01 -4.68699247e-04 3.23374218e+00] [ 9.37265790e-03 4.09113440e-07 9.99956076e-01 4.45482487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:3.24, Z:0.45 [[ 9.98681604e-01 -5.04720473e-02 -9.36087030e-03 2.14862468e+02] [ 5.04698598e-02 9.98725474e-01 -4.69917129e-04 3.23652763e+00] [ 9.37265731e-03 -3.14421937e-06 9.99956076e-01 4.45259906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:3.24, Z:0.45 [[ 9.98637929e-01 -5.13289545e-02 -9.36080926e-03 2.14891341e+02] [ 5.13267933e-02 9.98681800e-01 -4.71129905e-04 3.23682905e+00] [ 9.37265245e-03 -9.97212870e-06 9.99956076e-01 4.45680840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:3.24, Z:0.45 [[ 9.98585925e-01 -5.23309336e-02 -9.36074840e-03 2.14920460e+02] [ 5.23288050e-02 9.98629798e-01 -4.72336006e-04 3.23741610e+00] [ 9.37264007e-03 -1.81686900e-05 9.99956076e-01 4.45657568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:3.24, Z:0.45 [[ 9.98510633e-01 -5.37484304e-02 -9.36068749e-03 2.14949486e+02] [ 5.37463528e-02 9.98554508e-01 -4.73540051e-04 3.23870801e+00] [ 9.37260873e-03 -3.02680363e-05 9.99956076e-01 4.46826018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:3.24, Z:0.45 [[ 9.98503661e-01 -5.38777986e-02 -9.36064211e-03 2.14978761e+02] [ 5.38757184e-02 9.98547536e-01 -4.74435428e-04 3.24015800e+00] [ 9.37260765e-03 -3.05858065e-05 9.99956076e-01 4.47100842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:3.24, Z:0.45 [[ 9.98413703e-01 -5.55198750e-02 -9.36058049e-03 2.15007621e+02] [ 5.55178556e-02 9.98457581e-01 -4.75648174e-04 3.24194321e+00] [ 9.37255048e-03 -4.47857001e-05 9.99956076e-01 4.46958488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.232320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:215.04, Y:3.24, Z:0.46 [[ 9.98382082e-01 -5.60856460e-02 -9.36051880e-03 2.15037097e+02] [ 5.60836401e-02 9.98425960e-01 -4.76859065e-04 3.24179447e+00] [ 9.37252992e-03 -4.88844213e-05 9.99956076e-01 4.59383392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:3.24, Z:0.45 [[ 9.98310395e-01 -5.73474742e-02 -9.36073151e-03 2.15066930e+02] [ 5.73455628e-02 9.98354277e-01 -4.72696533e-04 3.24102609e+00] [ 9.37243429e-03 -6.48985542e-05 9.99956076e-01 4.49707049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.10, Y:3.24, Z:0.45 [[ 9.98242178e-01 -5.85229582e-02 -9.36046464e-03 2.15096378e+02] [ 5.85210494e-02 9.98286060e-01 -4.77923335e-04 3.23693203e+00] [ 9.37239086e-03 -7.07009832e-05 9.99956076e-01 4.50181036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:215.13, Y:3.24, Z:0.46 [[ 9.98159985e-01 -5.99084846e-02 -9.36040317e-03 2.15125713e+02] [ 5.99066254e-02 9.98203870e-01 -4.79124173e-04 3.23570930e+00] [ 9.37229428e-03 -8.25075891e-05 9.99956076e-01 4.62222796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.16, Y:3.23, Z:0.46 [[ 9.98121193e-01 -6.05516447e-02 -9.35852448e-03 2.15156404e+02] [ 6.05494706e-02 9.98165064e-01 -5.15736389e-04 3.23209735e+00] [ 9.37258087e-03 -5.18862818e-05 9.99956075e-01 4.59229148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:3.23, Z:0.45 [[ 9.98158086e-01 -5.99402384e-02 -9.35960776e-03 2.15186397e+02] [ 5.99382361e-02 9.98201965e-01 -4.94541337e-04 3.23166760e+00] [ 9.37242178e-03 -6.73679453e-05 9.99956076e-01 4.49657661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:3.23, Z:0.46 [[ 9.98259937e-01 -5.82192359e-02 -9.36049480e-03 2.15216005e+02] [ 5.82173211e-02 9.98303819e-01 -4.77139340e-04 3.23185101e+00] [ 9.37239640e-03 -6.86338442e-05 9.99956076e-01 4.61851095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.25, Y:3.23, Z:0.45 [[ 9.98283076e-01 -5.78211401e-02 -9.36034688e-03 2.15246194e+02] [ 5.78191806e-02 9.98326956e-01 -4.80037833e-04 3.23208182e+00] [ 9.37244295e-03 -6.19939431e-05 9.99956076e-01 4.52265533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:3.23, Z:0.45 [[ 9.98532460e-01 -5.33414259e-02 -9.36043965e-03 2.15275099e+02] [ 5.33392866e-02 9.98576332e-01 -4.78222057e-04 3.23092032e+00] [ 9.37262254e-03 -2.17589256e-05 9.99956076e-01 4.53498203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:3.23, Z:0.45 [[ 9.98681486e-01 -5.04744704e-02 -9.36037772e-03 2.15304065e+02] [ 5.04721939e-02 9.98725352e-01 -4.79431086e-04 3.23226154e+00] [ 9.37264556e-03 6.36015035e-06 9.99956076e-01 4.52114791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.532320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.33, Y:3.23, Z:0.46 [[ 9.98799142e-01 -4.80901064e-02 -9.36031530e-03 2.15333663e+02] [ 4.80877138e-02 9.98843001e-01 -4.80646806e-04 3.23383989e+00] [ 9.37259978e-03 2.99534554e-05 9.99956076e-01 4.59957584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.36, Y:3.24, Z:0.45 [[ 9.99002608e-01 -4.36598453e-02 -9.35982718e-03 2.15363562e+02] [ 4.36571693e-02 9.99046451e-01 -4.90128108e-04 3.23500873e+00] [ 9.37230104e-03 8.10156983e-05 9.99956076e-01 4.51254245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.39, Y:3.24, Z:0.45 [[ 9.99090207e-01 -4.16070423e-02 -9.36019628e-03 2.15392587e+02] [ 4.16043432e-02 9.99134048e-01 -4.82974871e-04 3.23646645e+00] [ 9.37218595e-03 9.31106457e-05 9.99956076e-01 4.52966192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.42, Y:3.24, Z:0.45 [[ 9.99160567e-01 -3.98816850e-02 -9.36013291e-03 2.15421057e+02] [ 3.98788987e-02 9.99204403e-01 -4.84199912e-04 3.23825535e+00] [ 9.37199672e-03 1.10521666e-04 9.99956076e-01 4.53482792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.45, Y:3.24, Z:0.45 [[ 9.99195274e-01 -3.90024804e-02 -9.36006933e-03 2.15450167e+02] [ 3.89996441e-02 9.99239107e-01 -4.85425889e-04 3.24055810e+00] [ 9.37188012e-03 1.19995882e-04 9.99956076e-01 4.54224571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.48, Y:3.24, Z:0.45 [[ 9.99278477e-01 -3.68091671e-02 -9.36000585e-03 2.15478463e+02] [ 3.68062232e-02 9.99322303e-01 -4.86646693e-04 3.24467513e+00] [ 9.37157566e-03 1.41789102e-04 9.99956076e-01 4.54864288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.51, Y:3.25, Z:0.45 [[ 9.99296766e-01 -3.63092906e-02 -9.35994243e-03 2.15507655e+02] [ 3.63063133e-02 9.99340589e-01 -4.87863522e-04 3.24694252e+00] [ 9.37148436e-03 1.47695437e-04 9.99956076e-01 4.54798552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.54, Y:3.25, Z:0.45 [[ 9.99313114e-01 -3.58565596e-02 -9.35987863e-03 2.15536779e+02] [ 3.58535510e-02 9.99356935e-01 -4.89084534e-04 3.24802167e+00] [ 9.37139651e-03 1.53163703e-04 9.99956076e-01 4.54380825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.57, Y:3.25, Z:0.45 [[ 9.99325229e-01 -3.55173175e-02 -9.35981489e-03 2.15566065e+02] [ 3.55142827e-02 9.99369049e-01 -4.90301347e-04 3.24846773e+00] [ 9.37132349e-03 1.57563394e-04 9.99956076e-01 4.54275232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.802320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:215.59, Y:3.25, Z:0.46 [[ 9.99339446e-01 -3.51150475e-02 -9.35975077e-03 2.15594864e+02] [ 3.51119836e-02 9.99383263e-01 -4.91522343e-04 3.25061538e+00] [ 9.37123810e-03 1.62558251e-04 9.99956076e-01 4.55852388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.62, Y:3.25, Z:0.46 [[ 9.99315548e-01 -3.57887208e-02 -9.35968650e-03 2.15623346e+02] [ 3.57856750e-02 9.99359366e-01 -4.92743105e-04 3.25387124e+00] [ 9.37132501e-03 1.57463147e-04 9.99956076e-01 4.56017804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.862320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:215.65, Y:3.26, Z:0.47 [[ 9.99234076e-01 -3.79955220e-02 -9.35962190e-03 2.15652996e+02] [ 3.79925615e-02 9.99277900e-01 -4.93967134e-04 3.25813990e+00] [ 9.37163185e-03 1.37992782e-04 9.99956076e-01 4.68713772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:3.26, Z:0.46 [[ 9.99272065e-01 -3.69831459e-02 -9.35874946e-03 2.15683726e+02] [ 3.69799868e-02 9.99315876e-01 -5.10440340e-04 3.26018274e+00] [ 9.37122461e-03 1.63982341e-04 9.99956076e-01 4.55644547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.71, Y:3.26, Z:0.46 [[ 9.99223221e-01 -3.82799278e-02 -9.35961291e-03 2.15712286e+02] [ 3.82769787e-02 9.99267046e-01 -4.94083679e-04 3.26178775e+00] [ 9.37166623e-03 1.35442182e-04 9.99956076e-01 4.55671972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.74, Y:3.26, Z:0.46 [[ 9.99197855e-01 -3.89364395e-02 -9.35954804e-03 2.15741361e+02] [ 3.89335077e-02 9.99241681e-01 -4.95309589e-04 3.26377083e+00] [ 9.37173611e-03 1.30512243e-04 9.99956076e-01 4.56117368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.77, Y:3.27, Z:0.47 [[ 9.99169432e-01 -3.96591215e-02 -9.35949975e-03 2.15771438e+02] [ 3.96562129e-02 9.99213260e-01 -4.96220386e-04 3.26567271e+00] [ 9.37181592e-03 1.24645926e-04 9.99956076e-01 4.67446745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.80, Y:3.27, Z:0.46 [[ 9.99138182e-01 -4.04388075e-02 -9.35928446e-03 2.15801940e+02] [ 4.04358950e-02 9.99182010e-01 -5.00282120e-04 3.26779591e+00] [ 9.37185947e-03 1.21399924e-04 9.99956076e-01 4.57100917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.83, Y:3.27, Z:0.46 [[ 9.99038628e-01 -4.28277884e-02 -9.35947740e-03 2.15830579e+02] [ 4.28250148e-02 9.99082465e-01 -4.96646212e-04 3.27183716e+00] [ 9.37216001e-03 9.53489926e-05 9.99956076e-01 4.58368967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.86, Y:3.27, Z:0.47 [[ 9.98957144e-01 -4.46880913e-02 -9.35941267e-03 2.15859570e+02] [ 4.46853880e-02 9.99000985e-01 -4.97862972e-04 3.27441016e+00] [ 9.37231103e-03 7.91147867e-05 9.99956076e-01 4.70214336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.89, Y:3.28, Z:0.46 [[ 9.98909858e-01 -4.57329257e-02 -9.35922849e-03 2.15889531e+02] [ 4.57302358e-02 9.98953700e-01 -5.01322870e-04 3.27622146e+00] [ 9.37236289e-03 7.27766314e-05 9.99956076e-01 4.58527264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.92, Y:3.28, Z:0.46 [[ 9.98700718e-01 -5.00927026e-02 -9.35935366e-03 2.15918053e+02] [ 5.00902261e-02 9.98744572e-01 -4.98974962e-04 3.27634969e+00] [ 9.37259867e-03 2.95145125e-05 9.99956076e-01 4.64690615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.95, Y:3.28, Z:0.46 [[ 9.98592545e-01 -5.22050245e-02 -9.35755197e-03 2.15948566e+02] [ 5.22023242e-02 9.98636387e-01 -5.32756390e-04 3.27700753e+00] [ 9.37260445e-03 4.35205974e-05 9.99956075e-01 4.58232338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.98, Y:3.28, Z:0.47 [[ 9.98402823e-01 -5.57154059e-02 -9.35933522e-03 2.15977107e+02] [ 5.57131730e-02 9.98446690e-01 -4.99331708e-04 3.27736750e+00] [ 9.37261775e-03 -2.29040758e-05 9.99956076e-01 4.67188235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.01, Y:3.28, Z:0.46 [[ 9.98381259e-01 -5.61011082e-02 -9.35565247e-03 2.16008584e+02] [ 5.60982437e-02 9.98425092e-01 -5.68533634e-04 3.27816245e+00] [ 9.37281354e-03 4.27776528e-05 9.99956073e-01 4.60506304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.04, Y:3.28, Z:0.46 [[ 9.98084466e-01 -6.11538899e-02 -9.35947449e-03 2.16037166e+02] [ 6.11519227e-02 9.98128346e-01 -4.96483132e-04 3.27698608e+00] [ 9.37231867e-03 -7.68177583e-05 9.99956076e-01 4.60858176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.07, Y:3.28, Z:0.46 [[ 9.97953206e-01 -6.32597871e-02 -9.35941047e-03 2.16065973e+02] [ 6.32579013e-02 9.97997089e-01 -4.97687013e-04 3.27712859e+00] [ 9.37214798e-03 -9.53883135e-05 9.99956076e-01 4.61547661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.09, Y:3.28, Z:0.46 [[ 9.97837790e-01 -6.50549617e-02 -9.35934694e-03 2.16094868e+02] [ 6.50531436e-02 9.97881676e-01 -4.98878954e-04 3.27708086e+00] [ 9.37197536e-03 -1.11054667e-04 9.99956076e-01 4.60159768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.12, Y:3.28, Z:0.47 [[ 9.97681139e-01 -6.74147567e-02 -9.35928344e-03 2.16123235e+02] [ 6.74130313e-02 9.97725029e-01 -5.00067320e-04 3.27672034e+00] [ 9.37170326e-03 -1.32029934e-04 9.99956076e-01 4.70668506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.16, Y:3.27, Z:0.47 [[ 9.97667204e-01 -6.76211037e-02 -9.35612951e-03 2.16155482e+02] [ 6.76188341e-02 9.97711071e-01 -5.59068053e-04 3.27472709e+00] [ 9.37251879e-03 -7.48867073e-05 9.99956074e-01 4.68425901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.18, Y:3.27, Z:0.47 [[ 9.97589653e-01 -6.87551144e-02 -9.36046609e-03 2.16184053e+02] [ 6.87536584e-02 9.97633553e-01 -4.77634671e-04 3.27377146e+00] [ 9.37115487e-03 -1.67082882e-04 9.99956076e-01 4.68619696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.21, Y:3.27, Z:0.46 [[ 9.97418423e-01 -7.11961589e-02 -9.35929123e-03 2.16214835e+02] [ 7.11946043e-02 9.97462319e-01 -4.99590765e-04 3.27001045e+00] [ 9.37110928e-03 -1.68030002e-04 9.99956076e-01 4.59866913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.24, Y:3.27, Z:0.46 [[ 9.97357934e-01 -7.20385729e-02 -9.35922115e-03 2.16244420e+02] [ 7.20370431e-02 9.97401832e-01 -5.00900114e-04 3.26845350e+00] [ 9.37098845e-03 -1.74633915e-04 9.99956076e-01 4.60244276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:3.27, Z:0.46 [[ 9.97284001e-01 -7.30549587e-02 -9.35918986e-03 2.16273729e+02] [ 7.30534682e-02 9.97327900e-01 -5.01484225e-04 3.26631153e+00] [ 9.37081707e-03 -1.83599083e-04 9.99956076e-01 4.59510092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.30, Y:3.26, Z:0.46 [[ 9.97257006e-01 -7.34225506e-02 -9.35912666e-03 2.16302538e+02] [ 7.34210652e-02 9.97300905e-01 -5.02660945e-04 3.26409969e+00] [ 9.37077213e-03 -1.85874899e-04 9.99956076e-01 4.60027098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.33, Y:3.26, Z:0.46 [[ 9.97264956e-01 -7.33144919e-02 -9.35906342e-03 2.16331114e+02] [ 7.33129907e-02 9.97308855e-01 -5.03835706e-04 3.26155014e+00] [ 9.37081527e-03 -1.83683236e-04 9.99956076e-01 4.59166515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.36, Y:3.26, Z:0.46 [[ 9.97303238e-01 -7.27919004e-02 -9.35899971e-03 2.16360330e+02] [ 7.27903652e-02 9.97347135e-01 -5.05016330e-04 3.25590998e+00] [ 9.37093264e-03 -1.77590585e-04 9.99956076e-01 4.59807524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.39, Y:3.26, Z:0.46 [[ 9.97417564e-01 -7.12082368e-02 -9.35893605e-03 2.16389379e+02] [ 7.12066208e-02 9.97461458e-01 -5.06193236e-04 3.25580938e+00] [ 9.37122313e-03 -1.61532187e-04 9.99956076e-01 4.60562611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.642320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:216.42, Y:3.26, Z:0.47 [[ 9.97693350e-01 -6.72338594e-02 -9.35887240e-03 2.16419877e+02] [ 6.72320576e-02 9.97737236e-01 -5.07367314e-04 3.25685713e+00] [ 9.37180775e-03 -1.23019254e-04 9.99956076e-01 4.73422810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.45, Y:3.25, Z:0.46 [[ 9.97940674e-01 -6.34567900e-02 -9.36203744e-03 2.16448612e+02] [ 6.34553678e-02 9.97984576e-01 -4.49179876e-04 3.25452481e+00] [ 9.37167248e-03 -1.45816661e-04 9.99956074e-01 4.61981272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.48, Y:3.25, Z:0.46 [[ 9.98113893e-01 -6.06718367e-02 -9.35864376e-03 2.16477157e+02] [ 6.06697095e-02 9.98157766e-01 -5.11297193e-04 3.25221476e+00] [ 9.37242429e-03 -5.74533662e-05 9.99956076e-01 4.61681599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.51, Y:3.25, Z:0.47 [[ 9.98398160e-01 -5.57990224e-02 -9.35857768e-03 2.16507769e+02] [ 5.57966697e-02 9.98442021e-01 -5.12503931e-04 3.25042653e+00] [ 9.37259443e-03 -1.04944856e-05 9.99956076e-01 4.70217556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.54, Y:3.25, Z:0.46 [[ 9.98385258e-01 -5.60287152e-02 -9.36267077e-03 2.16535942e+02] [ 5.60270738e-02 9.98429154e-01 -4.37723217e-04 3.24982525e+00] [ 9.37248853e-03 -8.75466393e-05 9.99956073e-01 4.62968139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.56, Y:3.25, Z:0.46 [[ 9.98638816e-01 -5.13121450e-02 -9.35831335e-03 2.16564189e+02] [ 5.13095564e-02 9.98682664e-01 -5.16651402e-04 3.25201828e+00] [ 9.37249580e-03 3.57772371e-05 9.99956077e-01 4.62619021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.59, Y:3.25, Z:0.46 [[ 9.98719159e-01 -4.97238911e-02 -9.35822794e-03 2.16592659e+02] [ 4.97212183e-02 9.98763001e-01 -5.18193886e-04 3.25242054e+00] [ 9.37241844e-03 5.22276682e-05 9.99956077e-01 4.61610626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.62, Y:3.25, Z:0.47 [[ 9.98897373e-01 -4.60050410e-02 -9.35816001e-03 2.16623443e+02] [ 4.60021936e-02 9.98941204e-01 -5.19417724e-04 3.25188274e+00] [ 9.37214746e-03 8.83491117e-05 9.99956077e-01 4.73252683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.65, Y:3.25, Z:0.46 [[ 9.98972351e-01 -4.43462927e-02 -9.36210487e-03 2.16651722e+02] [ 4.43440390e-02 9.99016219e-01 -4.48278133e-04 3.25115790e+00] [ 9.37277408e-03 3.26639176e-05 9.99956074e-01 4.63875481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.68, Y:3.25, Z:0.47 [[ 9.99199105e-01 -3.89046962e-02 -9.35807697e-03 2.16679962e+02] [ 3.89015255e-02 9.99242914e-01 -5.20672296e-04 3.25361103e+00] [ 9.37124869e-03 1.56211822e-04 9.99956077e-01 4.67939593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.71, Y:3.26, Z:0.47 [[ 9.99270466e-01 -3.70265311e-02 -9.35797334e-03 2.16707903e+02] [ 3.70232607e-02 9.99314267e-01 -5.22528136e-04 3.25709742e+00] [ 9.37090368e-03 1.75684247e-04 9.99956077e-01 4.67959233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.74, Y:3.26, Z:0.47 [[ 9.99336588e-01 -3.51968048e-02 -9.35786989e-03 2.16736834e+02] [ 3.51934369e-02 9.99380382e-01 -5.24374284e-04 3.25983062e+00] [ 9.37052788e-03 1.94690804e-04 9.99956077e-01 4.65166293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.77, Y:3.26, Z:0.46 [[ 9.99357203e-01 -3.46065452e-02 -9.35780082e-03 2.16765830e+02] [ 3.46031400e-02 9.99400994e-01 -5.25603989e-04 3.26139167e+00] [ 9.37038478e-03 2.01456840e-04 9.99956077e-01 4.63866431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.80, Y:3.26, Z:0.47 [[ 9.99355488e-01 -3.46560401e-02 -9.35773188e-03 2.16795288e+02] [ 3.46526256e-02 9.99399279e-01 -5.26828487e-04 3.26331891e+00] [ 9.37036828e-03 2.02218960e-04 9.99956077e-01 4.72901334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.82, Y:3.27, Z:0.47 [[ 9.99406497e-01 -3.31525473e-02 -9.35746707e-03 2.16824983e+02] [ 3.31490229e-02 9.99450279e-01 -5.31530034e-04 3.26545327e+00] [ 9.36994465e-03 2.21023679e-04 9.99956077e-01 4.65800973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.092320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.85, Y:3.27, Z:0.47 [[ 9.99399991e-01 -3.33480450e-02 -9.35767084e-03 2.16853424e+02] [ 3.33445630e-02 9.99443776e-01 -5.27918160e-04 3.26701198e+00] [ 9.37007092e-03 2.15573959e-04 9.99956077e-01 4.66067862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.88, Y:3.27, Z:0.47 [[ 9.99440657e-01 -3.21062080e-02 -9.35756719e-03 2.16882482e+02] [ 3.21026544e-02 9.99484437e-01 -5.29749033e-04 3.27017339e+00] [ 9.36975100e-03 2.29049976e-04 9.99956077e-01 4.69128995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:3.27, Z:0.48 [[ 9.99416608e-01 -3.28463284e-02 -9.35749794e-03 2.16911521e+02] [ 3.28427959e-02 9.99460389e-01 -5.30969509e-04 3.27324865e+00] [ 9.36988893e-03 2.23333351e-04 9.99956077e-01 4.80920358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:3.28, Z:0.48 [[ 9.99429741e-01 -3.24443135e-02 -9.35732857e-03 2.16941356e+02] [ 3.24407354e-02 9.99473518e-01 -5.33950676e-04 3.27635798e+00] [ 9.36972577e-03 2.30087566e-04 9.99956077e-01 4.78739858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.97, Y:3.28, Z:0.48 [[ 9.99483485e-01 -3.07439827e-02 -9.35794683e-03 2.16970819e+02] [ 3.07404316e-02 9.99527264e-01 -5.23111043e-04 3.28180105e+00] [ 9.36960551e-03 2.35173524e-04 9.99956077e-01 4.75552926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.00, Y:3.28, Z:0.47 [[ 9.99481772e-01 -3.07992481e-02 -9.35919035e-03 2.16999381e+02] [ 3.07959032e-02 9.99525568e-01 -5.01333930e-04 3.28490206e+00] [ 9.37019076e-03 2.12849405e-04 9.99956076e-01 4.74367981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.03, Y:3.29, Z:0.48 [[ 9.99483324e-01 -3.07492386e-02 -9.35789714e-03 2.17028862e+02] [ 3.07456807e-02 9.99527103e-01 -5.23863925e-04 3.28765074e+00] [ 9.36958023e-03 2.35878340e-04 9.99956077e-01 4.77338636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.06, Y:3.29, Z:0.47 [[ 9.99533433e-01 -2.90749069e-02 -9.35766122e-03 2.17059314e+02] [ 2.90712373e-02 9.99577203e-01 -5.27968828e-04 3.29307851e+00] [ 9.36905547e-03 2.55683705e-04 9.99956077e-01 4.70119860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.09, Y:3.30, Z:0.47 [[ 9.99540445e-01 -2.88330162e-02 -9.35714104e-03 2.17086805e+02] [ 2.88292512e-02 9.99584206e-01 -5.37032366e-04 3.29777966e+00] [ 9.36873466e-03 2.67026201e-04 9.99956077e-01 4.70883618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.12, Y:3.30, Z:0.48 [[ 9.99545921e-01 -2.86425845e-02 -9.35703613e-03 2.17117656e+02] [ 2.86387941e-02 9.99589680e-01 -5.38854059e-04 3.30266912e+00] [ 9.36863093e-03 2.70635145e-04 9.99956077e-01 4.82529382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.15, Y:3.31, Z:0.48 [[ 9.99587896e-01 -2.71374780e-02 -9.35921507e-03 2.17145391e+02] [ 2.71339755e-02 9.99631680e-01 -5.01034890e-04 3.30980261e+00] [ 9.36936471e-03 2.46875699e-04 9.99956076e-01 4.78529719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.17, Y:3.31, Z:0.48 [[ 9.99600557e-01 -2.66680409e-02 -9.35641369e-03 2.17173948e+02] [ 2.66640659e-02 9.99644300e-01 -5.49349147e-04 3.31452559e+00] [ 9.36773568e-03 2.99649682e-04 9.99956077e-01 4.77364848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.452320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:217.20, Y:3.32, Z:0.48 [[ 9.99647501e-01 -2.48466002e-02 -9.35519007e-03 2.17203098e+02] [ 2.48423489e-02 9.99691219e-01 -5.70376509e-04 3.31948896e+00] [ 9.36647328e-03 3.37770556e-04 9.99956077e-01 4.77363209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.23, Y:3.32, Z:0.48 [[ 9.99621106e-01 -2.58860604e-02 -9.35717481e-03 2.17232314e+02] [ 2.58821727e-02 9.99664857e-01 -5.36356325e-04 3.32374043e+00] [ 9.36792296e-03 2.93969089e-04 9.99956077e-01 4.81136429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.26, Y:3.33, Z:0.47 [[ 9.99599941e-01 -2.66909083e-02 -9.35697103e-03 2.17261842e+02] [ 2.66870232e-02 9.99643692e-01 -5.39844412e-04 3.32837696e+00] [ 9.36804600e-03 2.89918739e-04 9.99956077e-01 4.72053700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.29, Y:3.33, Z:0.47 [[ 9.99578703e-01 -2.74748959e-02 -9.35658400e-03 2.17290844e+02] [ 2.74709831e-02 9.99622452e-01 -5.46470972e-04 3.33134102e+00] [ 9.36806567e-03 2.89206185e-04 9.99956077e-01 4.73154376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.32, Y:3.34, Z:0.47 [[ 9.99493478e-01 -3.04178163e-02 -9.35651298e-03 2.17319430e+02] [ 3.04140211e-02 9.99537237e-01 -5.47684343e-04 3.33928171e+00] [ 9.36884249e-03 2.62837746e-04 9.99956077e-01 4.73719611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.35, Y:3.34, Z:0.47 [[ 9.99464632e-01 -3.13513512e-02 -9.35644190e-03 2.17347937e+02] [ 3.13475854e-02 9.99508393e-01 -5.48895852e-04 3.34477400e+00] [ 9.36905084e-03 2.55300128e-04 9.99956077e-01 4.73492570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.38, Y:3.35, Z:0.48 [[ 9.99440313e-01 -3.21172819e-02 -9.35637032e-03 2.17376993e+02] [ 3.21135383e-02 9.99484076e-01 -5.50113373e-04 3.34939820e+00] [ 9.36921129e-03 2.49339326e-04 9.99956077e-01 4.80646958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.40, Y:3.35, Z:0.48 [[ 9.99424931e-01 -3.25924939e-02 -9.35613942e-03 2.17404371e+02] [ 3.25887344e-02 9.99468693e-01 -5.54037948e-04 3.35341403e+00] [ 9.36922591e-03 2.48814596e-04 9.99956077e-01 4.81944232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:3.36, Z:0.47 [[ 9.99484554e-01 -3.07102666e-02 -9.35440659e-03 2.17434841e+02] [ 3.07061500e-02 9.99528285e-01 -5.83409565e-04 3.36004461e+00] [ 9.36791064e-03 2.95871037e-04 9.99956076e-01 4.74867648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.46, Y:3.36, Z:0.49 [[ 9.99432862e-01 -3.23483346e-02 -9.35627749e-03 2.17464584e+02] [ 3.23445865e-02 9.99476625e-01 -5.51679861e-04 3.36413032e+00] [ 9.36922657e-03 2.48742056e-04 9.99956077e-01 4.86005494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.49, Y:3.37, Z:0.48 [[ 9.99434729e-01 -3.22906477e-02 -9.35612915e-03 2.17494363e+02] [ 3.22868735e-02 9.99478489e-01 -5.54196312e-04 3.36794379e+00] [ 9.36914519e-03 2.51802882e-04 9.99956077e-01 4.76375590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.52, Y:3.37, Z:0.49 [[ 9.99406873e-01 -3.31415575e-02 -9.35625120e-03 2.17524941e+02] [ 3.31378399e-02 9.99450638e-01 -5.52128094e-04 3.37272560e+00] [ 9.36940962e-03 2.41754657e-04 9.99956077e-01 4.87695622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.55, Y:3.38, Z:0.49 [[ 9.99286868e-01 -3.65806231e-02 -9.36017058e-03 2.17552369e+02] [ 3.65776746e-02 9.99330695e-01 -4.86056520e-04 3.38048043e+00] [ 9.37168601e-03 1.43336624e-04 9.99956075e-01 4.85360949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.58, Y:3.39, Z:0.48 [[ 9.99246581e-01 -3.76664717e-02 -9.35454564e-03 2.17582242e+02] [ 3.76626866e-02 9.99290341e-01 -5.80531073e-04 3.38530944e+00] [ 9.36977366e-03 2.27776370e-04 9.99956077e-01 4.78223925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.61, Y:3.39, Z:0.49 [[ 9.99160402e-01 -3.98868114e-02 -9.35594897e-03 2.17612226e+02] [ 3.98833441e-02 9.99204188e-01 -5.56957467e-04 3.38851284e+00] [ 9.37071865e-03 1.83343314e-04 9.99956077e-01 4.86358786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.64, Y:3.39, Z:0.48 [[ 9.99047078e-01 -4.26308621e-02 -9.35658473e-03 2.17642187e+02] [ 4.26276149e-02 9.99090881e-01 -5.46299282e-04 3.39157993e+00] [ 9.37136769e-03 1.46929811e-04 9.99956077e-01 4.77198282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.67, Y:3.39, Z:0.49 [[ 9.98912271e-01 -4.56808648e-02 -9.35591669e-03 2.17670042e+02] [ 4.56776463e-02 9.98956076e-01 -5.57510093e-04 3.39469429e+00] [ 9.37161737e-03 1.29547419e-04 9.99956077e-01 4.88095487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.70, Y:3.40, Z:0.48 [[ 9.98892115e-01 -4.61198904e-02 -9.35404835e-03 2.17700565e+02] [ 4.61163979e-02 9.98935899e-01 -5.88832003e-04 3.39889183e+00] [ 9.37125157e-03 1.56804628e-04 9.99956077e-01 4.77848245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.73, Y:3.40, Z:0.49 [[ 9.98775252e-01 -4.85845920e-02 -9.35590644e-03 2.17729332e+02] [ 4.85814995e-02 9.98819066e-01 -5.57658754e-04 3.40272825e+00] [ 9.37195136e-03 1.02451799e-04 9.99956077e-01 4.87437126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.76, Y:3.41, Z:0.48 [[ 9.98753480e-01 -4.90303117e-02 -9.35492253e-03 2.17759574e+02] [ 4.90270839e-02 9.98797284e-01 -5.74192198e-04 3.40802248e+00] [ 9.37182404e-03 1.14831884e-04 9.99956077e-01 4.79416921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.79, Y:3.41, Z:0.48 [[ 9.98720244e-01 -4.97025057e-02 -9.35604846e-03 2.17789358e+02] [ 4.96994850e-02 9.98764063e-01 -5.55218944e-04 3.41157818e+00] [ 9.37208075e-03 8.95176088e-05 9.99956077e-01 4.79255508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.82, Y:3.42, Z:0.49 [[ 9.98641305e-01 -5.12641162e-02 -9.35601221e-03 2.17818520e+02] [ 5.12611584e-02 9.98685128e-01 -5.55829151e-04 3.41553390e+00] [ 9.37220434e-03 7.54739243e-05 9.99956077e-01 4.88364161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.85, Y:3.42, Z:0.48 [[ 9.98485410e-01 -5.42157333e-02 -9.35630412e-03 2.17847665e+02] [ 5.42129510e-02 9.98529245e-01 -5.50930443e-04 3.42291637e+00] [ 9.37241239e-03 4.28631519e-05 9.99956077e-01 4.78944539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.88, Y:3.43, Z:0.49 [[ 9.98382884e-01 -5.60721347e-02 -9.35586670e-03 2.17877642e+02] [ 5.60693652e-02 9.98426720e-01 -5.58261149e-04 3.42621910e+00] [ 9.37245020e-03 3.27808688e-05 9.99956077e-01 4.87527581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.91, Y:3.43, Z:0.48 [[ 9.98267273e-01 -5.80938836e-02 -9.35690358e-03 2.17907984e+02] [ 5.80913659e-02 9.98311124e-01 -5.40860592e-04 3.42795386e+00] [ 9.37252162e-03 -3.63188104e-06 9.99956077e-01 4.78497650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.94, Y:3.43, Z:0.48 [[ 9.97980783e-01 -6.28237450e-02 -9.35599130e-03 2.17937226e+02] [ 6.28212913e-02 9.98024637e-01 -5.56206157e-04 3.42928117e+00] [ 9.37245277e-03 -3.26723992e-05 9.99956077e-01 4.78681238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.97, Y:3.43, Z:0.48 [[ 9.97871296e-01 -6.45394646e-02 -9.35595523e-03 2.17967881e+02] [ 6.45370806e-02 9.97915154e-01 -5.56812183e-04 3.43353232e+00] [ 9.37238587e-03 -4.81791419e-05 9.99956077e-01 4.79656852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.00, Y:3.44, Z:0.48 [[ 9.97799201e-01 -6.56446538e-02 -9.35595523e-03 2.17998753e+02] [ 6.56423184e-02 9.97843062e-01 -5.56812183e-04 3.43812943e+00] [ 9.37232676e-03 -5.85598401e-05 9.99956077e-01 4.80514195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.03, Y:3.44, Z:0.48 [[ 9.97638548e-01 -6.80425781e-02 -9.35599083e-03 2.18030137e+02] [ 6.80403537e-02 9.97682415e-01 -5.56213382e-04 3.44143514e+00] [ 9.37215372e-03 -8.16850147e-05 9.99956077e-01 4.82966833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.06, Y:3.44, Z:0.48 [[ 9.97589888e-01 -6.87523094e-02 -9.35602607e-03 2.18061359e+02] [ 6.87501218e-02 9.97633756e-01 -5.55619933e-04 3.44154267e+00] [ 9.37208759e-03 -8.89471049e-05 9.99956077e-01 4.84032960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.09, Y:3.44, Z:0.48 [[ 9.97536712e-01 -6.95195849e-02 -9.35606106e-03 2.18092478e+02] [ 6.95174366e-02 9.97580582e-01 -5.55030222e-04 3.44169794e+00] [ 9.37201031e-03 -9.67463587e-05 9.99956077e-01 4.82844821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.12, Y:3.44, Z:0.48 [[ 9.97453018e-01 -7.07102538e-02 -9.35609623e-03 2.18123411e+02] [ 7.07081634e-02 9.97496891e-01 -5.54436662e-04 3.44346329e+00] [ 9.37188126e-03 -1.08527859e-04 9.99956077e-01 4.83137067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.16, Y:3.45, Z:0.48 [[ 9.97284119e-01 -7.30537326e-02 -9.35613086e-03 2.18156070e+02] [ 7.30517508e-02 9.97327998e-01 -5.53851607e-04 3.44532072e+00] [ 9.37159219e-03 -1.31134327e-04 9.99956077e-01 4.80985521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.19, Y:3.44, Z:0.48 [[ 9.97223797e-01 -7.38725784e-02 -9.35637011e-03 2.18188080e+02] [ 7.38706708e-02 9.97267678e-01 -5.49779944e-04 3.44428353e+00] [ 9.37141916e-03 -1.42907693e-04 9.99956077e-01 4.81294655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.22, Y:3.44, Z:0.48 [[ 9.97087114e-01 -7.56950463e-02 -9.35660995e-03 2.18219398e+02] [ 7.56932575e-02 9.97131001e-01 -5.45667497e-04 3.44041560e+00] [ 9.37107017e-03 -1.64154256e-04 9.99956077e-01 4.81580990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.25, Y:3.43, Z:0.48 [[ 9.96930981e-01 -7.77243335e-02 -9.35664397e-03 2.18250796e+02] [ 7.77226395e-02 9.96974871e-01 -5.45083478e-04 3.43268990e+00] [ 9.37070517e-03 -1.83812459e-04 9.99956077e-01 4.82671675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.28, Y:3.43, Z:0.48 [[ 9.96922366e-01 -7.78347500e-02 -9.35667796e-03 2.18282190e+02] [ 7.78330664e-02 9.96966257e-01 -5.44499457e-04 3.43325646e+00] [ 9.37067318e-03 -1.85435249e-04 9.99956077e-01 4.83405960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.31, Y:3.43, Z:0.48 [[ 9.97118688e-01 -7.52779715e-02 -9.35674202e-03 2.18313063e+02] [ 7.52761856e-02 9.97162575e-01 -5.43396323e-04 3.43465063e+00] [ 9.37109874e-03 -1.62509221e-04 9.99956077e-01 4.84009186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.34, Y:3.43, Z:0.48 [[ 9.97661943e-01 -6.76985769e-02 -9.35677607e-03 2.18343666e+02] [ 6.76964630e-02 9.97705815e-01 -5.42809393e-04 3.43284370e+00] [ 9.37205732e-03 -9.18803718e-05 9.99956077e-01 4.81828264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.37, Y:3.43, Z:0.48 [[ 9.97949778e-01 -6.33142169e-02 -9.35679311e-03 2.18373443e+02] [ 6.33119130e-02 9.97993641e-01 -5.42515487e-04 3.43139914e+00] [ 9.37236897e-03 -5.09932622e-05 9.99956077e-01 4.81784100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.40, Y:3.43, Z:0.48 [[ 9.98177133e-01 -5.96226668e-02 -9.35675827e-03 2.18402949e+02] [ 5.96201951e-02 9.98220986e-01 -5.43115735e-04 3.43071747e+00] [ 9.37249448e-03 -1.57260461e-05 9.99956077e-01 4.82572838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.43, Y:3.43, Z:0.48 [[ 9.98347352e-01 -5.67011122e-02 -9.35672322e-03 2.18432242e+02] [ 5.66985065e-02 9.98391198e-01 -5.43718938e-04 3.43147978e+00] [ 9.37249957e-03 1.23081301e-05 9.99956077e-01 4.82707736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.46, Y:3.43, Z:0.48 [[ 9.98642634e-01 -5.12380854e-02 -9.35668770e-03 2.18460924e+02] [ 5.12352342e-02 9.98686465e-01 -5.44329545e-04 3.43225826e+00] [ 9.37228776e-03 6.41986056e-05 9.99956077e-01 4.83602222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.49, Y:3.43, Z:0.48 [[ 9.98744333e-01 -4.92159582e-02 -9.35663476e-03 2.18490057e+02] [ 4.92130098e-02 9.98788157e-01 -5.45237979e-04 3.43288893e+00] [ 9.37213040e-03 8.40851839e-05 9.99956077e-01 4.83406568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.52, Y:3.43, Z:0.48 [[ 9.98826694e-01 -4.75151523e-02 -9.35656306e-03 2.18519191e+02] [ 4.75121177e-02 9.98870512e-01 -5.46465621e-04 3.43417229e+00] [ 9.37196033e-03 1.01274324e-04 9.99956077e-01 4.84447520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:3.44, Z:0.49 [[ 9.98995554e-01 -4.38216770e-02 -9.35649120e-03 2.18548117e+02] [ 4.38184689e-02 9.99039359e-01 -5.47693253e-04 3.44039779e+00] [ 9.37150381e-03 1.37156006e-04 9.99956077e-01 4.85842655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.58, Y:3.45, Z:0.49 [[ 9.99056105e-01 -4.24188162e-02 -9.35641978e-03 2.18577133e+02] [ 4.24155352e-02 9.99099905e-01 -5.48910557e-04 3.44514272e+00] [ 9.37128226e-03 1.51534890e-04 9.99956077e-01 4.86079602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.61, Y:3.45, Z:0.49 [[ 9.99142881e-01 -4.03232096e-02 -9.35634785e-03 2.18605751e+02] [ 4.03198253e-02 9.99186674e-01 -5.50133930e-04 3.44892818e+00] [ 9.37092125e-03 1.72416089e-04 9.99956077e-01 4.86301552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.64, Y:3.45, Z:0.49 [[ 9.99208728e-01 -3.86571728e-02 -9.35627612e-03 2.18635039e+02] [ 3.86537041e-02 9.99252514e-01 -5.51351215e-04 3.45133231e+00] [ 9.37059611e-03 1.89260218e-04 9.99956077e-01 4.93210053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.66, Y:3.46, Z:0.50 [[ 9.99297137e-01 -3.63001311e-02 -9.35587727e-03 2.18664544e+02] [ 3.62964957e-02 9.99340909e-01 -5.58119589e-04 3.45517027e+00] [ 9.36997071e-03 2.18141748e-04 9.99956077e-01 4.96436776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.69, Y:3.46, Z:0.49 [[ 9.99305704e-01 -3.60628695e-02 -9.35838937e-03 2.18693580e+02] [ 3.60596216e-02 9.99349507e-01 -5.15609970e-04 3.46011033e+00] [ 9.37089618e-03 1.77792005e-04 9.99956076e-01 4.88245782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.72, Y:3.46, Z:0.49 [[ 9.99300989e-01 -3.61938841e-02 -9.35612726e-03 2.18722840e+02] [ 3.61902843e-02 9.99344764e-01 -5.53825323e-04 3.46184895e+00] [ 9.37004187e-03 2.14837287e-04 9.99956077e-01 4.88524719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.75, Y:3.47, Z:0.49 [[ 9.99291141e-01 -3.64647836e-02 -9.35605468e-03 2.18751144e+02] [ 3.64611843e-02 9.99334916e-01 -5.55048658e-04 3.46703687e+00] [ 9.37007185e-03 2.13522373e-04 9.99956077e-01 4.88664633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.78, Y:3.47, Z:0.50 [[ 9.99279281e-01 -3.67883800e-02 -9.35598201e-03 2.18780528e+02] [ 3.67847834e-02 9.99323056e-01 -5.56271042e-04 3.47377479e+00] [ 9.37011284e-03 2.11712356e-04 9.99956077e-01 4.97066899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:218.81, Y:3.48, Z:0.50 [[ 9.99251379e-01 -3.75379545e-02 -9.35856002e-03 2.18808831e+02] [ 3.75347968e-02 9.99295190e-01 -5.12880059e-04 3.47815765e+00] [ 9.37121648e-03 1.61224457e-04 9.99956076e-01 4.96527106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.84, Y:3.48, Z:0.49 [[ 9.99255646e-01 -3.74248674e-02 -9.35595566e-03 2.18838512e+02] [ 3.74212949e-02 9.99299423e-01 -5.56674002e-04 3.48320027e+00] [ 9.37023454e-03 2.06147664e-04 9.99956077e-01 4.89541884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.87, Y:3.49, Z:0.49 [[ 9.99207619e-01 -3.86859200e-02 -9.35594397e-03 2.18867274e+02] [ 3.86824009e-02 9.99251401e-01 -5.56870398e-04 3.48831097e+00] [ 9.37048316e-03 1.94518770e-04 9.99956077e-01 4.89265399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.90, Y:3.49, Z:0.49 [[ 9.99172124e-01 -3.95920941e-02 -9.35587130e-03 2.18896029e+02] [ 3.95886033e-02 9.99215908e-01 -5.58088563e-04 3.49023551e+00] [ 9.37063134e-03 1.87240657e-04 9.99956077e-01 4.88566337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.92, Y:3.49, Z:0.49 [[ 9.99086524e-01 -4.16963591e-02 -9.35579884e-03 2.18924954e+02] [ 4.16929491e-02 9.99130314e-01 -5.59300691e-04 3.49152253e+00] [ 9.37098304e-03 1.68718938e-04 9.99956077e-01 4.86004783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.95, Y:3.50, Z:0.49 [[ 9.98895729e-01 -4.60412005e-02 -9.35572561e-03 2.18953734e+02] [ 4.60379696e-02 9.98939533e-01 -5.60523041e-04 3.49554750e+00] [ 9.37161133e-03 1.29185461e-04 9.99956077e-01 4.86079523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.98, Y:3.50, Z:0.49 [[ 9.98854439e-01 -4.69284797e-02 -9.35565172e-03 2.18983270e+02] [ 4.69252762e-02 9.98898245e-01 -5.61753648e-04 3.50042844e+00] [ 9.37170632e-03 1.22093584e-04 9.99956077e-01 4.86706043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:3.51, Z:0.50 [[ 9.98789652e-01 -4.82877063e-02 -9.35561495e-03 2.19012143e+02] [ 4.82845567e-02 9.98833462e-01 -5.62365352e-04 3.50619535e+00] [ 9.37185660e-03 1.09952975e-04 9.99956077e-01 4.98531000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.04, Y:3.51, Z:0.49 [[ 9.98610705e-01 -5.18567900e-02 -9.35587595e-03 2.19042459e+02] [ 5.18538375e-02 9.98654529e-01 -5.58035068e-04 3.50985356e+00] [ 9.37222579e-03 7.21217219e-05 9.99956077e-01 4.86807538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:3.51, Z:0.49 [[ 9.98530706e-01 -5.33751077e-02 -9.35553815e-03 2.19072514e+02] [ 5.33721693e-02 9.98574531e-01 -5.63641975e-04 3.51208159e+00] [ 9.37228657e-03 6.34884535e-05 9.99956077e-01 4.87154307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.10, Y:3.51, Z:0.49 [[ 9.98264011e-01 -5.81501412e-02 -9.35550159e-03 2.19102559e+02] [ 5.81474068e-02 9.98307849e-01 -5.64248084e-04 3.51483261e+00] [ 9.37248177e-03 1.92703992e-05 9.99956077e-01 4.89889673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.13, Y:3.52, Z:0.49 [[ 9.98046375e-01 -6.17730305e-02 -9.35550159e-03 2.19133389e+02] [ 6.17704552e-02 9.98090223e-01 -5.64248084e-04 3.51716898e+00] [ 9.37248998e-03 -1.47478363e-05 9.99956077e-01 4.90838400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.17, Y:3.36, Z:0.49 [[ 9.95475029e-01 -9.45618335e-02 -9.35550159e-03 2.19171459e+02] [ 9.45607016e-02 9.95518938e-01 -5.64248084e-04 3.35950298e+00] [ 9.36693534e-03 -3.22967916e-04 9.99956077e-01 4.93605768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.20, Y:3.36, Z:0.49 [[ 9.95361250e-01 -9.57520660e-02 -9.35544782e-03 2.19200356e+02] [ 9.57509783e-02 9.95405159e-01 -5.65138235e-04 3.35605636e+00] [ 9.36657418e-03 -3.33276581e-04 9.99956077e-01 4.94187068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.23, Y:3.36, Z:0.49 [[ 9.95343556e-01 -9.59358292e-02 -9.35537883e-03 2.19228799e+02] [ 9.59347388e-02 9.95387465e-01 -5.66278057e-04 3.35773455e+00] [ 9.36655317e-03 -3.33864609e-04 9.99956077e-01 4.94454101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.26, Y:3.35, Z:0.49 [[ 9.95267021e-01 -9.67266055e-02 -9.35527396e-03 2.19257479e+02] [ 9.67255338e-02 9.95310931e-01 -5.68005215e-04 3.35326517e+00] [ 9.36634765e-03 -3.39577011e-04 9.99956077e-01 4.94721795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:3.35, Z:0.49 [[ 9.95275522e-01 -9.66391058e-02 -9.35518635e-03 2.19286677e+02] [ 9.66380168e-02 9.95319431e-01 -5.69444582e-04 3.34914974e+00] [ 9.36642937e-03 -3.37312402e-04 9.99956077e-01 4.94366478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.32, Y:3.35, Z:0.49 [[ 9.95317485e-01 -9.62059553e-02 -9.35511673e-03 2.19315474e+02] [ 9.62048364e-02 9.95361394e-01 -5.70586010e-04 3.34584912e+00] [ 9.36661580e-03 -3.32093242e-04 9.99956077e-01 4.93846626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.34, Y:3.34, Z:0.50 [[ 9.95391506e-01 -9.54370600e-02 -9.35504686e-03 2.19343493e+02] [ 9.54358964e-02 9.95435414e-01 -5.71729273e-04 3.34386301e+00] [ 9.36690910e-03 -3.23712821e-04 9.99956077e-01 5.03460693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.37, Y:3.34, Z:0.49 [[ 9.95855539e-01 -9.04668853e-02 -9.35349258e-03 2.19373808e+02] [ 9.04652646e-02 9.95899432e-01 -5.97085800e-04 3.34146032e+00] [ 9.36915445e-03 -2.51554980e-04 9.99956077e-01 4.94871366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.40, Y:3.34, Z:0.51 [[ 9.96036669e-01 -8.84502046e-02 -9.35493172e-03 2.19401985e+02] [ 8.84487153e-02 9.96080567e-01 -5.73615401e-04 3.34064339e+00] [ 9.36900209e-03 -2.56089720e-04 9.99956077e-01 5.06295380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.43, Y:3.34, Z:0.51 [[ 9.96040227e-01 -8.84105623e-02 -9.35089048e-03 2.19430255e+02] [ 8.84084541e-02 9.96084101e-01 -6.39384632e-04 3.34246589e+00] [ 9.37080169e-03 -1.89844958e-04 9.99956075e-01 5.06557523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.46, Y:3.34, Z:0.50 [[ 9.96458218e-01 -8.35678235e-02 -9.35090986e-03 2.19461977e+02] [ 8.35655050e-02 9.96502081e-01 -6.39069201e-04 3.34176925e+00] [ 9.37160676e-03 -1.44607748e-04 9.99956075e-01 4.97376176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.49, Y:3.34, Z:0.50 [[ 9.96728294e-01 -8.02819539e-02 -9.35497733e-03 2.19490792e+02] [ 8.02801142e-02 9.96772178e-01 -5.72618534e-04 3.34064656e+00] [ 9.37075206e-03 -1.80273554e-04 9.99956077e-01 4.97857476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.52, Y:3.34, Z:0.50 [[ 9.96959950e-01 -7.73520761e-02 -9.35490442e-03 2.19519939e+02] [ 7.73500962e-02 9.97003828e-01 -5.73807234e-04 3.33916650e+00] [ 9.37126070e-03 -1.51539925e-04 9.99956077e-01 4.97984431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.55, Y:3.34, Z:0.50 [[ 9.96944832e-01 -7.75466906e-02 -9.35483009e-03 2.19548387e+02] [ 7.75447080e-02 9.96988710e-01 -5.75016466e-04 3.34087012e+00] [ 9.37125060e-03 -1.52157873e-04 9.99956077e-01 4.98251475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.58, Y:3.34, Z:0.50 [[ 9.97042614e-01 -7.62791928e-02 -9.35471748e-03 2.19577861e+02] [ 7.62771373e-02 9.97086489e-01 -5.76842570e-04 3.33916959e+00] [ 9.37146349e-03 -1.38414445e-04 9.99956077e-01 4.96222308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.61, Y:3.34, Z:0.50 [[ 9.97027708e-01 -7.64737878e-02 -9.35464209e-03 2.19606311e+02] [ 7.64717293e-02 9.97071582e-01 -5.78062674e-04 3.34088194e+00] [ 9.37145443e-03 -1.39021155e-04 9.99956077e-01 4.96489371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:219.64, Y:3.34, Z:0.50 [[ 9.97380920e-01 -7.17202431e-02 -9.35452891e-03 2.19636565e+02] [ 7.17179584e-02 9.97424783e-01 -5.79888404e-04 3.33629097e+00] [ 9.37202871e-03 -9.25180858e-05 9.99956077e-01 5.04427351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.942320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:219.67, Y:3.34, Z:0.49 [[ 9.97365555e-01 -7.19333734e-02 -9.35622958e-03 2.19665305e+02] [ 7.19313554e-02 9.97409432e-01 -5.52456387e-04 3.33642631e+00] [ 9.37173168e-03 -1.22005304e-04 9.99956077e-01 4.94619280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.972320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:219.69, Y:3.34, Z:0.49 [[ 9.97351329e-01 -7.21305895e-02 -9.35441578e-03 2.19693753e+02] [ 7.21283066e-02 9.97395192e-01 -5.81628095e-04 3.33817557e+00] [ 9.37200250e-03 -9.46306162e-05 9.99956077e-01 4.94884333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.72, Y:3.34, Z:0.50 [[ 9.97510354e-01 -6.98969951e-02 -9.35430056e-03 2.19721326e+02] [ 6.98945966e-02 9.97554212e-01 -5.83475317e-04 3.33944885e+00] [ 9.37220509e-03 -7.17923945e-05 9.99956077e-01 4.96696736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.75, Y:3.34, Z:0.51 [[ 9.97694093e-01 -6.72234823e-02 -9.35418450e-03 2.19750382e+02] [ 6.72209489e-02 9.97737942e-01 -5.85330056e-04 3.34087335e+00] [ 9.37237272e-03 -4.48168198e-05 9.99956077e-01 5.09873505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.78, Y:3.34, Z:0.50 [[ 9.97776854e-01 -6.59834178e-02 -9.35620939e-03 2.19779747e+02] [ 6.59811323e-02 9.97820718e-01 -5.53068749e-04 3.34170226e+00] [ 9.37231293e-03 -6.54940932e-05 9.99956077e-01 4.98328526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.81, Y:3.34, Z:0.50 [[ 9.97884772e-01 -6.43310521e-02 -9.35399319e-03 2.19808471e+02] [ 6.43283636e-02 9.97928612e-01 -5.88306069e-04 3.34217807e+00] [ 9.37246380e-03 -1.46654080e-05 9.99956077e-01 4.98563587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.84, Y:3.34, Z:0.50 [[ 9.97871744e-01 -6.45328315e-02 -9.35391433e-03 2.19836922e+02] [ 6.45301402e-02 9.97915584e-01 -5.89557245e-04 3.34392365e+00] [ 9.37246269e-03 -1.53068870e-05 9.99956077e-01 4.98830664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.87, Y:3.34, Z:0.50 [[ 9.97913651e-01 -6.38815455e-02 -9.35379474e-03 2.19865263e+02] [ 6.38788079e-02 9.97957488e-01 -5.91448635e-04 3.34410554e+00] [ 9.37247216e-03 -7.29459053e-06 9.99956077e-01 4.97673001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.89, Y:3.34, Z:0.50 [[ 9.97997337e-01 -6.25605635e-02 -9.35367476e-03 2.19894311e+02] [ 6.25577502e-02 9.98041169e-01 -5.93340001e-04 3.34448327e+00] [ 9.37247218e-03 7.00689175e-06 9.99956077e-01 4.98321967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.92, Y:3.34, Z:0.50 [[ 9.98081764e-01 -6.11988775e-02 -9.35359509e-03 2.19923017e+02] [ 6.11959926e-02 9.98125592e-01 -5.94593349e-04 3.34499339e+00] [ 9.37245108e-03 2.10502426e-05 9.99956077e-01 4.99766851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.95, Y:3.35, Z:0.50 [[ 9.98174516e-01 -5.96669695e-02 -9.35351578e-03 2.19951519e+02] [ 5.96640057e-02 9.98218339e-01 -5.95838347e-04 3.34650440e+00] [ 9.37240285e-03 3.66824355e-05 9.99956077e-01 5.00701190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.98, Y:3.35, Z:0.50 [[ 9.98288556e-01 -5.77275666e-02 -9.35343631e-03 2.19979893e+02] [ 5.77245059e-02 9.98332372e-01 -5.97083335e-04 3.34924918e+00] [ 9.37230642e-03 5.61389708e-05 9.99956077e-01 5.01140689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.01, Y:3.35, Z:0.50 [[ 9.98402805e-01 -5.57167330e-02 -9.35335729e-03 2.20007295e+02] [ 5.57135725e-02 9.98446613e-01 -5.98318658e-04 3.35302528e+00] [ 9.37216427e-03 7.62540765e-05 9.99956077e-01 5.02560794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.04, Y:3.36, Z:0.50 [[ 9.98534824e-01 -5.32984284e-02 -9.35323945e-03 2.20035517e+02] [ 5.32951447e-02 9.98578624e-01 -6.00155010e-04 3.35601021e+00] [ 9.37193230e-03 1.00793428e-04 9.99956077e-01 5.03062496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.06, Y:3.36, Z:0.50 [[ 9.98524343e-01 -5.34944393e-02 -9.35316133e-03 2.20063962e+02] [ 5.34911528e-02 9.98568142e-01 -6.01370027e-04 3.35779286e+00] [ 9.37193889e-03 1.00171229e-04 9.99956077e-01 5.03329544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.09, Y:3.36, Z:0.50 [[ 9.98639134e-01 -5.13069332e-02 -9.35304293e-03 2.20092422e+02] [ 5.13035336e-02 9.98682924e-01 -6.03205999e-04 3.36014082e+00] [ 9.37167291e-03 1.22540964e-04 9.99956077e-01 5.02101248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:220.12, Y:3.36, Z:0.50 [[ 9.98750993e-01 -4.90813116e-02 -9.35296402e-03 2.20120848e+02] [ 4.90778029e-02 9.98794776e-01 -6.04427049e-04 3.36123923e+00] [ 9.37135767e-03 1.44649191e-04 9.99956077e-01 5.00584215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.452320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:220.15, Y:3.36, Z:0.51 [[ 9.98947551e-01 -4.49033790e-02 -9.35288522e-03 2.20150263e+02] [ 4.48996758e-02 9.98991317e-01 -6.05643892e-04 3.36272489e+00] [ 9.37064659e-03 1.85064968e-04 9.99956077e-01 5.13609820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.18, Y:3.37, Z:0.50 [[ 9.99022124e-01 -4.32120960e-02 -9.35474506e-03 2.20179240e+02] [ 4.32085869e-02 9.99065906e-01 -5.76986780e-04 3.36603004e+00] [ 9.37093966e-03 1.72217243e-04 9.99956077e-01 5.03554511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.21, Y:3.37, Z:0.50 [[ 9.99076715e-01 -4.19314422e-02 -9.35264342e-03 2.20207536e+02] [ 4.19275751e-02 9.99120467e-01 -6.09249345e-04 3.37006160e+00] [ 9.36996416e-03 2.16553175e-04 9.99956077e-01 5.02972173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.24, Y:3.37, Z:0.50 [[ 9.99068749e-01 -4.21208224e-02 -9.35256495e-03 2.20235977e+02] [ 4.21169524e-02 9.99112501e-01 -6.10451434e-04 3.37187319e+00] [ 9.36997728e-03 2.15981418e-04 9.99956077e-01 5.03239197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.26, Y:3.38, Z:0.50 [[ 9.99101115e-01 -4.13460200e-02 -9.35244891e-03 2.20264766e+02] [ 4.13420995e-02 9.99144862e-01 -6.12224219e-04 3.37576943e+00] [ 9.36976431e-03 2.25024027e-04 9.99956077e-01 5.03170109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.29, Y:3.38, Z:0.50 [[ 9.99159035e-01 -3.99218775e-02 -9.35237116e-03 2.20293323e+02] [ 3.99178835e-02 9.99202775e-01 -6.13409506e-04 3.37849485e+00] [ 9.36940368e-03 2.39566787e-04 9.99956077e-01 5.02385311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.32, Y:3.38, Z:0.50 [[ 9.99236601e-01 -3.79308687e-02 -9.35229382e-03 2.20321474e+02] [ 3.79267765e-02 9.99280332e-01 -6.14586449e-04 3.38333414e+00] [ 9.36887507e-03 2.59414916e-04 9.99956077e-01 5.01111300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.35, Y:3.39, Z:0.50 [[ 9.99242474e-01 -3.77758350e-02 -9.35219713e-03 2.20350274e+02] [ 3.77717223e-02 9.99286204e-01 -6.16054283e-04 3.38713852e+00] [ 9.36879354e-03 2.62339012e-04 9.99956077e-01 5.01507538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.38, Y:3.39, Z:0.50 [[ 9.99249763e-01 -3.75825617e-02 -9.35211909e-03 2.20378832e+02] [ 3.75784295e-02 9.99293491e-01 -6.17236675e-04 3.39204422e+00] [ 9.36870907e-03 2.65335653e-04 9.99956077e-01 5.04869837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.41, Y:3.39, Z:0.51 [[ 9.99213850e-01 -3.85255889e-02 -9.35204164e-03 2.20407911e+02] [ 3.85214871e-02 9.99257581e-01 -6.18407956e-04 3.39495332e+00] [ 9.36892304e-03 2.57667243e-04 9.99956077e-01 5.05940484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.44, Y:3.40, Z:0.51 [[ 9.99162471e-01 -3.98358787e-02 -9.35196380e-03 2.20435927e+02] [ 3.98318232e-02 9.99206206e-01 -6.19582905e-04 3.39819109e+00] [ 9.36922190e-03 2.46558218e-04 9.99956077e-01 5.05801726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.46, Y:3.40, Z:0.51 [[ 9.99113426e-01 -4.10475835e-02 -9.35184604e-03 2.20463500e+02] [ 4.10435645e-02 9.99157165e-01 -6.21355258e-04 3.40157357e+00] [ 9.36946911e-03 2.36971285e-04 9.99956077e-01 5.05193043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.49, Y:3.41, Z:0.50 [[ 9.99093152e-01 -4.15381531e-02 -9.35172803e-03 2.20492386e+02] [ 4.15341389e-02 9.99136891e-01 -6.23126271e-04 3.40511016e+00] [ 9.36953999e-03 2.34145219e-04 9.99956077e-01 5.04363734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.52, Y:3.41, Z:0.50 [[ 9.99078629e-01 -4.18860442e-02 -9.35164929e-03 2.20521288e+02] [ 4.18820342e-02 9.99122368e-01 -6.24305756e-04 3.40902247e+00] [ 9.36959168e-03 2.32064443e-04 9.99956077e-01 5.04056760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.55, Y:3.41, Z:0.51 [[ 9.99044959e-01 -4.26815879e-02 -9.35157083e-03 2.20549676e+02] [ 4.26776019e-02 9.99088700e-01 -6.25478918e-04 3.41346894e+00] [ 9.36974518e-03 2.25778943e-04 9.99956077e-01 5.05437188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:3.42, Z:0.51 [[ 9.99036806e-01 -4.28720230e-02 -9.35149185e-03 2.20578110e+02] [ 4.28680342e-02 9.99080547e-01 -6.26657508e-04 3.41533033e+00] [ 9.36975966e-03 2.25173842e-04 9.99956077e-01 5.05704205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.61, Y:3.42, Z:0.51 [[ 9.99028616e-01 -4.30624621e-02 -9.35137206e-03 2.20606543e+02] [ 4.30584650e-02 9.99072357e-01 -6.28440021e-04 3.41719770e+00] [ 9.36975949e-03 2.25173838e-04 9.99956077e-01 5.05971191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:220.64, Y:3.42, Z:0.52 [[ 9.99051108e-01 -4.25374887e-02 -9.35125193e-03 2.20637310e+02] [ 4.25334520e-02 9.99094844e-01 -6.30222512e-04 3.42240951e+00] [ 9.36959567e-03 2.31883474e-04 9.99956077e-01 5.19271723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.66, Y:3.43, Z:0.51 [[ 9.98967167e-01 -4.44640222e-02 -9.35684873e-03 2.20664442e+02] [ 4.44608458e-02 9.99010978e-01 -5.47312950e-04 3.42714737e+00] [ 9.37193033e-03 1.30734259e-04 9.99956074e-01 5.06673916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:3.43, Z:0.51 [[ 9.98943998e-01 -4.49827585e-02 -9.35091556e-03 2.20693271e+02] [ 4.49787867e-02 9.98987741e-01 -6.34722614e-04 3.43025088e+00] [ 9.37000158e-03 2.13459509e-04 9.99956078e-01 5.06004977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.72, Y:3.43, Z:0.51 [[ 9.98895905e-01 -4.60383845e-02 -9.35083477e-03 2.20722324e+02] [ 4.60344478e-02 9.98939650e-01 -6.35910581e-04 3.43223309e+00] [ 9.37019592e-03 2.04747960e-04 9.99956078e-01 5.05417256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.75, Y:3.43, Z:0.51 [[ 9.98823341e-01 -4.75867266e-02 -9.35075388e-03 2.20751571e+02] [ 4.75828466e-02 9.98867092e-01 -6.37097864e-04 3.43429683e+00] [ 9.37047773e-03 1.91412729e-04 9.99956078e-01 5.13810224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.78, Y:3.44, Z:0.50 [[ 9.98780774e-01 -4.84717452e-02 -9.35171207e-03 2.20780686e+02] [ 4.84680351e-02 9.98824540e-01 -6.23095300e-04 3.43772721e+00] [ 9.37092202e-03 1.69076498e-04 9.99956078e-01 5.04985107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.81, Y:3.44, Z:0.51 [[ 9.98744489e-01 -4.92139714e-02 -9.35039083e-03 2.20809410e+02] [ 4.92101138e-02 9.98788242e-01 -6.42328577e-04 3.44174438e+00] [ 9.37067196e-03 1.81388329e-04 9.99956078e-01 5.05000361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.84, Y:3.44, Z:0.51 [[ 9.98735000e-01 -4.94061804e-02 -9.35030812e-03 2.20837842e+02] [ 4.94023200e-02 9.98778753e-01 -6.43530375e-04 3.44365589e+00] [ 9.37068346e-03 1.80789396e-04 9.99956078e-01 5.05267401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.87, Y:3.45, Z:0.51 [[ 9.98695571e-01 -5.01969175e-02 -9.35018393e-03 2.20866833e+02] [ 5.01930749e-02 9.98739325e-01 -6.45329806e-04 3.44845967e+00] [ 9.37078995e-03 1.75173537e-04 9.99956078e-01 5.08132637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.90, Y:3.45, Z:0.51 [[ 9.98690018e-01 -5.03072839e-02 -9.35010098e-03 2.20895131e+02] [ 5.03034349e-02 9.98733772e-01 -6.46529322e-04 3.45292144e+00] [ 9.37078675e-03 1.75340185e-04 9.99956078e-01 5.09296613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:220.93, Y:3.46, Z:0.52 [[ 9.98695163e-01 -5.02050686e-02 -9.35001740e-03 2.20925978e+02] [ 5.02012038e-02 9.98738915e-01 -6.47735874e-04 3.45735613e+00] [ 9.37074585e-03 1.77508555e-04 9.99956078e-01 5.23278169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.95, Y:3.46, Z:0.51 [[ 9.98681808e-01 -5.04691495e-02 -9.35473423e-03 2.20954333e+02] [ 5.04659331e-02 9.98725615e-01 -5.79711045e-04 3.46204382e+00] [ 9.37207021e-03 1.06851484e-04 9.99956075e-01 5.09930473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.98, Y:3.47, Z:0.51 [[ 9.98671716e-01 -5.06693611e-02 -9.34986478e-03 2.20983334e+02] [ 5.06654975e-02 9.98715468e-01 -6.49779292e-04 3.46594363e+00] [ 9.37077847e-03 1.75200650e-04 9.99956078e-01 5.09538778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.01, Y:3.47, Z:0.51 [[ 9.98661774e-01 -5.08649465e-02 -9.34978069e-03 2.21011763e+02] [ 5.08610802e-02 9.98705526e-01 -6.50986952e-04 3.46787936e+00] [ 9.37079006e-03 1.74575839e-04 9.99956078e-01 5.09805823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:221.04, Y:3.47, Z:0.52 [[ 9.98645605e-01 -5.11814301e-02 -9.34965284e-03 2.21042061e+02] [ 5.11775604e-02 9.98689357e-01 -6.52818023e-04 3.47124264e+00] [ 9.37081094e-03 1.73441426e-04 9.99956078e-01 5.20306102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:221.07, Y:3.47, Z:0.52 [[ 9.98629989e-01 -5.14846373e-02 -9.35287586e-03 2.21070343e+02] [ 5.14812131e-02 9.98673779e-01 -6.06661479e-04 3.47306394e+00] [ 9.37170563e-03 1.24332951e-04 9.99956077e-01 5.20572939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.10, Y:3.48, Z:0.51 [[ 9.98512493e-01 -5.37152632e-02 -9.35266837e-03 2.21098939e+02] [ 5.37119090e-02 9.98556287e-01 -6.09620629e-04 3.47553752e+00] [ 9.37191174e-03 1.06364141e-04 9.99956077e-01 5.10324463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.13, Y:3.48, Z:0.52 [[ 9.98449782e-01 -5.48691443e-02 -9.34927773e-03 2.21128871e+02] [ 5.48653895e-02 9.98493543e-01 -6.57810893e-04 3.47844167e+00] [ 9.37128697e-03 1.43839378e-04 9.99956078e-01 5.24299458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.16, Y:3.48, Z:0.51 [[ 9.98351368e-01 -5.66309433e-02 -9.35319209e-03 2.21157665e+02] [ 5.66277863e-02 9.98395178e-01 -6.02225786e-04 3.48165528e+00] [ 9.37228649e-03 7.15823743e-05 9.99956077e-01 5.13740549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.19, Y:3.49, Z:0.51 [[ 9.98269352e-01 -5.80594165e-02 -9.34907023e-03 2.21185675e+02] [ 5.80557758e-02 9.98313122e-01 -6.60563342e-04 3.48569178e+00] [ 9.37165142e-03 1.16652614e-04 9.99956078e-01 5.14357590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.21, Y:3.49, Z:0.51 [[ 9.98182929e-01 -5.95267749e-02 -9.34896257e-03 2.21213813e+02] [ 5.95231843e-02 9.98226704e-01 -6.62083591e-04 3.48963754e+00] [ 9.37179579e-03 1.04400516e-04 9.99956078e-01 5.14980623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.24, Y:3.49, Z:0.52 [[ 9.98171105e-01 -5.97247326e-02 -9.34887474e-03 2.21242238e+02] [ 5.97211392e-02 9.98214879e-01 -6.63321444e-04 3.49160879e+00] [ 9.37180257e-03 1.03782849e-04 9.99956078e-01 5.15247656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.27, Y:3.50, Z:0.53 [[ 9.98174272e-01 -5.96717992e-02 -9.34874283e-03 2.21272202e+02] [ 5.96681861e-02 9.98218045e-01 -6.65175453e-04 3.49554327e+00] [ 9.37177600e-03 1.06138496e-04 9.99956078e-01 5.26900612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:221.30, Y:3.50, Z:0.52 [[ 9.98181632e-01 -5.95479319e-02 -9.35267681e-03 2.21301113e+02] [ 5.95448315e-02 9.98225446e-01 -6.09849271e-04 3.49876323e+00] [ 9.37239524e-03 5.18367755e-05 9.99956077e-01 5.15781480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.33, Y:3.50, Z:0.52 [[ 9.98234697e-01 -5.86523177e-02 -9.34858989e-03 2.21329870e+02] [ 5.86486416e-02 9.98278464e-01 -6.67120908e-04 3.50214172e+00] [ 9.37162414e-03 1.17661139e-04 9.99956078e-01 5.16744277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:221.36, Y:3.51, Z:0.53 [[ 9.98235076e-01 -5.86458771e-02 -9.34850160e-03 2.21359385e+02] [ 5.86421891e-02 9.98278842e-01 -6.68355821e-04 3.50582955e+00] [ 9.37160767e-03 1.18959624e-04 9.99956078e-01 5.26711695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:221.39, Y:3.51, Z:0.53 [[ 9.98247894e-01 -5.84269944e-02 -9.35033462e-03 2.21388343e+02] [ 5.84235367e-02 9.98291679e-01 -6.42746039e-04 3.50928316e+00] [ 9.37191497e-03 9.53402621e-05 9.99956078e-01 5.25166507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:221.42, Y:3.51, Z:0.53 [[ 9.98230732e-01 -5.87194671e-02 -9.35043154e-03 2.21416607e+02] [ 5.87160349e-02 9.98274519e-01 -6.41396543e-04 3.51120197e+00] [ 9.37196001e-03 9.12414757e-05 9.99956078e-01 5.25432045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.45, Y:3.51, Z:0.52 [[ 9.98255591e-01 -5.82953599e-02 -9.35024227e-03 2.21445131e+02] [ 5.82918845e-02 9.98299375e-01 -6.44021286e-04 3.51422961e+00] [ 9.37188446e-03 9.78546071e-05 9.99956078e-01 5.16380843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.832320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:221.47, Y:3.52, Z:0.53 [[ 9.98227634e-01 -5.87724937e-02 -9.34795460e-03 2.21473733e+02] [ 5.87687429e-02 9.98271395e-01 -6.75671373e-04 3.51816152e+00] [ 9.37150657e-03 1.25106296e-04 9.99956079e-01 5.29453059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.862320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:221.50, Y:3.52, Z:0.53 [[ 9.98215487e-01 -5.89782982e-02 -9.34892212e-03 2.21501992e+02] [ 5.89746816e-02 9.98259259e-01 -6.62289143e-04 3.52012005e+00] [ 9.37170875e-03 1.09757574e-04 9.99956079e-01 5.29718680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.53, Y:3.52, Z:0.52 [[ 9.98208047e-01 -5.91041122e-02 -9.34877954e-03 2.21531253e+02] [ 5.91004828e-02 9.98251818e-01 -6.64255686e-04 3.52403104e+00] [ 9.37169641e-03 1.10547986e-04 9.99956079e-01 5.17235625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.56, Y:3.53, Z:0.52 [[ 9.98168479e-01 -5.97688057e-02 -9.34760365e-03 2.21558867e+02] [ 5.97650542e-02 9.98212240e-01 -6.80410247e-04 3.52890780e+00] [ 9.37155968e-03 1.20504023e-04 9.99956079e-01 5.17969616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.59, Y:3.53, Z:0.52 [[ 9.98156567e-01 -5.99674228e-02 -9.34746720e-03 2.21587286e+02] [ 5.99636624e-02 9.98200327e-01 -6.82279621e-04 3.53093797e+00] [ 9.37155937e-03 1.20513517e-04 9.99956079e-01 5.18236650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.62, Y:3.54, Z:0.52 [[ 9.98106313e-01 -6.07981496e-02 -9.34733108e-03 2.21615338e+02] [ 6.07944082e-02 9.98150075e-01 -6.84139496e-04 3.53570244e+00] [ 9.37163363e-03 1.14578489e-04 9.99956079e-01 5.19442006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.64, Y:3.54, Z:0.52 [[ 9.98026506e-01 -6.20944632e-02 -9.34721729e-03 2.21644425e+02] [ 6.20907642e-02 9.98070271e-01 -6.85690681e-04 3.53947745e+00] [ 9.37175729e-03 1.03961611e-04 9.99956079e-01 5.19466728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:221.67, Y:3.54, Z:0.53 [[ 9.98020362e-01 -6.21931575e-02 -9.34712508e-03 2.21673806e+02] [ 6.21894510e-02 9.98064126e-01 -6.86945383e-04 3.54358810e+00] [ 9.37175352e-03 1.04292902e-04 9.99956079e-01 5.32836228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:3.55, Z:0.52 [[ 9.97932943e-01 -6.35800419e-02 -9.34980902e-03 2.21702814e+02] [ 6.35767369e-02 9.97976741e-01 -6.50581867e-04 3.54723401e+00] [ 9.37225596e-03 5.48067293e-05 9.99956078e-01 5.19519047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.73, Y:3.55, Z:0.52 [[ 9.97885376e-01 -6.43227285e-02 -9.34686028e-03 2.21731356e+02] [ 6.43190822e-02 9.97929145e-01 -6.90497338e-04 3.55150129e+00] [ 9.37191896e-03 8.78557207e-05 9.99956079e-01 5.20252709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.76, Y:3.55, Z:0.52 [[ 9.97872503e-01 -6.45221378e-02 -9.34676790e-03 2.21759771e+02] [ 6.45184885e-02 9.97916272e-01 -6.91745591e-04 3.55355803e+00] [ 9.37192468e-03 8.72345664e-05 9.99956079e-01 5.20519745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.79, Y:3.56, Z:0.52 [[ 9.97864356e-01 -6.46480343e-02 -9.34662929e-03 2.21788594e+02] [ 6.46443731e-02 9.97908124e-01 -6.93613330e-04 3.55753504e+00] [ 9.37191804e-03 8.79250274e-05 9.99956079e-01 5.20572785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.82, Y:3.56, Z:0.52 [[ 9.97807822e-01 -6.55148273e-02 -9.34653682e-03 2.21817336e+02] [ 6.55111924e-02 9.97851593e-01 -6.94857164e-04 3.56226130e+00] [ 9.37198010e-03 8.10311411e-05 9.99956079e-01 5.22741591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.85, Y:3.57, Z:0.52 [[ 9.97730633e-01 -6.66800451e-02 -9.34644458e-03 2.21845697e+02] [ 6.66764498e-02 9.97774407e-01 -6.96095661e-04 3.56549437e+00] [ 9.37205889e-03 7.13282211e-05 9.99956079e-01 5.21803710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.87, Y:3.57, Z:0.52 [[ 9.97637176e-01 -6.80640135e-02 -9.34635200e-03 2.21874035e+02] [ 6.80604673e-02 9.97680954e-01 -6.97336551e-04 3.56854887e+00] [ 9.37214091e-03 5.95717835e-05 9.99956079e-01 5.22096929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.90, Y:3.57, Z:0.52 [[ 9.97471983e-01 -7.04435329e-02 -9.34625901e-03 2.21903127e+02] [ 7.04400794e-02 9.97515768e-01 -6.98580584e-04 3.57006912e+00] [ 9.37225122e-03 3.84633326e-05 9.99956079e-01 5.21935688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.93, Y:3.57, Z:0.52 [[ 9.97439475e-01 -7.09023440e-02 -9.34616533e-03 2.21931721e+02] [ 7.08988990e-02 9.97483261e-01 -6.99831709e-04 3.57131421e+00] [ 9.37226318e-03 3.54069410e-05 9.99956079e-01 5.22415464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.96, Y:3.57, Z:0.52 [[ 9.97391260e-01 -7.15774061e-02 -9.34607196e-03 2.21960404e+02] [ 7.15739790e-02 9.97435048e-01 -7.01076457e-04 3.57367035e+00] [ 9.37228096e-03 3.03119725e-05 9.99956079e-01 5.22507073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.99, Y:3.58, Z:0.52 [[ 9.97303911e-01 -7.27843474e-02 -9.34597895e-03 2.21989020e+02] [ 7.27809617e-02 9.97347702e-01 -7.02314159e-04 3.57739600e+00] [ 9.37230811e-03 2.02113218e-05 9.99956079e-01 5.22314778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:222.02, Y:3.58, Z:0.54 [[ 9.97233879e-01 -7.37376718e-02 -9.34588580e-03 2.22017499e+02] [ 7.37343164e-02 9.97277672e-01 -7.03551616e-04 3.58229627e+00] [ 9.37232149e-03 1.24930069e-05 9.99956079e-01 5.35091635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:3.58, Z:0.53 [[ 9.97142989e-01 -7.49569042e-02 -9.34459221e-03 2.22045731e+02] [ 7.49534411e-02 9.97186774e-01 -7.20750947e-04 3.58293854e+00] [ 9.37232902e-03 1.82824118e-05 9.99956079e-01 5.33198564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:222.08, Y:3.58, Z:0.52 [[ 9.97233281e-01 -7.37462487e-02 -9.34202085e-03 2.22077564e+02] [ 7.37424117e-02 9.97277036e-01 -7.54983531e-04 3.58357628e+00] [ 9.37226007e-03 6.39915555e-05 9.99956077e-01 5.20834264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.11, Y:3.58, Z:0.52 [[ 9.97274256e-01 -7.31895372e-02 -9.34614665e-03 2.22106855e+02] [ 7.31861921e-02 9.97318049e-01 -6.99888821e-04 3.58441527e+00] [ 9.37230529e-03 1.39722189e-05 9.99956079e-01 5.21968345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.14, Y:3.59, Z:0.52 [[ 9.97269976e-01 -7.32478359e-02 -9.34605358e-03 2.22135493e+02] [ 7.32444817e-02 9.97313769e-01 -7.01129438e-04 3.58756560e+00] [ 9.37230414e-03 1.46684872e-05 9.99956079e-01 5.22764308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.16, Y:3.59, Z:0.52 [[ 9.97211701e-01 -7.40369985e-02 -9.34596089e-03 2.22164528e+02] [ 7.40336674e-02 9.97255495e-01 -7.02362824e-04 3.59024455e+00] [ 9.37231169e-03 8.48866599e-06 9.99956079e-01 5.24133614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.19, Y:3.59, Z:0.53 [[ 9.97072503e-01 -7.58885960e-02 -9.34586773e-03 2.22192730e+02] [ 7.58853346e-02 9.97116303e-01 -7.03600278e-04 3.59057030e+00] [ 9.37231231e-03 -7.67380888e-06 9.99956079e-01 5.34532492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.22, Y:3.59, Z:0.52 [[ 9.97132007e-01 -7.51030372e-02 -9.34314688e-03 2.22223603e+02] [ 7.50994026e-02 9.97175778e-01 -7.39740329e-04 3.59123024e+00] [ 9.37231651e-03 3.59540093e-05 9.99956078e-01 5.24406172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:3.59, Z:0.52 [[ 9.97139510e-01 -7.50030169e-02 -9.34587814e-03 2.22252851e+02] [ 7.49997180e-02 9.97183307e-01 -7.03453695e-04 3.59205444e+00] [ 9.37231482e-03 5.03248285e-07 9.99956079e-01 5.23277121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:3.59, Z:0.54 [[ 9.97168119e-01 -7.46217070e-02 -9.34578403e-03 2.22281588e+02] [ 7.46183797e-02 9.97211914e-01 -7.04701817e-04 3.59422278e+00] [ 9.37231323e-03 5.33892417e-06 9.99956079e-01 5.35782548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.31, Y:3.60, Z:0.52 [[ 9.97207035e-01 -7.41000284e-02 -9.34427943e-03 2.22311360e+02] [ 7.40964918e-02 9.97250813e-01 -7.24583702e-04 3.59752566e+00] [ 9.37228194e-03 3.01816405e-05 9.99956079e-01 5.24556261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.34, Y:3.60, Z:0.53 [[ 9.97218928e-01 -7.39396310e-02 -9.34566781e-03 2.22340470e+02] [ 7.39362595e-02 9.97262719e-01 -7.06210579e-04 3.60029182e+00] [ 9.37230304e-03 1.32628360e-05 9.99956079e-01 5.25125148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:222.37, Y:3.60, Z:0.53 [[ 9.97288914e-01 -7.29895976e-02 -9.34557373e-03 2.22369739e+02] [ 7.29861728e-02 9.97332702e-01 -7.07453311e-04 3.60139287e+00] [ 9.37228303e-03 2.34376852e-05 9.99956079e-01 5.26135322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:222.40, Y:3.60, Z:0.53 [[ 9.97279141e-01 -7.31230252e-02 -9.34547918e-03 2.22398980e+02] [ 7.31195945e-02 9.97322928e-01 -7.08700174e-04 3.60357882e+00] [ 9.37228296e-03 2.34342524e-05 9.99956079e-01 5.26410165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.43, Y:3.60, Z:0.53 [[ 9.97254826e-01 -7.34539078e-02 -9.34538420e-03 2.22427562e+02] [ 7.34504800e-02 9.97298613e-01 -7.09950447e-04 3.60436931e+00] [ 9.37228733e-03 2.15785540e-05 9.99956079e-01 5.25808122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.46, Y:3.61, Z:0.53 [[ 9.97358119e-01 -7.20378204e-02 -9.34528899e-03 2.22457926e+02] [ 7.20343187e-02 9.97401901e-01 -7.11201455e-04 3.60650938e+00] [ 9.37224241e-03 3.61410198e-05 9.99956079e-01 5.33690435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:222.49, Y:3.61, Z:0.54 [[ 9.97435069e-01 -7.09639899e-02 -9.34858598e-03 2.22486785e+02] [ 7.09608479e-02 9.97478878e-01 -6.67784922e-04 3.61033768e+00] [ 9.37240574e-03 2.68851119e-06 9.99956078e-01 5.37675639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.52, Y:3.61, Z:0.54 [[ 9.97590806e-01 -6.87402958e-02 -9.34637266e-03 2.22515928e+02] [ 6.87367839e-02 9.97634587e-01 -6.96836107e-04 3.61319089e+00] [ 9.37216535e-03 5.27176954e-05 9.99956079e-01 5.36986941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.55, Y:3.62, Z:0.53 [[ 9.97557079e-01 -6.92277333e-02 -9.34852191e-03 2.22545266e+02] [ 6.92245064e-02 9.97600882e-01 -6.68706491e-04 3.61507899e+00] [ 9.37238674e-03 1.99260791e-05 9.99956078e-01 5.26813172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:222.57, Y:3.62, Z:0.53 [[ 9.97573938e-01 -6.89848457e-02 -9.34504446e-03 2.22574117e+02] [ 6.89811819e-02 9.97617706e-01 -7.14207333e-04 3.61751686e+00] [ 9.37205130e-03 6.78424098e-05 9.99956079e-01 5.27954079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.60, Y:3.62, Z:0.53 [[ 9.97695483e-01 -6.72041304e-02 -9.34494971e-03 2.22603127e+02] [ 6.72003768e-02 9.97739243e-01 -7.15444899e-04 3.62211976e+00] [ 9.37190391e-03 8.58120018e-05 9.99956079e-01 5.27149814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.63, Y:3.63, Z:0.53 [[ 9.97761539e-01 -6.62161997e-02 -9.34485504e-03 2.22631646e+02] [ 6.62123913e-02 9.97805294e-01 -7.16679330e-04 3.62585029e+00] [ 9.37180162e-03 9.63298728e-05 9.99956079e-01 5.26038454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:222.66, Y:3.63, Z:0.53 [[ 9.97774085e-01 -6.60268955e-02 -9.34475899e-03 2.22659867e+02] [ 6.60230670e-02 9.97817839e-01 -7.17929519e-04 3.62951973e+00] [ 9.37176988e-03 9.93618194e-05 9.99956079e-01 5.26797985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.69, Y:3.64, Z:0.54 [[ 9.97814241e-01 -6.54172703e-02 -9.34461603e-03 2.22688614e+02] [ 6.54133977e-02 9.97857991e-01 -7.19785602e-04 3.63615129e+00] [ 9.37168618e-03 1.06949239e-04 9.99956079e-01 5.37997628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.72, Y:3.64, Z:0.54 [[ 9.97786618e-01 -6.58374158e-02 -9.34341677e-03 2.22717697e+02] [ 6.58334155e-02 9.97830357e-01 -7.35387362e-04 3.63960445e+00] [ 9.37156089e-03 1.18650630e-04 9.99956079e-01 5.38033584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.75, Y:3.64, Z:0.53 [[ 9.97810612e-01 -6.54726731e-02 -9.34410634e-03 2.22747489e+02] [ 6.54687407e-02 9.97854356e-01 -7.26438602e-04 3.64167110e+00] [ 9.37161909e-03 1.13101271e-04 9.99956079e-01 5.31101037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.78, Y:3.64, Z:0.53 [[ 9.97728750e-01 -6.67084744e-02 -9.34453192e-03 2.22776074e+02] [ 6.67046478e-02 9.97772504e-01 -7.20922214e-04 3.64318142e+00] [ 9.37180864e-03 9.59611092e-05 9.99956079e-01 5.30861136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:3.65, Z:0.53 [[ 9.97590821e-01 -6.87403532e-02 -9.34443549e-03 2.22804310e+02] [ 6.87366041e-02 9.97634581e-01 -7.22169918e-04 3.64687733e+00] [ 9.37197421e-03 7.81253184e-05 9.99956079e-01 5.30924652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.83, Y:3.65, Z:0.53 [[ 9.97535186e-01 -6.95430476e-02 -9.34433796e-03 2.22833158e+02] [ 6.95393218e-02 9.97578949e-01 -7.23429708e-04 3.65062153e+00] [ 9.37202435e-03 7.18476635e-05 9.99956079e-01 5.30763176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.86, Y:3.65, Z:0.54 [[ 9.97435582e-01 -7.09573471e-02 -9.34424248e-03 2.22863409e+02] [ 7.09536719e-02 9.97479349e-01 -7.24660952e-04 3.65337819e+00] [ 9.37210892e-03 5.97943035e-05 9.99956079e-01 5.38949241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.302320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:222.89, Y:3.65, Z:0.54 [[ 9.97296181e-01 -7.28903241e-02 -9.34490928e-03 2.22891150e+02] [ 7.28868140e-02 9.97339962e-01 -7.16083767e-04 3.65495902e+00] [ 9.37224705e-03 3.30269419e-05 9.99956079e-01 5.39909706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.92, Y:3.66, Z:0.54 [[ 9.97135890e-01 -7.50516651e-02 -9.34150831e-03 2.22921221e+02] [ 7.50478396e-02 9.97179645e-01 -7.59871215e-04 3.65639716e+00] [ 9.37219154e-03 5.66348426e-05 9.99956078e-01 5.40843069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.95, Y:3.66, Z:0.53 [[ 9.97076522e-01 -7.58362913e-02 -9.34168455e-03 2.22952546e+02] [ 7.58325216e-02 9.97120281e-01 -7.57600876e-04 3.65949988e+00] [ 9.37223676e-03 4.69825503e-05 9.99956079e-01 5.30956165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:222.98, Y:3.66, Z:0.54 [[ 9.96831050e-01 -7.89971055e-02 -9.34424321e-03 2.22981922e+02] [ 7.89937838e-02 9.96874845e-01 -7.24605463e-04 3.66127801e+00] [ 9.37228273e-03 -1.58279035e-05 9.99956079e-01 5.42329872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.01, Y:3.66, Z:0.53 [[ 9.96769644e-01 -7.97684298e-02 -9.34208885e-03 2.23013537e+02] [ 7.97648817e-02 9.96813422e-01 -7.52368313e-04 3.66143031e+00] [ 9.37233479e-03 4.76728274e-06 9.99956079e-01 5.30561524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.04, Y:3.66, Z:0.53 [[ 9.96643772e-01 -8.13257385e-02 -9.34427732e-03 2.23042826e+02] [ 8.13225236e-02 9.96687575e-01 -7.24127989e-04 3.66107857e+00] [ 9.37221535e-03 -3.82025629e-05 9.99956079e-01 5.30192852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.482320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:223.07, Y:3.66, Z:0.54 [[ 9.96568086e-01 -8.22480210e-02 -9.34418270e-03 2.23071230e+02] [ 8.22448352e-02 9.96611891e-01 -7.25346954e-04 3.66170538e+00] [ 9.37218194e-03 -4.56531409e-05 9.99956079e-01 5.41890833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.10, Y:3.66, Z:0.53 [[ 9.96503357e-01 -8.30287161e-02 -9.34305747e-03 2.23101649e+02] [ 8.30254286e-02 9.96547154e-01 -7.39851466e-04 3.66146889e+00] [ 9.37222625e-03 -3.84468805e-05 9.99956079e-01 5.29971547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.13, Y:3.66, Z:0.53 [[ 9.96574679e-01 -8.21680741e-02 -9.34431149e-03 2.23130844e+02] [ 8.21649006e-02 9.96618485e-01 -7.23658746e-04 3.66102694e+00] [ 9.37217521e-03 -4.65944426e-05 9.99956079e-01 5.29819853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.16, Y:3.66, Z:0.53 [[ 9.96600158e-01 -8.18584813e-02 -9.34421740e-03 2.23159815e+02] [ 8.18552828e-02 9.96643962e-01 -7.24871671e-04 3.65965430e+00] [ 9.37219475e-03 -4.24663360e-05 9.99956079e-01 5.29798817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.19, Y:3.66, Z:0.53 [[ 9.96608780e-01 -8.17534579e-02 -9.34412277e-03 2.23188649e+02] [ 8.17502434e-02 9.96652583e-01 -7.26089467e-04 3.65835029e+00] [ 9.37220442e-03 -4.02571730e-05 9.99956079e-01 5.29594532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:223.22, Y:3.66, Z:0.54 [[ 9.96853192e-01 -7.87172278e-02 -9.34402758e-03 2.23217281e+02] [ 7.87138684e-02 9.96896985e-01 -7.27312400e-04 3.65702982e+00] [ 9.37228494e-03 -1.04808693e-05 9.99956079e-01 5.36944307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.25, Y:3.66, Z:0.53 [[ 9.97061578e-01 -7.60323145e-02 -9.34330676e-03 2.23247559e+02] [ 7.60287504e-02 9.97105354e-01 -7.36569814e-04 3.65795206e+00] [ 9.37226430e-03 2.40455235e-05 9.99956079e-01 5.29281115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.28, Y:3.66, Z:0.53 [[ 9.97217401e-01 -7.39604360e-02 -9.34393292e-03 2.23275996e+02] [ 7.39568562e-02 9.97261176e-01 -7.28539047e-04 3.65878104e+00] [ 9.37222459e-03 3.54639124e-05 9.99956079e-01 5.28693078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.30, Y:3.66, Z:0.53 [[ 9.97562924e-01 -6.91440938e-02 -9.34383612e-03 2.23304517e+02] [ 6.91402911e-02 9.97606680e-01 -7.29778401e-04 3.65867077e+00] [ 9.37193319e-03 8.19643256e-05 9.99956079e-01 5.29409123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:223.33, Y:3.66, Z:0.54 [[ 9.97710432e-01 -6.69819959e-02 -9.34373997e-03 2.23333734e+02] [ 6.69780868e-02 9.97754179e-01 -7.31007440e-04 3.66017758e+00] [ 9.37171994e-03 1.03507922e-04 9.99956079e-01 5.36910801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.36, Y:3.66, Z:0.53 [[ 9.97851197e-01 -6.48510535e-02 -9.34503425e-03 2.23363122e+02] [ 6.48472059e-02 9.97894949e-01 -7.14457172e-04 3.66241997e+00] [ 9.37169577e-03 1.06922584e-04 9.99956079e-01 5.29997315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:223.39, Y:3.67, Z:0.53 [[ 9.98048881e-01 -6.17343242e-02 -9.34363777e-03 2.23391922e+02] [ 6.17301733e-02 9.98092606e-01 -7.32275842e-04 3.66518697e+00] [ 9.37102232e-03 1.54062706e-04 9.99956079e-01 5.31356401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.42, Y:3.67, Z:0.53 [[ 9.98094977e-01 -6.09845416e-02 -9.34354063e-03 2.23420786e+02] [ 6.09803463e-02 9.98138697e-01 -7.33513221e-04 3.66790762e+00] [ 9.37088244e-03 1.62343519e-04 9.99956079e-01 5.32442036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.45, Y:3.67, Z:0.53 [[ 9.98183749e-01 -5.95138925e-02 -9.34344366e-03 2.23449559e+02] [ 5.95096212e-02 9.98227462e-01 -7.34746275e-04 3.67175052e+00] [ 9.37060966e-03 1.77386998e-04 9.99956079e-01 5.31962925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.48, Y:3.68, Z:0.53 [[ 9.98254787e-01 -5.83102146e-02 -9.34334622e-03 2.23477599e+02] [ 5.83058790e-02 9.98298494e-01 -7.35983396e-04 3.68010612e+00] [ 9.37036380e-03 1.89926934e-04 9.99956079e-01 5.31195791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.51, Y:3.68, Z:0.53 [[ 9.98244272e-01 -5.84899819e-02 -9.34324851e-03 2.23505662e+02] [ 5.84856426e-02 9.98287978e-01 -7.37221703e-04 3.68468780e+00] [ 9.37037274e-03 1.89481449e-04 9.99956079e-01 5.31112308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:223.53, Y:3.69, Z:0.53 [[ 9.98019209e-01 -6.22122579e-02 -9.34310171e-03 2.23534255e+02] [ 6.22080642e-02 9.98062929e-01 -7.39077485e-04 3.68587453e+00] [ 9.37098314e-03 1.56397256e-04 9.99956079e-01 5.34037993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.56, Y:3.69, Z:0.53 [[ 9.97049853e-01 -7.61859553e-02 -9.34300342e-03 2.23563657e+02] [ 7.61823628e-02 9.97093626e-01 -7.40317931e-04 3.68526212e+00] [ 9.37225099e-03 2.63618074e-05 9.99956079e-01 5.34716099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.59, Y:3.69, Z:0.53 [[ 9.97039680e-01 -7.63189858e-02 -9.34290276e-03 2.23592895e+02] [ 7.63153874e-02 9.97083453e-01 -7.41586073e-04 3.68755056e+00] [ 9.37225084e-03 2.63834977e-05 9.99956079e-01 5.34990973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.62, Y:3.69, Z:0.54 [[ 9.97021311e-01 -7.65585896e-02 -9.34280365e-03 2.23622180e+02] [ 7.65549900e-02 9.97065084e-01 -7.42832579e-04 3.68922355e+00] [ 9.37225352e-03 2.53816719e-05 9.99956079e-01 5.35413772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.65, Y:3.69, Z:0.54 [[ 9.97011106e-01 -7.66913792e-02 -9.34272930e-03 2.23651417e+02] [ 7.66877766e-02 9.97054879e-01 -7.43766488e-04 3.69151836e+00] [ 9.37225431e-03 2.50703106e-05 9.99956079e-01 5.35688647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.68, Y:3.69, Z:0.54 [[ 9.97112595e-01 -7.53603834e-02 -9.34263008e-03 2.23680453e+02] [ 7.53567107e-02 9.97156362e-01 -7.45010777e-04 3.69304234e+00] [ 9.37220732e-03 3.88297572e-05 9.99956079e-01 5.35748809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.71, Y:3.70, Z:0.54 [[ 9.97102566e-01 -7.54929801e-02 -9.34253085e-03 2.23709690e+02] [ 7.54893016e-02 9.97146333e-01 -7.46253105e-04 3.69534535e+00] [ 9.37220724e-03 3.88297568e-05 9.99956079e-01 5.36023681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.74, Y:3.70, Z:0.54 [[ 9.97236126e-01 -7.37077180e-02 -9.34243145e-03 2.23738138e+02] [ 7.37039496e-02 9.97279885e-01 -7.47495419e-04 3.69645931e+00] [ 9.37211514e-03 5.68553391e-05 9.99956079e-01 5.36239595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:3.70, Z:0.54 [[ 9.97447028e-01 -7.07965261e-02 -9.34233229e-03 2.23767271e+02] [ 7.07926183e-02 9.97490774e-01 -7.48732638e-04 3.69730127e+00] [ 9.37189794e-03 8.54529801e-05 9.99956079e-01 5.38430436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:3.70, Z:0.54 [[ 9.97507404e-01 -6.99407010e-02 -9.34223282e-03 2.23795543e+02] [ 6.99367441e-02 9.97551146e-01 -7.49971778e-04 3.69958803e+00] [ 9.37180861e-03 9.47370559e-05 9.99956079e-01 5.39547166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.82, Y:3.70, Z:0.54 [[ 9.97578697e-01 -6.89163777e-02 -9.34213249e-03 2.23824178e+02] [ 6.89123642e-02 9.97622434e-01 -7.51219412e-04 3.70247808e+00] [ 9.37169228e-03 1.05612046e-04 9.99956079e-01 5.40993300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.85, Y:3.70, Z:0.54 [[ 9.97694941e-01 -6.72125869e-02 -9.34203277e-03 2.23852843e+02] [ 6.72084871e-02 9.97738670e-01 -7.52457559e-04 3.70348715e+00] [ 9.37148196e-03 1.22859211e-04 9.99956079e-01 5.39884816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:223.88, Y:3.70, Z:0.54 [[ 9.97737367e-01 -6.65798396e-02 -9.34193270e-03 2.23881256e+02] [ 6.65757005e-02 9.97781092e-01 -7.53697862e-04 3.70446473e+00] [ 9.37138490e-03 1.30046807e-04 9.99956079e-01 5.40192733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.91, Y:3.71, Z:0.54 [[ 9.97792997e-01 -6.57408951e-02 -9.34183164e-03 2.23909013e+02] [ 6.57367075e-02 9.97836718e-01 -7.54948407e-04 3.70562919e+00] [ 9.37125360e-03 1.39180980e-04 9.99956079e-01 5.39940822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.94, Y:3.71, Z:0.54 [[ 9.97822526e-01 -6.52911867e-02 -9.34167924e-03 2.23938291e+02] [ 6.52869618e-02 9.97866243e-01 -7.56829516e-04 3.70733384e+00] [ 9.37116067e-03 1.45291684e-04 9.99956079e-01 5.39642030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.97, Y:3.71, Z:0.54 [[ 9.97948715e-01 -6.33332231e-02 -9.34157937e-03 2.23967319e+02] [ 6.33289009e-02 9.97992423e-01 -7.58060178e-04 3.70848218e+00] [ 9.37083582e-03 1.64913227e-04 9.99956079e-01 5.41957000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.00, Y:3.71, Z:0.54 [[ 9.98014014e-01 -6.22957796e-02 -9.34147917e-03 2.23995166e+02] [ 6.22914004e-02 9.98057716e-01 -7.59292973e-04 3.70999246e+00] [ 9.37063611e-03 1.75891209e-04 9.99956079e-01 5.42795450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:3.71, Z:0.54 [[ 9.97982466e-01 -6.27991791e-02 -9.34132898e-03 2.24024253e+02] [ 6.27948048e-02 9.98026169e-01 -7.61136203e-04 3.71231658e+00] [ 9.37068950e-03 1.73013655e-04 9.99956079e-01 5.43600034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.05, Y:3.72, Z:0.54 [[ 9.97874359e-01 -6.44942319e-02 -9.34122987e-03 2.24053031e+02] [ 6.44899204e-02 9.97918067e-01 -7.62350599e-04 3.71517123e+00] [ 9.37094928e-03 1.58314944e-04 9.99956079e-01 5.41410589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:3.72, Z:0.54 [[ 9.97808090e-01 -6.55115101e-02 -9.34113053e-03 2.24081505e+02] [ 6.55072318e-02 9.97851802e-01 -7.63565913e-04 3.71713112e+00] [ 9.37108629e-03 1.49980643e-04 9.99956079e-01 5.41997544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.11, Y:3.71, Z:0.54 [[ 9.97666711e-01 -6.76304524e-02 -9.34102995e-03 2.24110457e+02] [ 6.76262555e-02 9.97710431e-01 -7.64794366e-04 3.71457555e+00] [ 9.37136641e-03 1.31311002e-04 9.99956079e-01 5.43619920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.14, Y:3.72, Z:0.55 [[ 9.97462410e-01 -7.05796552e-02 -9.34092868e-03 2.24138759e+02] [ 7.05755760e-02 9.97506141e-01 -7.66029240e-04 3.71625923e+00] [ 9.37169980e-03 1.04843950e-04 9.99956079e-01 5.53360683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.17, Y:3.72, Z:0.55 [[ 9.97405062e-01 -7.13861303e-02 -9.33611413e-03 2.24168459e+02] [ 7.13815369e-02 9.97448744e-01 -8.24729369e-04 3.71939794e+00] [ 9.37116954e-03 1.56163073e-04 9.99956077e-01 5.52904087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:3.72, Z:0.54 [[ 9.97387336e-01 -7.16329608e-02 -9.33920350e-03 2.24199481e+02] [ 7.16287305e-02 9.97431053e-01 -7.87098227e-04 3.72041511e+00] [ 9.37159376e-03 1.16086514e-04 9.99956079e-01 5.42285001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.23, Y:3.72, Z:0.54 [[ 9.97373000e-01 -7.18320558e-02 -9.34097839e-03 2.24227885e+02] [ 7.18280370e-02 9.97416737e-01 -7.65438539e-04 3.72267590e+00] [ 9.37183121e-03 9.24835915e-05 9.99956079e-01 5.42552413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.26, Y:3.72, Z:0.54 [[ 9.97193434e-01 -7.42832671e-02 -9.34082506e-03 2.24256770e+02] [ 7.42793383e-02 9.97237179e-01 -7.67305118e-04 3.71895000e+00] [ 9.37201596e-03 7.13213210e-05 9.99956079e-01 5.43756275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.29, Y:3.72, Z:0.55 [[ 9.97073360e-01 -7.58779620e-02 -9.34072268e-03 2.24285489e+02] [ 7.58740916e-02 9.97117110e-01 -7.68549390e-04 3.71791725e+00] [ 9.37211037e-03 5.75812749e-05 9.99956079e-01 5.47004842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.31, Y:3.72, Z:0.56 [[ 9.97207812e-01 -7.40900261e-02 -9.34062022e-03 2.24313910e+02] [ 7.40860656e-02 9.97251554e-01 -7.69792672e-04 3.71973082e+00] [ 9.37198199e-03 7.56334645e-05 9.99956079e-01 5.60293985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.34, Y:3.72, Z:0.55 [[ 9.97642072e-01 -6.79931271e-02 -9.33973832e-03 2.24344000e+02] [ 6.79887992e-02 9.97685779e-01 -7.80489834e-04 3.72452589e+00] [ 9.37119205e-03 1.43651903e-04 9.99956079e-01 5.48900924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:3.73, Z:0.55 [[ 9.97864104e-01 -6.46528119e-02 -9.34048498e-03 2.24372232e+02] [ 6.46484222e-02 9.97907805e-01 -7.71449523e-04 3.72776771e+00] [ 9.37081924e-03 1.65954170e-04 9.99956079e-01 5.48805577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.40, Y:3.73, Z:0.55 [[ 9.98281798e-01 -5.78464208e-02 -9.34038385e-03 2.24400864e+02] [ 5.78417218e-02 9.98325467e-01 -7.72671979e-04 3.73225422e+00] [ 9.36943938e-03 2.31080489e-04 9.99956079e-01 5.49395903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.43, Y:3.74, Z:0.55 [[ 9.98425292e-01 -5.53145121e-02 -9.34028391e-03 2.24428676e+02] [ 5.53096910e-02 9.98468948e-01 -7.73878191e-04 3.73632105e+00] [ 9.36879014e-03 2.56051342e-04 9.99956079e-01 5.50112877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.46, Y:3.74, Z:0.55 [[ 9.98660467e-01 -5.08923712e-02 -9.34013573e-03 2.24456697e+02] [ 5.08873402e-02 9.98704099e-01 -7.75662571e-04 3.74316937e+00] [ 9.36750714e-03 2.99328881e-04 9.99956079e-01 5.48460709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.49, Y:3.75, Z:0.55 [[ 9.98734369e-01 -4.94208888e-02 -9.34003703e-03 2.24485612e+02] [ 4.94157824e-02 9.98777992e-01 -7.76849166e-04 3.74749384e+00] [ 9.36701601e-03 3.14320724e-04 9.99956079e-01 5.47947217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.51, Y:3.75, Z:0.55 [[ 9.98791898e-01 -4.82442770e-02 -9.33993928e-03 2.24514255e+02] [ 4.82391083e-02 9.98835514e-01 -7.78022604e-04 3.75331834e+00] [ 9.36659819e-03 3.26532331e-04 9.99956079e-01 5.47868353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.54, Y:3.76, Z:0.55 [[ 9.98780170e-01 -4.84864952e-02 -9.33984200e-03 2.24542907e+02] [ 4.84813262e-02 9.98823785e-01 -7.79188707e-04 3.75721748e+00] [ 9.36663647e-03 3.25430302e-04 9.99956079e-01 5.47608804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.57, Y:3.76, Z:0.55 [[ 9.98771093e-01 -4.86731165e-02 -9.33974466e-03 2.24571301e+02] [ 4.86679447e-02 9.98814709e-01 -7.80353734e-04 3.75954744e+00] [ 9.36665659e-03 3.24848575e-04 9.99956079e-01 5.47875820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.60, Y:3.76, Z:0.55 [[ 9.98692159e-01 -5.02667180e-02 -9.33959853e-03 2.24599436e+02] [ 5.02615996e-02 9.98735781e-01 -7.82098812e-04 3.76337456e+00] [ 9.36710477e-03 3.11652790e-04 9.99956079e-01 5.48313642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:224.63, Y:3.77, Z:0.55 [[ 9.98609744e-01 -5.18782618e-02 -9.33947613e-03 2.24628218e+02] [ 5.18732001e-02 9.98653372e-01 -7.83557653e-04 3.76742483e+00] [ 9.36754894e-03 2.97999793e-04 9.99956079e-01 5.48176495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.66, Y:3.77, Z:0.55 [[ 9.98576972e-01 -5.25053094e-02 -9.33940181e-03 2.24656459e+02] [ 5.25002669e-02 9.98620602e-01 -7.84442535e-04 3.77174865e+00] [ 9.36770645e-03 2.93005164e-04 9.99956079e-01 5.49008695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.69, Y:3.78, Z:0.55 [[ 9.98540583e-01 -5.31928773e-02 -9.33930100e-03 2.24685404e+02] [ 5.31878535e-02 9.98584215e-01 -7.85640885e-04 3.77604710e+00] [ 9.36786906e-03 2.87756934e-04 9.99956079e-01 5.49468336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.71, Y:3.78, Z:0.55 [[ 9.98520730e-01 -5.35642708e-02 -9.33920158e-03 2.24713917e+02] [ 5.35592523e-02 9.98564363e-01 -7.86820978e-04 3.78043401e+00] [ 9.36793937e-03 2.85456404e-04 9.99956079e-01 5.50915687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.74, Y:3.78, Z:0.55 [[ 9.98474725e-01 -5.44151215e-02 -9.33910121e-03 2.24742602e+02] [ 5.44101291e-02 9.98518361e-01 -7.88010557e-04 3.78471903e+00] [ 9.36814372e-03 2.78666922e-04 9.99956079e-01 5.52202681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.77, Y:3.79, Z:0.55 [[ 9.98397718e-01 -5.58102144e-02 -9.33900085e-03 2.24771132e+02] [ 5.58052718e-02 9.98441360e-01 -7.89198125e-04 3.78841182e+00] [ 9.36849002e-03 2.66768126e-04 9.99956079e-01 5.52373341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.80, Y:3.79, Z:0.55 [[ 9.98387054e-01 -5.60006686e-02 -9.33889960e-03 2.24799522e+02] [ 5.59957232e-02 9.98430696e-01 -7.90394397e-04 3.79077180e+00] [ 9.36850664e-03 2.66181096e-04 9.99956079e-01 5.52640351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.83, Y:3.79, Z:0.55 [[ 9.98284124e-01 -5.78065333e-02 -9.33874849e-03 2.24827860e+02] [ 5.78016501e-02 9.98327773e-01 -7.92175838e-04 3.79387909e+00] [ 9.36892492e-03 2.51021490e-04 9.99956079e-01 5.54022107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.86, Y:3.80, Z:0.55 [[ 9.98178532e-01 -5.96020725e-02 -9.33864745e-03 2.24856769e+02] [ 5.95972567e-02 9.98222188e-01 -7.93365143e-04 3.79656227e+00] [ 9.36933130e-03 2.35362284e-04 9.99956079e-01 5.54348978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.372320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.89, Y:3.80, Z:0.56 [[ 9.98055481e-01 -6.16283074e-02 -9.33854467e-03 2.24887003e+02] [ 6.16235690e-02 9.98099146e-01 -7.94573191e-04 3.79889714e+00] [ 9.36976165e-03 2.17553677e-04 9.99956079e-01 5.64132175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:3.80, Z:0.55 [[ 9.97929255e-01 -6.36387763e-02 -9.34392154e-03 2.24914716e+02] [ 6.36347162e-02 9.97972990e-01 -7.31484289e-04 3.80107736e+00] [ 9.37153208e-03 1.35371776e-04 9.99956077e-01 5.54337618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:224.94, Y:3.81, Z:0.55 [[ 9.97736193e-01 -6.65979408e-02 -9.33824017e-03 2.24943318e+02] [ 6.65933881e-02 9.97779877e-01 -7.97970726e-04 3.80585199e+00] [ 9.37065134e-03 1.74299223e-04 9.99956079e-01 5.54122791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:3.81, Z:0.55 [[ 9.97596690e-01 -6.86559740e-02 -9.33813480e-03 2.24971706e+02] [ 6.86515000e-02 9.97640383e-01 -7.99201890e-04 3.80917653e+00] [ 9.37097036e-03 1.56204200e-04 9.99956079e-01 5.54729141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49232058799998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:225.00, Y:3.81, Z:0.57 [[ 9.97434076e-01 -7.09793233e-02 -9.33803012e-03 2.25000697e+02] [ 7.09749396e-02 9.97477778e-01 -8.00423095e-04 3.81249688e+00] [ 9.37129103e-03 1.35603147e-04 9.99956079e-01 5.66497678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.03, Y:3.81, Z:0.56 [[ 9.97383773e-01 -7.16824836e-02 -9.33969617e-03 2.25030059e+02] [ 7.16783127e-02 9.97427496e-01 -7.80979503e-04 3.81463910e+00] [ 9.37165231e-03 1.09482621e-04 9.99956079e-01 5.55273353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.06, Y:3.82, Z:0.55 [[ 9.97263001e-01 -7.33437981e-02 -9.33783161e-03 2.25058950e+02] [ 7.33394969e-02 9.97306710e-01 -8.02670782e-04 3.81654341e+00] [ 9.37155304e-03 1.15642000e-04 9.99956079e-01 5.53741126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.582320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:225.09, Y:3.82, Z:0.55 [[ 9.97165542e-01 -7.46571448e-02 -9.33772443e-03 2.25087751e+02] [ 7.46528896e-02 9.97209256e-01 -8.03915632e-04 3.81876951e+00] [ 9.37168328e-03 1.04548856e-04 9.99956079e-01 5.52686745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:225.12, Y:3.82, Z:0.55 [[ 9.97049912e-01 -7.61858322e-02 -9.33761799e-03 2.25116986e+02] [ 7.61816324e-02 9.97093632e-01 -8.05150069e-04 3.82107066e+00] [ 9.37182046e-03 9.14198242e-05 9.99956079e-01 5.51727435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:3.82, Z:0.55 [[ 9.96968253e-01 -7.72470858e-02 -9.33753768e-03 2.25145767e+02] [ 7.72429238e-02 9.97011976e-01 -8.06080360e-04 3.82303714e+00] [ 9.37190426e-03 8.23778163e-05 9.99956079e-01 5.52149228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.17, Y:3.82, Z:0.55 [[ 9.96859809e-01 -7.86341744e-02 -9.33743141e-03 2.25174495e+02] [ 7.86300617e-02 9.96903537e-01 -8.07309522e-04 3.82494011e+00] [ 9.37200051e-03 7.05716074e-05 9.99956079e-01 5.53233915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.20, Y:3.83, Z:0.55 [[ 9.96787674e-01 -7.95433686e-02 -9.33732398e-03 2.25203356e+02] [ 7.95392843e-02 9.96831404e-01 -8.08550184e-04 3.82784011e+00] [ 9.37205258e-03 6.32687915e-05 9.99956079e-01 5.54102351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.23, Y:3.83, Z:0.55 [[ 9.96710529e-01 -8.05042721e-02 -9.33721619e-03 2.25231486e+02] [ 8.05002182e-02 9.96754262e-01 -8.09793013e-04 3.83169590e+00] [ 9.37210183e-03 5.54812816e-05 9.99956079e-01 5.53853623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.26, Y:3.84, Z:0.55 [[ 9.96629602e-01 -8.15000276e-02 -9.33710843e-03 2.25260572e+02] [ 8.14960058e-02 9.96673338e-01 -8.11033647e-04 3.83520172e+00] [ 9.37214629e-03 4.73630983e-05 9.99956079e-01 5.53419457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:3.84, Z:0.55 [[ 9.96457713e-01 -8.35753979e-02 -9.33699976e-03 2.25289867e+02] [ 8.35714555e-02 9.96501456e-01 -8.12282798e-04 3.83620833e+00] [ 9.37222071e-03 2.90987995e-05 9.99956079e-01 5.54095891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:3.84, Z:0.56 [[ 9.96379346e-01 -8.45045575e-02 -9.33691914e-03 2.25319247e+02] [ 8.45006473e-02 9.96423093e-01 -8.13208331e-04 3.83631892e+00] [ 9.37224166e-03 2.12882743e-05 9.99956079e-01 5.55121620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.852320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:225.35, Y:3.84, Z:0.57 [[ 9.96285979e-01 -8.55983154e-02 -9.33681158e-03 2.25348335e+02] [ 8.55944416e-02 9.96329729e-01 -8.14441469e-04 3.83687934e+00] [ 9.37225777e-03 1.22374430e-05 9.99956079e-01 5.67717008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.38, Y:3.84, Z:0.56 [[ 9.96082158e-01 -8.79383585e-02 -9.33704375e-03 2.25377472e+02] [ 8.79346124e-02 9.96125918e-01 -8.11784520e-04 3.83751694e+00] [ 9.37225828e-03 -1.24452473e-05 9.99956079e-01 5.55352921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:3.84, Z:0.55 [[ 9.96055259e-01 -8.82425592e-02 -9.33661376e-03 2.25406244e+02] [ 8.82387804e-02 9.96099016e-01 -8.16700209e-04 3.83913636e+00] [ 9.37225950e-03 -1.03728729e-05 9.99956079e-01 5.54702820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:225.44, Y:3.84, Z:0.57 [[ 9.96104227e-01 -8.76880761e-02 -9.33650481e-03 2.25436798e+02] [ 8.76842613e-02 9.96147982e-01 -8.17943919e-04 3.84072171e+00] [ 9.37226435e-03 -3.90713122e-06 9.99956079e-01 5.68752628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:3.84, Z:0.56 [[ 9.96042605e-01 -8.83848770e-02 -9.34037096e-03 2.25465962e+02] [ 8.83815072e-02 9.96086397e-01 -7.73736061e-04 3.84165901e+00] [ 9.37220302e-03 -5.48419819e-05 9.99956078e-01 5.56934027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:3.84, Z:0.56 [[ 9.96114632e-01 -8.75698102e-02 -9.33643027e-03 2.25495129e+02] [ 8.75659833e-02 9.96158385e-01 -8.18676964e-04 3.84314736e+00] [ 9.37225469e-03 -2.05759447e-06 9.99956079e-01 5.56569196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.52, Y:3.84, Z:0.56 [[ 9.96099865e-01 -8.77376328e-02 -9.33632296e-03 2.25523979e+02] [ 8.77338018e-02 9.96143618e-01 -8.19898888e-04 3.84477187e+00] [ 9.37225452e-03 -2.40993645e-06 9.99956079e-01 5.56019378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.55, Y:3.85, Z:0.56 [[ 9.96087712e-01 -8.78755104e-02 -9.33621470e-03 2.25552483e+02] [ 8.78716740e-02 9.96131465e-01 -8.21129799e-04 3.84534537e+00] [ 9.37225442e-03 -2.47151141e-06 9.99956079e-01 5.55036414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.58, Y:3.84, Z:0.55 [[ 9.96027089e-01 -8.85600084e-02 -9.33610543e-03 2.25581152e+02] [ 8.85561904e-02 9.96070843e-01 -8.22370300e-04 3.84490520e+00] [ 9.37225153e-03 -7.66683423e-06 9.99956079e-01 5.54834403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.61, Y:3.84, Z:0.57 [[ 9.96040576e-01 -8.84082023e-02 -9.33599490e-03 2.25611672e+02] [ 8.84043659e-02 9.96084329e-01 -8.23623267e-04 3.84307463e+00] [ 9.37225326e-03 -4.98051522e-06 9.99956079e-01 5.66136605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.64, Y:3.84, Z:0.57 [[ 9.96060996e-01 -8.81779227e-02 -9.33520967e-03 2.25641970e+02] [ 8.81739926e-02 9.96104740e-01 -8.32532548e-04 3.84488925e+00] [ 9.37225759e-03 6.13049097e-06 9.99956079e-01 5.69328542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.67, Y:3.85, Z:0.56 [[ 9.96165581e-01 -8.69884484e-02 -9.33514651e-03 2.25672005e+02] [ 8.69844594e-02 9.96209320e-01 -8.33248977e-04 3.84513562e+00] [ 9.37224300e-03 1.80412782e-05 9.99956079e-01 5.56984367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.70, Y:3.85, Z:0.56 [[ 9.96298378e-01 -8.54539820e-02 -9.33593585e-03 2.25700547e+02] [ 8.54500094e-02 9.96342118e-01 -8.24309177e-04 3.84636206e+00] [ 9.37222660e-03 2.35020898e-05 9.99956079e-01 5.56521293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.73, Y:3.85, Z:0.56 [[ 9.96427116e-01 -8.39395352e-02 -9.33582542e-03 2.25729631e+02] [ 8.39354844e-02 9.96470849e-01 -8.25557933e-04 3.84796971e+00] [ 9.37217483e-03 3.90012818e-05 9.99956079e-01 5.56871555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.76, Y:3.85, Z:0.56 [[ 9.96655977e-01 -8.11770131e-02 -9.33571509e-03 2.25758718e+02] [ 8.11728294e-02 9.96699698e-01 -8.26803730e-04 3.84954055e+00] [ 9.37202187e-03 6.62324710e-05 9.99956079e-01 5.58227845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.79, Y:3.85, Z:0.56 [[ 9.96765289e-01 -7.98235818e-02 -9.33560487e-03 2.25787779e+02] [ 7.98193271e-02 9.96809003e-01 -8.28046344e-04 3.85064828e+00] [ 9.37191261e-03 8.02061545e-05 9.99956079e-01 5.59387661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.82, Y:3.85, Z:0.56 [[ 9.96828628e-01 -7.90286963e-02 -9.33549488e-03 2.25816875e+02] [ 7.90243951e-02 9.96872337e-01 -8.29284591e-04 3.85136848e+00] [ 9.37183388e-03 8.89227850e-05 9.99956079e-01 5.60303747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.85, Y:3.85, Z:0.56 [[ 9.96964034e-01 -7.73017777e-02 -9.33538426e-03 2.25845786e+02] [ 7.72973892e-02 9.97007735e-01 -8.30527915e-04 3.85348235e+00] [ 9.37165160e-03 1.06405630e-04 9.99956079e-01 5.59839410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.87, Y:3.86, Z:0.56 [[ 9.97030783e-01 -7.64360520e-02 -9.33527385e-03 2.25874219e+02] [ 7.64316139e-02 9.97074479e-01 -8.31767101e-04 3.85691712e+00] [ 9.37154031e-03 1.15787357e-04 9.99956079e-01 5.59842692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.90, Y:3.86, Z:0.56 [[ 9.97153832e-01 -7.48137030e-02 -9.33516354e-03 2.25902502e+02] [ 7.48091823e-02 9.97197519e-01 -8.33003371e-04 3.86053543e+00] [ 9.37132199e-03 1.32276553e-04 9.99956079e-01 5.60813217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.93, Y:3.86, Z:0.57 [[ 9.97198883e-01 -7.42108129e-02 -9.33505297e-03 2.25931935e+02] [ 7.42062542e-02 9.97242566e-01 -8.34240592e-04 3.86444581e+00] [ 9.37122185e-03 1.39184472e-04 9.99956079e-01 5.72300363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.96, Y:3.87, Z:0.56 [[ 9.97439249e-01 -7.09067264e-02 -9.33710187e-03 2.25961671e+02] [ 7.09022374e-02 9.97482939e-01 -8.11325132e-04 3.86994786e+00] [ 9.37112823e-03 1.47226116e-04 9.99956079e-01 5.60303331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:3.87, Z:0.56 [[ 9.97518371e-01 -6.97850990e-02 -9.33489045e-03 2.25990680e+02] [ 6.97803299e-02 9.97562031e-01 -8.36017707e-04 3.87462479e+00] [ 9.37047386e-03 1.82551286e-04 9.99956079e-01 5.59547175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.02, Y:3.88, Z:0.56 [[ 9.97546311e-01 -6.93845785e-02 -9.33478152e-03 2.26017951e+02] [ 6.93797806e-02 9.97589968e-01 -8.37232196e-04 3.87920784e+00] [ 9.37037541e-03 1.87532794e-04 9.99956079e-01 5.58957850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.05, Y:3.89, Z:0.56 [[ 9.97560266e-01 -6.91836687e-02 -9.33461886e-03 2.26045781e+02] [ 6.91788450e-02 9.97603921e-01 -8.39041935e-04 3.88630058e+00] [ 9.37030037e-03 1.91236745e-04 9.99956079e-01 5.60483218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:3.89, Z:0.56 [[ 9.97546722e-01 -6.93787027e-02 -9.33448258e-03 2.26074162e+02] [ 6.93738734e-02 9.97590376e-01 -8.40555287e-04 3.88881327e+00] [ 9.37030663e-03 1.90923959e-04 9.99956079e-01 5.60750245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.10, Y:3.89, Z:0.56 [[ 9.97474062e-01 -7.04156604e-02 -9.33431789e-03 2.26102219e+02] [ 7.04108594e-02 9.97517720e-01 -8.42380209e-04 3.89354100e+00] [ 9.37046426e-03 1.83015064e-04 9.99956079e-01 5.61153343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:226.13, Y:3.90, Z:0.56 [[ 9.97363451e-01 -7.19654095e-02 -9.33420784e-03 2.26130336e+02] [ 7.19606650e-02 9.97407114e-01 -8.43597873e-04 3.89747960e+00] [ 9.37071517e-03 1.69677882e-04 9.99956079e-01 5.61570988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.16, Y:3.90, Z:0.56 [[ 9.97175236e-01 -7.45280077e-02 -9.33409818e-03 2.26158628e+02] [ 7.45233640e-02 9.97218910e-01 -8.44809485e-04 3.90082696e+00] [ 9.37110118e-03 1.46814701e-04 9.99956079e-01 5.62685201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.19, Y:3.90, Z:0.57 [[ 9.96669397e-01 -8.10122830e-02 -9.33398633e-03 2.26188069e+02] [ 8.10079119e-02 9.96713099e-01 -8.46043441e-04 3.90254324e+00] [ 9.37184636e-03 8.70988638e-05 9.99956079e-01 5.70119245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.22, Y:3.90, Z:0.57 [[ 9.96469112e-01 -8.34397257e-02 -9.33383924e-03 2.26217187e+02] [ 8.34354459e-02 9.96512824e-01 -8.47665304e-04 3.90427942e+00] [ 9.37201946e-03 6.58992540e-05 9.99956079e-01 5.69703716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.25, Y:3.91, Z:0.56 [[ 9.96264738e-01 -8.58455830e-02 -9.33317655e-03 2.26247750e+02] [ 8.58413403e-02 9.96308453e-01 -8.54968514e-04 3.90575358e+00] [ 9.37211796e-03 5.06025984e-05 9.99956079e-01 5.60728107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.28, Y:3.91, Z:0.56 [[ 9.95844684e-01 -9.05883290e-02 -9.33382453e-03 2.26276738e+02] [ 9.05843614e-02 9.95888425e-01 -8.47834912e-04 3.90819172e+00] [ 9.37225176e-03 -1.18664485e-06 9.99956079e-01 5.62503740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:226.31, Y:3.91, Z:0.57 [[ 9.95775201e-01 -9.13489555e-02 -9.33371055e-03 2.26306401e+02] [ 9.13450096e-02 9.95818944e-01 -8.49087812e-04 3.91032743e+00] [ 9.37224907e-03 -7.08729305e-06 9.99956079e-01 5.71064172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:226.34, Y:3.91, Z:0.56 [[ 9.95605772e-01 -9.31771585e-02 -9.33613433e-03 2.26335519e+02] [ 9.31735424e-02 9.95649544e-01 -8.22481684e-04 3.91122711e+00] [ 9.37215440e-03 -5.10131956e-05 9.99956079e-01 5.64999706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.36, Y:3.91, Z:0.56 [[ 9.95444321e-01 -9.48867240e-02 -9.33344680e-03 2.26364948e+02] [ 9.48829069e-02 9.95488075e-01 -8.51925553e-04 3.91005796e+00] [ 9.37217141e-03 -3.75401096e-05 9.99956080e-01 5.64281955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.39, Y:3.91, Z:0.56 [[ 9.95403334e-01 -9.53157483e-02 -9.33333432e-03 2.26394220e+02] [ 9.53119386e-02 9.95447089e-01 -8.53156084e-04 3.91176471e+00] [ 9.37215968e-03 -4.03437764e-05 9.99956080e-01 5.64591670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.42, Y:3.91, Z:0.56 [[ 9.95407554e-01 -9.52716780e-02 -9.33322204e-03 2.26422845e+02] [ 9.52678548e-02 9.95451308e-01 -8.54382560e-04 3.91384610e+00] [ 9.37216655e-03 -3.86971886e-05 9.99956080e-01 5.63665498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.45, Y:3.91, Z:0.58 [[ 9.95422412e-01 -9.51163257e-02 -9.33310875e-03 2.26450941e+02] [ 9.51124841e-02 9.95466164e-01 -8.55618325e-04 3.91468893e+00] [ 9.37217724e-03 -3.59935011e-05 9.99956080e-01 5.75836531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.48, Y:3.92, Z:0.56 [[ 9.95512724e-01 -9.41665848e-02 -9.33112227e-03 2.26480720e+02] [ 9.41624987e-02 9.95556455e-01 -8.77237991e-04 3.91636850e+00] [ 9.37226551e-03 -5.34020626e-06 9.99956079e-01 5.64033942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.51, Y:3.92, Z:0.57 [[ 9.95599620e-01 -9.32431826e-02 -9.33301171e-03 2.26509950e+02] [ 9.32392489e-02 9.95643364e-01 -8.56653092e-04 3.91849770e+00] [ 9.37222823e-03 -1.73195086e-05 9.99956080e-01 5.65479181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.54, Y:3.92, Z:0.58 [[ 9.95931866e-01 -8.96248617e-02 -9.33289934e-03 2.26538853e+02] [ 8.96207577e-02 9.95975594e-01 -8.57875511e-04 3.92192255e+00] [ 9.37222694e-03 1.79640479e-05 9.99956080e-01 5.76985207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.57, Y:3.93, Z:0.58 [[ 9.96081891e-01 -8.79417578e-02 -9.33341716e-03 2.26567072e+02] [ 8.79376326e-02 9.96125618e-01 -8.52252804e-04 3.92528481e+00] [ 9.37220455e-03 2.81549760e-05 9.99956080e-01 5.76771335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.60, Y:3.93, Z:0.57 [[ 9.96044195e-01 -8.83674941e-02 -9.33525483e-03 2.26595701e+02] [ 8.83635743e-02 9.96087941e-01 -8.32325063e-04 3.92789322e+00] [ 9.37228524e-03 4.13606356e-06 9.99956079e-01 5.65702127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:3.93, Z:0.57 [[ 9.96129557e-01 -8.74002891e-02 -9.33246851e-03 2.26624479e+02] [ 8.73960443e-02 9.96173272e-01 -8.62474723e-04 3.93183783e+00] [ 9.37213623e-03 4.35157327e-05 9.99956080e-01 5.66982569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:3.94, Z:0.58 [[ 9.96097424e-01 -8.77657667e-02 -9.33235348e-03 2.26653389e+02] [ 8.77615263e-02 9.96141139e-01 -8.63717644e-04 3.93530725e+00] [ 9.37214606e-03 4.13253348e-05 9.99956080e-01 5.77203051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:3.94, Z:0.58 [[ 9.96077953e-01 -8.79864009e-02 -9.33296677e-03 2.26682456e+02] [ 8.79822321e-02 9.96121675e-01 -8.57105120e-04 3.93850881e+00] [ 9.37218410e-03 3.26082646e-05 9.99956080e-01 5.78892300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:3.94, Z:0.57 [[ 9.95959770e-01 -8.93142491e-02 -9.33280521e-03 2.26712392e+02] [ 8.93101223e-02 9.96003496e-01 -8.58843882e-04 3.93998824e+00] [ 9.37221362e-03 2.18599804e-05 9.99956080e-01 5.68701337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:3.94, Z:0.57 [[ 9.95608398e-01 -9.31495097e-02 -9.33206954e-03 2.26741154e+02] [ 9.31454771e-02 9.95652132e-01 -8.66764525e-04 3.93924881e+00] [ 9.37223363e-03 -6.28203015e-06 9.99956080e-01 5.68071015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:3.94, Z:0.57 [[ 9.95332510e-01 -9.60526328e-02 -9.33195302e-03 2.26770152e+02] [ 9.60487161e-02 9.95376256e-01 -8.68017190e-04 3.94159025e+00] [ 9.37217980e-03 -3.23563775e-05 9.99956080e-01 5.68356039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:226.80, Y:3.94, Z:0.57 [[ 9.95102674e-01 -9.84052089e-02 -9.33183645e-03 2.26799309e+02] [ 9.84013839e-02 9.95146427e-01 -8.69268610e-04 3.94446786e+00] [ 9.37208427e-03 -5.32541026e-05 9.99956080e-01 5.68496781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:3.95, Z:0.57 [[ 9.94866784e-01 -1.00762099e-01 -9.33172157e-03 2.26828253e+02] [ 1.00758366e-01 9.94910546e-01 -8.70500117e-04 3.94611506e+00] [ 9.37194162e-03 -7.42173624e-05 9.99956080e-01 5.68664118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:3.94, Z:0.57 [[ 9.94319274e-01 -1.06028781e-01 -9.33160768e-03 2.26857727e+02] [ 1.06025268e-01 9.94363054e-01 -8.71719317e-04 3.94165146e+00] [ 9.37143325e-03 -1.22618890e-04 9.99956080e-01 5.69457247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.89, Y:3.94, Z:0.57 [[ 9.94004877e-01 -1.08936804e-01 -9.33149409e-03 2.26886311e+02] [ 1.08933408e-01 9.94048666e-01 -8.72933601e-04 3.94002799e+00] [ 9.37105385e-03 -1.48811198e-04 9.99956080e-01 5.69416483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:3.94, Z:0.57 [[ 9.93668351e-01 -1.11964879e-01 -9.33132392e-03 2.26914595e+02] [ 1.11961600e-01 9.93712149e-01 -8.74748900e-04 3.93766136e+00] [ 9.37059110e-03 -1.75539657e-04 9.99956080e-01 5.69231021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.94, Y:3.94, Z:0.57 [[ 9.93595478e-01 -1.12609746e-01 -9.33115646e-03 2.26943680e+02] [ 1.12606478e-01 9.93639277e-01 -8.76531564e-04 3.93802068e+00] [ 9.37050956e-03 -1.79830866e-04 9.99956080e-01 5.69118594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.97, Y:3.94, Z:0.57 [[ 9.93567051e-01 -1.12860296e-01 -9.33104411e-03 2.26972942e+02] [ 1.12857028e-01 9.93610850e-01 -8.77725927e-04 3.93798699e+00] [ 9.37048708e-03 -1.80994344e-04 9.99956080e-01 5.70185607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:227.00, Y:3.94, Z:0.57 [[ 9.93806018e-01 -1.10736316e-01 -9.33093262e-03 2.27001629e+02] [ 1.10732944e-01 9.93849809e-01 -8.78909595e-04 3.93576827e+00] [ 9.37087281e-03 -1.59775990e-04 9.99956080e-01 5.72468244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.03, Y:3.94, Z:0.58 [[ 9.94013657e-01 -1.08856723e-01 -9.33082035e-03 2.27030380e+02] [ 1.08853256e-01 9.94057440e-01 -8.80099906e-04 3.93615061e+00] [ 9.37117618e-03 -1.40858852e-04 9.99956080e-01 5.83391747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.06, Y:3.94, Z:0.57 [[ 9.94296873e-01 -1.06238945e-01 -9.32820489e-03 2.27060720e+02] [ 1.06235103e-01 9.94340625e-01 -9.07786969e-04 3.93710609e+00] [ 9.37185541e-03 -8.83730647e-05 9.99956079e-01 5.71800458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.09, Y:3.94, Z:0.57 [[ 9.94753109e-01 -1.01878314e-01 -9.33071298e-03 2.27089472e+02] [ 1.01874530e-01 9.94796866e-01 -8.81230596e-04 3.93762727e+00] [ 9.37194231e-03 -7.39551217e-05 9.99956080e-01 5.70485045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.12, Y:3.94, Z:0.57 [[ 9.95004555e-01 -9.93925358e-02 -9.33059731e-03 2.27118116e+02] [ 9.93886306e-02 9.95048301e-01 -8.82453657e-04 3.94043672e+00] [ 9.37210431e-03 -4.93098813e-05 9.99956080e-01 5.71870781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:227.15, Y:3.94, Z:0.57 [[ 9.95195093e-01 -9.74662452e-02 -9.33048039e-03 2.27147236e+02] [ 9.74622436e-02 9.95238831e-01 -8.83688111e-04 3.94312073e+00] [ 9.37218616e-03 -2.99274813e-05 9.99956080e-01 5.73619490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:3.94, Z:0.57 [[ 9.95557039e-01 -9.36969955e-02 -9.33036290e-03 2.27175926e+02] [ 9.36928167e-02 9.95600760e-01 -8.84926879e-04 3.94452273e+00] [ 9.37223139e-03 6.80720112e-06 9.99956080e-01 5.74616422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.20, Y:3.95, Z:0.57 [[ 9.95681970e-01 -9.23599496e-02 -9.33024397e-03 2.27204432e+02] [ 9.23557004e-02 9.95725685e-01 -8.86179074e-04 3.94615223e+00] [ 9.37221102e-03 2.06513098e-05 9.99956080e-01 5.74908860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.23, Y:3.95, Z:0.58 [[ 9.95794851e-01 -9.11348646e-02 -9.33012466e-03 2.27233125e+02] [ 9.11305499e-02 9.95838559e-01 -8.87433478e-04 3.94754674e+00] [ 9.37217403e-03 3.34422967e-05 9.99956080e-01 5.75084446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.26, Y:3.95, Z:0.58 [[ 9.95857495e-01 -9.04477752e-02 -9.33000506e-03 2.27261513e+02] [ 9.04434186e-02 9.95901199e-01 -8.88689100e-04 3.94942841e+00] [ 9.37214318e-03 4.11701483e-05 9.99956080e-01 5.75005658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.29, Y:3.95, Z:0.59 [[ 9.96056926e-01 -8.82244510e-02 -9.32988562e-03 2.27291978e+02] [ 8.82199851e-02 9.96100619e-01 -8.89941247e-04 3.95207877e+00] [ 9.37201942e-03 6.33497723e-05 9.99956080e-01 5.87600672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.32, Y:3.95, Z:0.59 [[ 9.96060308e-01 -8.81859027e-02 -9.33319215e-03 2.27321626e+02] [ 8.81817595e-02 9.96104034e-01 -8.55316867e-04 3.95499996e+00] [ 9.37225724e-03 2.89298766e-05 9.99956079e-01 5.85144020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.35, Y:3.96, Z:0.58 [[ 9.96096775e-01 -8.77731438e-02 -9.33215384e-03 2.27350129e+02] [ 8.77688811e-02 9.96140489e-01 -8.66137683e-04 3.95894291e+00] [ 9.37215992e-03 4.36842523e-05 9.99956079e-01 5.77344114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:3.96, Z:0.58 [[ 9.96143133e-01 -8.72457680e-02 -9.32924585e-03 2.27378698e+02] [ 8.72411986e-02 9.96186815e-01 -8.96402402e-04 3.96143965e+00] [ 9.37187903e-03 7.90505061e-05 9.99956080e-01 5.76956643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.41, Y:3.96, Z:0.58 [[ 9.96162972e-01 -8.70189634e-02 -9.32912607e-03 2.27407357e+02] [ 8.70143725e-02 9.96206652e-01 -8.97647319e-04 3.96327161e+00] [ 9.37184978e-03 8.24349703e-05 9.99956080e-01 5.77062210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.44, Y:3.96, Z:0.58 [[ 9.96243992e-01 -8.60864591e-02 -9.32900665e-03 2.27436521e+02] [ 8.60818157e-02 9.96287666e-01 -8.98886641e-04 3.96362445e+00] [ 9.37175623e-03 9.24525842e-05 9.99956080e-01 5.77740197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.47, Y:3.97, Z:0.58 [[ 9.96262290e-01 -8.58744506e-02 -9.32888715e-03 2.27465154e+02] [ 8.58697863e-02 9.96305962e-01 -9.00125213e-04 3.96672086e+00] [ 9.37172364e-03 9.56912599e-05 9.99956080e-01 5.76962521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:3.97, Z:0.58 [[ 9.96311120e-01 -8.53060782e-02 -9.32876719e-03 2.27492996e+02] [ 8.53013773e-02 9.96354787e-01 -9.01366682e-04 3.97006240e+00] [ 9.37165391e-03 1.02284958e-04 9.99956080e-01 5.77170941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.52, Y:3.97, Z:0.58 [[ 9.96312491e-01 -8.52900828e-02 -9.32858914e-03 2.27521229e+02] [ 8.52853641e-02 9.96356157e-01 -9.03205629e-04 3.97295051e+00] [ 9.37163171e-03 1.04282928e-04 9.99956080e-01 5.77528646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.55, Y:3.98, Z:0.58 [[ 9.96340318e-01 -8.49644094e-02 -9.32847080e-03 2.27549705e+02] [ 8.49596649e-02 9.96383981e-01 -9.04426298e-04 3.97524373e+00] [ 9.37158291e-03 1.08572632e-04 9.99956080e-01 5.78102353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.58, Y:3.98, Z:0.58 [[ 9.96344162e-01 -8.49193346e-02 -9.32835158e-03 2.27578639e+02] [ 8.49145767e-02 9.96387823e-01 -9.05654265e-04 3.97862714e+00] [ 9.37156348e-03 1.10230314e-04 9.99956080e-01 5.78647903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:3.98, Z:0.58 [[ 9.96442613e-01 -8.37562095e-02 -9.32823291e-03 2.27607543e+02] [ 8.37513892e-02 9.96486268e-01 -9.06874902e-04 3.98289510e+00] [ 9.37141240e-03 1.22396332e-04 9.99956080e-01 5.79484751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.64, Y:3.99, Z:0.58 [[ 9.96471464e-01 -8.34122716e-02 -9.32811427e-03 2.27635719e+02] [ 8.34074248e-02 9.96515116e-01 -9.08093646e-04 3.98868474e+00] [ 9.37135302e-03 1.26855416e-04 9.99956080e-01 5.79175148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:3.99, Z:0.58 [[ 9.96468136e-01 -8.34520386e-02 -9.32799498e-03 2.27664777e+02] [ 8.34471821e-02 9.96511787e-01 -9.09317310e-04 3.99226689e+00] [ 9.37134133e-03 1.27710829e-04 9.99956080e-01 5.80017408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.69, Y:4.00, Z:0.58 [[ 9.96415359e-01 -8.40798598e-02 -9.32787521e-03 2.27693626e+02] [ 8.40750193e-02 9.96459012e-01 -9.10544263e-04 3.99520783e+00] [ 9.37140375e-03 1.23039000e-04 9.99956080e-01 5.79019106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.72, Y:4.00, Z:0.59 [[ 9.96328811e-01 -8.50993138e-02 -9.32775560e-03 2.27721764e+02] [ 8.50945065e-02 9.96372467e-01 -9.11767896e-04 3.99881094e+00] [ 9.37150969e-03 1.14679864e-04 9.99956080e-01 5.86974876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.75, Y:4.00, Z:0.58 [[ 9.96315064e-01 -8.52604366e-02 -9.32480938e-03 2.27751679e+02] [ 8.52553545e-02 9.96358689e-01 -9.41889801e-04 4.00357328e+00] [ 9.37116078e-03 1.43429068e-04 9.99956079e-01 5.76796556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:4.01, Z:0.58 [[ 9.96365617e-01 -8.46672943e-02 -9.32770130e-03 2.27779768e+02] [ 8.46624629e-02 9.96409271e-01 -9.12322442e-04 4.00965025e+00] [ 9.37145192e-03 1.19300548e-04 9.99956080e-01 5.78227039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:227.81, Y:4.01, Z:0.59 [[ 9.96265872e-01 -8.58330248e-02 -9.32758242e-03 2.27807925e+02] [ 8.58282331e-02 9.96309530e-01 -9.13536218e-04 4.01319000e+00] [ 9.37157084e-03 1.09555038e-04 9.99956080e-01 5.90374903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:227.84, Y:4.02, Z:0.59 [[ 9.96211960e-01 -8.64570254e-02 -9.32278505e-03 2.27837893e+02] [ 8.64518026e-02 9.96255569e-01 -9.62523972e-04 4.01679521e+00] [ 9.37109349e-03 1.52906320e-04 9.99956079e-01 5.93800552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:4.02, Z:0.58 [[ 9.96069455e-01 -8.80834567e-02 -9.32443544e-03 2.27868164e+02] [ 8.80784628e-02 9.96113091e-01 -9.45676483e-04 4.01899299e+00] [ 9.37149066e-03 1.20677519e-04 9.99956079e-01 5.77545050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:4.02, Z:0.58 [[ 9.96051863e-01 -8.82818397e-02 -9.32758832e-03 2.27896530e+02] [ 8.82771559e-02 9.96095532e-01 -9.13482360e-04 4.02169537e+00] [ 9.37181296e-03 8.64628374e-05 9.99956080e-01 5.77813535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:4.02, Z:0.58 [[ 9.95951795e-01 -8.94037020e-02 -9.32740573e-03 2.27925380e+02] [ 8.93990499e-02 9.95995468e-01 -9.15342984e-04 4.02321915e+00] [ 9.37188889e-03 7.77762772e-05 9.99956080e-01 5.76347912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:4.02, Z:0.58 [[ 9.95795968e-01 -9.11229522e-02 -9.32728366e-03 2.27954496e+02] [ 9.11183639e-02 9.95839648e-01 -9.16585229e-04 4.02394096e+00] [ 9.37200082e-03 6.28450491e-05 9.99956080e-01 5.76218435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:4.03, Z:0.58 [[ 9.95766231e-01 -9.14473472e-02 -9.32716180e-03 2.27982864e+02] [ 9.14427616e-02 9.95809911e-01 -9.17823572e-04 4.02550522e+00] [ 9.37201269e-03 6.10362864e-05 9.99956080e-01 5.76899914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:4.03, Z:0.58 [[ 9.95837044e-01 -9.06729691e-02 -9.32703980e-03 2.28011686e+02] [ 9.06683379e-02 9.95880720e-01 -9.19061665e-04 4.02864698e+00] [ 9.37195316e-03 6.95684553e-05 9.99956080e-01 5.76414175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:4.03, Z:0.58 [[ 9.95979173e-01 -8.90982401e-02 -9.32691723e-03 2.28039868e+02] [ 8.90935282e-02 9.96022839e-01 -9.20303861e-04 4.03294472e+00] [ 9.37182004e-03 8.56355149e-05 9.99956080e-01 5.75482613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:228.07, Y:4.04, Z:0.57 [[ 9.96170235e-01 -8.69360307e-02 -9.32679592e-03 2.28067566e+02] [ 8.69312125e-02 9.96213890e-01 -9.21531624e-04 4.03693198e+00] [ 9.37159795e-03 1.07212696e-04 9.99956080e-01 5.74866733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:4.04, Z:0.59 [[ 9.96375903e-01 -8.45462897e-02 -9.32661418e-03 2.28095512e+02] [ 8.45413496e-02 9.96419544e-01 -9.23367338e-04 4.04054683e+00] [ 9.37128793e-03 1.31536415e-04 9.99956080e-01 5.86919305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.13, Y:4.04, Z:0.58 [[ 9.96552707e-01 -8.24364333e-02 -9.32403195e-03 2.28125359e+02] [ 8.24311573e-02 9.96596309e-01 -9.49398672e-04 4.04332133e+00] [ 9.37056087e-03 1.77535071e-04 9.99956080e-01 5.75524279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:4.05, Z:0.58 [[ 9.96597845e-01 -8.18886600e-02 -9.32648090e-03 2.28153926e+02] [ 8.18835911e-02 9.96641471e-01 -9.24698694e-04 4.04568512e+00] [ 9.37087999e-03 1.57866977e-04 9.99956080e-01 5.76236015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:4.05, Z:0.58 [[ 9.96582177e-01 -8.20791311e-02 -9.32636142e-03 2.28182606e+02] [ 8.20740593e-02 9.96625803e-01 -9.25902193e-04 4.04827358e+00] [ 9.37088969e-03 1.57285283e-04 9.99956080e-01 5.77270758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:4.05, Z:0.58 [[ 9.96637981e-01 -8.13987480e-02 -9.32624190e-03 2.28211032e+02] [ 8.13936352e-02 9.96681602e-01 -9.27104541e-04 4.05201095e+00] [ 9.37075887e-03 1.64890867e-04 9.99956080e-01 5.76396040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:4.06, Z:0.58 [[ 9.96690771e-01 -8.07497990e-02 -9.32612192e-03 2.28239988e+02] [ 8.07446464e-02 9.96734388e-01 -9.28309841e-04 4.05703351e+00] [ 9.37062726e-03 1.72203434e-04 9.99956080e-01 5.75304130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.27, Y:4.07, Z:0.58 [[ 9.96896169e-01 -7.81732278e-02 -9.32600159e-03 2.28268479e+02] [ 7.81679512e-02 9.96939771e-01 -9.29517186e-04 4.06612987e+00] [ 9.37012525e-03 1.97637685e-04 9.99956080e-01 5.75387345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.30, Y:4.07, Z:0.58 [[ 9.97021970e-01 -7.65520732e-02 -9.32588189e-03 2.28297116e+02] [ 7.65467146e-02 9.97065562e-01 -9.30716534e-04 4.07163941e+00] [ 9.36976395e-03 2.14079213e-04 9.99956080e-01 5.76050812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:4.08, Z:0.59 [[ 9.97008785e-01 -7.67236068e-02 -9.32576202e-03 2.28326472e+02] [ 7.67182444e-02 9.97052377e-01 -9.31916087e-04 4.07646416e+00] [ 9.36977316e-03 2.13672436e-04 9.99956080e-01 5.86952968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.36, Y:4.08, Z:0.58 [[ 9.97186535e-01 -7.43776411e-02 -9.32634621e-03 2.28355742e+02] [ 7.43722307e-02 9.97230121e-01 -9.26080825e-04 4.08304435e+00] [ 9.36939307e-03 2.29854157e-04 9.99956080e-01 5.76041194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:4.09, Z:0.57 [[ 9.97181760e-01 -7.44417220e-02 -9.32560678e-03 2.28383445e+02] [ 7.44362454e-02 9.97225338e-01 -9.33467983e-04 4.08733393e+00] [ 9.36922033e-03 2.36674092e-04 9.99956080e-01 5.74643007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.41, Y:4.09, Z:0.58 [[ 9.97223389e-01 -7.38819894e-02 -9.32542983e-03 2.28411791e+02] [ 7.38764718e-02 9.97266961e-01 -9.35232385e-04 4.09263605e+00] [ 9.36903990e-03 2.43705755e-04 9.99956080e-01 5.75322961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:4.10, Z:0.58 [[ 9.97195631e-01 -7.42557173e-02 -9.32531229e-03 2.28439632e+02] [ 7.42502051e-02 9.97239204e-01 -9.36402909e-04 4.09973686e+00] [ 9.36910028e-03 2.41370539e-04 9.99956080e-01 5.75920263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:4.10, Z:0.59 [[ 9.97135036e-01 -7.50650375e-02 -9.32519375e-03 2.28469112e+02] [ 7.50595497e-02 9.97178612e-01 -9.37581897e-04 4.10421173e+00] [ 9.36926339e-03 2.34950916e-04 9.99956080e-01 5.90583166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:4.11, Z:0.58 [[ 9.97053635e-01 -7.61378475e-02 -9.33149573e-03 2.28497030e+02] [ 7.61329913e-02 9.97097288e-01 -8.75052817e-04 4.10783521e+00] [ 9.37103373e-03 1.62039909e-04 9.99956078e-01 5.76508996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:4.11, Z:0.59 [[ 9.96882646e-01 -7.83456322e-02 -9.32476546e-03 2.28527377e+02] [ 7.83402493e-02 9.96926235e-01 -9.41696833e-04 4.11208641e+00] [ 9.36988115e-03 2.08256781e-04 9.99956080e-01 5.86100543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:228.56, Y:4.12, Z:0.59 [[ 9.96751354e-01 -7.99980731e-02 -9.32984463e-03 2.28557433e+02] [ 7.99932327e-02 9.96795008e-01 -8.91425428e-04 4.11642759e+00] [ 9.37125487e-03 1.42205070e-04 9.99956079e-01 5.87823001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.59, Y:4.12, Z:0.58 [[ 9.96609261e-01 -8.17490743e-02 -9.33109629e-03 2.28585059e+02] [ 8.17444266e-02 9.96652937e-01 -8.79037602e-04 4.12057306e+00] [ 9.37172503e-03 1.13291900e-04 9.99956078e-01 5.76854870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.61, Y:4.13, Z:0.59 [[ 9.96572836e-01 -8.21926840e-02 -9.32449013e-03 2.28614883e+02] [ 8.21874453e-02 9.96616442e-01 -9.44272237e-04 4.12746881e+00] [ 9.37055245e-03 1.74680038e-04 9.99956080e-01 5.88155334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.64, Y:4.13, Z:0.59 [[ 9.96512449e-01 -8.29209122e-02 -9.33066182e-03 2.28643457e+02] [ 8.29162743e-02 9.96556125e-01 -8.83471756e-04 4.13210806e+00] [ 9.37178647e-03 1.06726888e-04 9.99956078e-01 5.87289612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.67, Y:4.14, Z:0.58 [[ 9.96445673e-01 -8.37197297e-02 -9.32887018e-03 2.28672412e+02] [ 8.37149617e-02 9.96489334e-01 -9.01110178e-04 4.13835309e+00] [ 9.37156034e-03 1.16941328e-04 9.99956079e-01 5.76559002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.70, Y:4.14, Z:0.59 [[ 9.96434764e-01 -8.38500163e-02 -9.32390462e-03 2.28702826e+02] [ 8.38447979e-02 9.96478373e-01 -9.49852989e-04 4.14288812e+00] [ 9.37071450e-03 1.64705640e-04 9.99956080e-01 5.89962746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.73, Y:4.15, Z:0.59 [[ 9.96360577e-01 -8.47264370e-02 -9.32910017e-03 2.28731339e+02] [ 8.47217342e-02 9.96404245e-01 -8.98856337e-04 4.14627398e+00] [ 9.37171191e-03 1.05207473e-04 9.99956079e-01 5.90284943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:228.76, Y:4.15, Z:0.59 [[ 9.96209029e-01 -8.64900608e-02 -9.32954426e-03 2.28759805e+02] [ 8.64854760e-02 9.96252710e-01 -8.94515100e-04 4.15012988e+00] [ 9.37195042e-03 8.42539430e-05 9.99956079e-01 5.89629508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.79, Y:4.16, Z:0.59 [[ 9.95831521e-01 -9.07334372e-02 -9.32876286e-03 2.28788288e+02] [ 9.07289672e-02 9.95875213e-01 -9.02134960e-04 4.15546005e+00] [ 9.37213751e-03 5.19854100e-05 9.99956079e-01 5.87148060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.82, Y:4.16, Z:0.57 [[ 9.95693483e-01 -9.22360271e-02 -9.32752786e-03 2.28816875e+02] [ 9.22315104e-02 9.95737171e-01 -9.14153024e-04 4.15923147e+00] [ 9.37208405e-03 4.99242258e-05 9.99956080e-01 5.74900670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.85, Y:4.16, Z:0.59 [[ 9.95603726e-01 -9.32003371e-02 -9.32298351e-03 2.28846754e+02] [ 9.31954487e-02 9.95647372e-01 -9.58360840e-04 4.16293006e+00] [ 9.37172359e-03 8.52879914e-05 9.99956081e-01 5.87272510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.88, Y:4.17, Z:0.58 [[ 9.95534458e-01 -9.39370081e-02 -9.32637981e-03 2.28875396e+02] [ 9.39324610e-02 9.95578142e-01 -9.25366878e-04 4.16933792e+00] [ 9.37206608e-03 4.51848065e-05 9.99956080e-01 5.75275219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:228.90, Y:4.17, Z:0.57 [[ 9.95539910e-01 -9.38795714e-02 -9.32274958e-03 2.28904334e+02] [ 9.38746918e-02 9.95583557e-01 -9.60598809e-04 4.17457685e+00] [ 9.37175680e-03 8.11442085e-05 9.99956081e-01 5.74220699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.93, Y:4.18, Z:0.57 [[ 9.95529155e-01 -9.39935668e-02 -9.32265386e-03 2.28933027e+02] [ 9.39886835e-02 9.95572801e-01 -9.61526890e-04 4.17892192e+00] [ 9.37175796e-03 8.10040891e-05 9.99956081e-01 5.73504794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.96, Y:4.18, Z:0.57 [[ 9.95686237e-01 -9.23147262e-02 -9.32252703e-03 2.28961439e+02] [ 9.23097579e-02 9.95729874e-01 -9.62755043e-04 4.18401659e+00] [ 9.37159513e-03 9.80417333e-05 9.99956081e-01 5.72055880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.99, Y:4.19, Z:0.57 [[ 9.95721869e-01 -9.19296085e-02 -9.32239971e-03 2.28989619e+02] [ 9.19246118e-02 9.95765503e-01 -9.63986277e-04 4.18798238e+00] [ 9.37154292e-03 1.02904243e-04 9.99956081e-01 5.71660872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.02, Y:4.19, Z:0.58 [[ 9.95833007e-01 -9.07177881e-02 -9.32227370e-03 2.29019530e+02] [ 9.07127268e-02 9.95876634e-01 -9.65203320e-04 4.19453846e+00] [ 9.37139566e-03 1.15532458e-04 9.99956081e-01 5.82817567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.05, Y:4.20, Z:0.57 [[ 9.95735035e-01 -9.17863906e-02 -9.32732305e-03 2.29048765e+02] [ 9.17818328e-02 9.95778718e-01 -9.16430057e-04 4.19923979e+00] [ 9.37206560e-03 5.64427095e-05 9.99956080e-01 5.69917169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.08, Y:4.20, Z:0.58 [[ 9.95726971e-01 -9.18743732e-02 -9.32199661e-03 2.29078183e+02] [ 9.18693388e-02 9.95770600e-01 -9.67738521e-04 4.20467941e+00] [ 9.37148053e-03 1.07197681e-04 9.99956081e-01 5.83678941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:4.21, Z:0.57 [[ 9.95667625e-01 -9.25149912e-02 -9.32508543e-03 2.29107630e+02] [ 9.25102635e-02 9.95711289e-01 -9.37996139e-04 4.21308955e+00] [ 9.37187154e-03 7.12662779e-05 9.99956081e-01 5.70126619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.14, Y:4.22, Z:0.58 [[ 9.95674265e-01 -9.24438282e-02 -9.32188656e-03 2.29136927e+02] [ 9.24388091e-02 9.95717896e-01 -9.68776754e-04 4.21931959e+00] [ 9.37152670e-03 1.02881990e-04 9.99956081e-01 5.82555417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.17, Y:4.22, Z:0.58 [[ 9.95599656e-01 -9.32435158e-02 -9.32588610e-03 2.29165558e+02] [ 9.32388919e-02 9.95643331e-01 -9.30314533e-04 4.22474148e+00] [ 9.37200210e-03 5.66855427e-05 9.99956080e-01 5.81949182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:4.23, Z:0.57 [[ 9.95459741e-01 -9.47256988e-02 -9.32450735e-03 2.29194390e+02] [ 9.47210158e-02 9.95503410e-01 -9.43563523e-04 4.22937712e+00] [ 9.37195858e-03 5.60526920e-05 9.99956081e-01 5.67478740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.22, Y:4.23, Z:0.57 [[ 9.95223268e-01 -9.71789870e-02 -9.32156390e-03 2.29223422e+02] [ 9.71741472e-02 9.95266919e-01 -9.71797414e-04 4.23467678e+00] [ 9.37188247e-03 6.13403761e-05 9.99956081e-01 5.69861106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.25, Y:4.24, Z:0.58 [[ 9.95105401e-01 -9.83786067e-02 -9.32150063e-03 2.29253735e+02] [ 9.83738138e-02 9.95149058e-01 -9.72403859e-04 4.23965373e+00] [ 9.37194631e-03 5.06527644e-05 9.99956081e-01 5.84996281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.28, Y:4.25, Z:0.59 [[ 9.94841249e-01 -1.01014775e-01 -9.32225997e-03 2.29281817e+02] [ 1.01010166e-01 9.94884925e-01 -9.65125205e-04 4.24505277e+00] [ 9.37206782e-03 1.85033416e-05 9.99956081e-01 5.85809198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.31, Y:4.25, Z:0.57 [[ 9.94539573e-01 -1.03943211e-01 -9.31911230e-03 2.29312324e+02] [ 1.03938449e-01 9.94583234e-01 -9.95233926e-04 4.25459080e+00] [ 9.37208065e-03 2.11854507e-05 9.99956081e-01 5.67839760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:4.26, Z:0.58 [[ 9.94357672e-01 -1.05668967e-01 -9.32144271e-03 2.29341579e+02] [ 1.05664490e-01 9.94401362e-01 -9.72906218e-04 4.26021371e+00] [ 9.37206132e-03 -1.75287251e-05 9.99956081e-01 5.81883325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.37, Y:4.27, Z:0.57 [[ 9.94276021e-01 -1.06434855e-01 -9.31750667e-03 2.29372379e+02] [ 1.06430057e-01 9.94319678e-01 -1.01062058e-03 4.26560164e+00] [ 9.37214548e-03 1.31730387e-05 9.99956080e-01 5.67111369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:229.40, Y:4.27, Z:0.57 [[ 9.93972280e-01 -1.09234667e-01 -9.32175596e-03 2.29403031e+02] [ 1.09230375e-01 9.94015988e-01 -9.69775238e-04 4.27371102e+00] [ 9.37190754e-03 -5.42891981e-05 9.99956081e-01 5.68334777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:4.28, Z:0.58 [[ 9.93737583e-01 -1.11349538e-01 -9.32181789e-03 2.29432471e+02] [ 1.11345345e-01 9.93781301e-01 -9.69179631e-04 4.27964513e+00] [ 9.37176602e-03 -7.48308051e-05 9.99956081e-01 5.84168770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:4.29, Z:0.57 [[ 9.93579159e-01 -1.12754751e-01 -9.31778116e-03 2.29464158e+02] [ 1.12750256e-01 9.93622848e-01 -1.00804475e-03 4.28544746e+00] [ 9.37202209e-03 -4.90099530e-05 9.99956080e-01 5.68399215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:4.29, Z:0.57 [[ 9.93065675e-01 -1.17190709e-01 -9.32221017e-03 2.29494965e+02] [ 1.17186810e-01 9.93109420e-01 -9.65271167e-04 4.29225618e+00] [ 9.37109555e-03 -1.33862410e-04 9.99956081e-01 5.66688694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.53, Y:4.30, Z:0.57 [[ 9.92854907e-01 -1.18963138e-01 -9.32227064e-03 2.29527322e+02] [ 1.18959322e-01 9.92898660e-01 -9.64686833e-04 4.29723842e+00] [ 9.37083220e-03 -1.51176941e-04 9.99956081e-01 5.65738799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.56, Y:4.31, Z:0.58 [[ 9.92646400e-01 -1.20690574e-01 -9.32249972e-03 2.29557092e+02] [ 1.20686856e-01 9.92690161e-01 -9.62467963e-04 4.30577195e+00] [ 9.37051456e-03 -1.69712823e-04 9.99956081e-01 5.77630707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.59, Y:4.31, Z:0.57 [[ 9.92394428e-01 -1.22745131e-01 -9.32372389e-03 2.29586563e+02] [ 1.22741615e-01 9.92438206e-01 -9.50586792e-04 4.31224793e+00] [ 9.36989971e-03 -2.01051894e-04 9.99956081e-01 5.66054321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:4.32, Z:0.57 [[ 9.92317793e-01 -1.23363215e-01 -9.32277986e-03 2.29617906e+02] [ 1.23359640e-01 9.92361566e-01 -9.59756843e-04 4.31969445e+00] [ 9.36996711e-03 -1.97670973e-04 9.99956081e-01 5.67159867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.65, Y:4.33, Z:0.57 [[ 9.92432082e-01 -1.22440356e-01 -9.32319202e-03 2.29650870e+02] [ 1.22436778e-01 9.92475855e-01 -9.55736229e-04 4.32639955e+00] [ 9.37006365e-03 -1.92998293e-04 9.99956081e-01 5.67270777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:4.33, Z:0.57 [[ 9.92459119e-01 -1.22220978e-01 -9.32365886e-03 2.29683910e+02] [ 1.22217433e-01 9.92502894e-01 -9.51160066e-04 4.33261367e+00] [ 9.37001011e-03 -1.95526171e-04 9.99956081e-01 5.66874663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:4.34, Z:0.57 [[ 9.92423917e-01 -1.22506447e-01 -9.32412811e-03 2.29715427e+02] [ 1.22502958e-01 9.92467697e-01 -9.46537593e-04 4.33983453e+00] [ 9.36985291e-03 -2.02866728e-04 9.99956081e-01 5.65677000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:4.35, Z:0.56 [[ 9.92502243e-01 -1.21870222e-01 -9.32453346e-03 2.29747632e+02] [ 1.21866743e-01 9.92546023e-01 -9.42527399e-04 4.34537865e+00] [ 9.36989463e-03 -2.00889961e-04 9.99956081e-01 5.64882040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.78, Y:4.35, Z:0.57 [[ 9.92561833e-01 -1.21383909e-01 -9.32493756e-03 2.29780982e+02] [ 1.21380446e-01 9.92605615e-01 -9.38512351e-04 4.34903441e+00] [ 9.36990568e-03 -2.00333543e-04 9.99956081e-01 5.65196109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.81, Y:4.35, Z:0.58 [[ 9.92816243e-01 -1.19285139e-01 -9.32539515e-03 2.29811964e+02] [ 1.19281627e-01 9.92860021e-01 -9.33943325e-04 4.35480212e+00] [ 9.37021758e-03 -1.85114201e-04 9.99956081e-01 5.81907514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:4.37, Z:0.57 [[ 9.92610810e-01 -1.20982483e-01 -9.32839745e-03 2.29842072e+02] [ 1.20979327e-01 9.92654615e-01 -9.03930194e-04 4.36690930e+00] [ 9.36923650e-03 -2.31292365e-04 9.99956081e-01 5.65999692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.87, Y:4.37, Z:0.57 [[ 9.92720591e-01 -1.20078567e-01 -9.32551578e-03 2.29873646e+02] [ 1.20075101e-01 9.92764373e-01 -9.32741060e-04 4.37485110e+00] [ 9.37004203e-03 -1.93810992e-04 9.99956081e-01 5.66719290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.91, Y:4.38, Z:0.57 [[ 9.92822032e-01 -1.19236909e-01 -9.32590997e-03 2.29905702e+02] [ 1.19233443e-01 9.92865813e-01 -9.28782932e-04 4.38130846e+00] [ 9.37012240e-03 -1.89844199e-04 9.99956081e-01 5.66500161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:4.39, Z:0.56 [[ 9.92979283e-01 -1.17920159e-01 -9.32630325e-03 2.29937470e+02] [ 1.17916672e-01 9.93023063e-01 -9.24816974e-04 4.38826510e+00] [ 9.37028878e-03 -1.81402542e-04 9.99956081e-01 5.64939484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.97, Y:4.39, Z:0.58 [[ 9.93268801e-01 -1.15456057e-01 -9.32669604e-03 2.29968762e+02] [ 1.15452499e-01 9.93312575e-01 -9.20838559e-04 4.39337006e+00] [ 9.37064086e-03 -1.62150151e-04 9.99956081e-01 5.79832867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:230.00, Y:4.40, Z:0.58 [[ 9.93262498e-01 -1.15510070e-01 -9.32924618e-03 2.29999279e+02] [ 1.15506756e-01 9.93306291e-01 -8.94997216e-04 4.40396247e+00] [ 9.37018011e-03 -1.88623796e-04 9.99956081e-01 5.79467834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.03, Y:4.41, Z:0.57 [[ 9.93352074e-01 -1.14737713e-01 -9.32282720e-03 2.30030498e+02] [ 1.14733754e-01 9.93395814e-01 -9.60216420e-04 4.41224442e+00] [ 9.37143056e-03 -1.15809988e-04 9.99956080e-01 5.66094714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:4.42, Z:0.57 [[ 9.93371480e-01 -1.14569212e-01 -9.32724533e-03 2.30061813e+02] [ 1.14565668e-01 9.93415256e-01 -9.15188738e-04 4.42040235e+00] [ 9.37068025e-03 -1.59459695e-04 9.99956081e-01 5.65433571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.09, Y:4.43, Z:0.57 [[ 9.93307602e-01 -1.15121684e-01 -9.32763477e-03 2.30093616e+02] [ 1.15118202e-01 9.93351383e-01 -9.11202180e-04 4.42823145e+00] [ 9.37051802e-03 -1.68676489e-04 9.99956082e-01 5.65452795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.13, Y:4.44, Z:0.56 [[ 9.93052809e-01 -1.17299220e-01 -9.32802311e-03 2.30126201e+02] [ 1.17295871e-01 9.93096599e-01 -9.07209228e-04 4.43634998e+00] [ 9.37004296e-03 -1.93231921e-04 9.99956082e-01 5.64300349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:4.44, Z:0.58 [[ 9.93075230e-01 -1.17109215e-01 -9.32846312e-03 2.30156746e+02] [ 1.17105900e-01 9.93119023e-01 -9.02661917e-04 4.43972194e+00] [ 9.36998421e-03 -1.96006877e-04 9.99956082e-01 5.79763981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:4.44, Z:0.57 [[ 9.92654550e-01 -1.20623025e-01 -9.32897368e-03 2.30187083e+02] [ 1.20619914e-01 9.92698358e-01 -8.97382058e-04 4.44355741e+00] [ 9.36910180e-03 -2.34469623e-04 9.99956082e-01 5.65807326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:4.45, Z:0.58 [[ 9.91747009e-01 -1.27870437e-01 -9.32856400e-03 2.30214131e+02] [ 1.27867607e-01 9.91790836e-01 -9.01620741e-04 4.44797451e+00] [ 9.36727493e-03 -2.98641486e-04 9.99956082e-01 5.78156571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.25, Y:4.45, Z:0.57 [[ 9.91827121e-01 -1.27248514e-01 -9.31545999e-03 2.30249664e+02] [ 1.27244379e-01 9.91870854e-01 -1.03762089e-03 4.45430813e+00] [ 9.37176897e-03 -1.56199381e-04 9.99956072e-01 5.65986512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.28, Y:4.46, Z:0.58 [[ 9.91516855e-01 -1.29642927e-01 -9.32940572e-03 2.30278010e+02] [ 1.29640269e-01 9.91560692e-01 -8.91717672e-04 4.45916222e+00] [ 9.36627688e-03 -3.25313561e-04 9.99956083e-01 5.80174633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.31, Y:4.47, Z:0.57 [[ 9.91527147e-01 -1.29564919e-01 -9.31926617e-03 2.30312050e+02] [ 1.29561259e-01 9.91570917e-01 -9.98018929e-04 4.46576658e+00] [ 9.37002154e-03 -2.17852994e-04 9.99956077e-01 5.66454584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.34, Y:4.47, Z:0.57 [[ 9.91508323e-01 -1.29708114e-01 -9.33008022e-03 2.30343843e+02] [ 1.29705532e-01 9.91552164e-01 -8.83866673e-04 4.46826755e+00] [ 9.36590591e-03 -3.33801854e-04 9.99956083e-01 5.65914490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.38, Y:4.47, Z:0.57 [[ 9.91632496e-01 -1.28755334e-01 -9.33044335e-03 2.30376529e+02] [ 1.28752747e-01 9.91676336e-01 -8.80016577e-04 4.47075920e+00] [ 9.36608670e-03 -3.28667172e-04 9.99956083e-01 5.66973253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:4.47, Z:0.57 [[ 9.91630908e-01 -1.28767533e-01 -9.33085155e-03 2.30408779e+02] [ 1.28764987e-01 9.91674751e-01 -8.75666879e-04 4.47453883e+00] [ 9.36592735e-03 -3.33148633e-04 9.99956083e-01 5.67433663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.44, Y:4.48, Z:0.57 [[ 9.91682579e-01 -1.28368967e-01 -9.33120849e-03 2.30440976e+02] [ 1.28366439e-01 9.91726423e-01 -8.71846603e-04 4.47909297e+00] [ 9.36592406e-03 -3.33218921e-04 9.99956083e-01 5.67425181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.47, Y:4.48, Z:0.58 [[ 9.91726172e-01 -1.28031720e-01 -9.33156203e-03 2.30469336e+02] [ 1.28029213e-01 9.91770017e-01 -8.68045976e-04 4.48419762e+00] [ 9.36590086e-03 -3.33848630e-04 9.99956083e-01 5.80728524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.50, Y:4.49, Z:0.57 [[ 9.91963257e-01 -1.26182270e-01 -9.32370738e-03 2.30502539e+02] [ 1.26178888e-01 9.92007047e-01 -9.52462219e-04 4.48829969e+00] [ 9.36936727e-03 -2.31647505e-04 9.99956080e-01 5.67965590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:4.49, Z:0.57 [[ 9.92185564e-01 -1.24421545e-01 -9.33198281e-03 2.30534287e+02] [ 1.24418926e-01 9.92229402e-01 -8.62974194e-04 4.49145110e+00] [ 9.36684031e-03 -3.04844738e-04 9.99956084e-01 5.68050588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:4.49, Z:0.57 [[ 9.92452701e-01 -1.22272417e-01 -9.33233705e-03 2.30566916e+02] [ 1.22269739e-01 9.92496535e-01 -8.59126242e-04 4.49426973e+00] [ 9.36735964e-03 -2.88420260e-04 9.99956084e-01 5.68537530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:4.50, Z:0.57 [[ 9.92788564e-01 -1.19514714e-01 -9.33274039e-03 2.30598441e+02] [ 1.19511955e-01 9.92832394e-01 -8.54722223e-04 4.49947078e+00] [ 9.36799886e-03 -2.66815605e-04 9.99956084e-01 5.67937079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:4.51, Z:0.57 [[ 9.93035954e-01 -1.17441422e-01 -9.33309175e-03 2.30631199e+02] [ 1.17438609e-01 9.93079780e-01 -8.50868160e-04 4.50566587e+00] [ 9.36843187e-03 -2.51122634e-04 9.99956084e-01 5.67442185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:4.52, Z:0.57 [[ 9.93536636e-01 -1.13127537e-01 -9.33349513e-03 2.30663624e+02] [ 1.13124575e-01 9.93580452e-01 -8.46420034e-04 4.51629427e+00] [ 9.36933173e-03 -2.14898356e-04 9.99956084e-01 5.66982613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:4.52, Z:0.57 [[ 9.93784495e-01 -1.10929058e-01 -9.33390065e-03 2.30696407e+02] [ 1.10926040e-01 9.93828307e-01 -8.41924304e-04 4.52249884e+00] [ 9.36968856e-03 -1.98681323e-04 9.99956084e-01 5.67133860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.312320588 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:230.73, Y:4.53, Z:0.58 [[ 9.94186080e-01 -1.07270265e-01 -9.33430384e-03 2.30726680e+02] [ 1.07267128e-01 9.94229884e-01 -8.37430267e-04 4.52827800e+00] [ 9.37027519e-03 -1.68702454e-04 9.99956084e-01 5.81238983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.76, Y:4.54, Z:0.57 [[ 9.94425869e-01 -1.05024116e-01 -9.33411248e-03 2.30757951e+02] [ 1.05020860e-01 9.94469665e-01 -8.39565562e-04 4.53975401e+00] [ 9.37066634e-03 -1.45390810e-04 9.99956084e-01 5.67752193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.79, Y:4.55, Z:0.57 [[ 9.94528291e-01 -1.04049710e-01 -9.33469290e-03 2.30790141e+02] [ 1.04046473e-01 9.94572088e-01 -8.33061740e-04 4.54652865e+00] [ 9.37070484e-03 -1.42738402e-04 9.99956084e-01 5.67499029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.82, Y:4.55, Z:0.57 [[ 9.94544687e-01 -1.03892833e-01 -9.33509643e-03 2.30822864e+02] [ 1.03889632e-01 9.94588487e-01 -8.28515062e-04 4.55264665e+00] [ 9.37065621e-03 -1.45824476e-04 9.99956084e-01 5.66857887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.86, Y:4.56, Z:0.57 [[ 9.94526035e-01 -1.04071198e-01 -9.33550167e-03 2.30855466e+02] [ 1.04068048e-01 9.94569838e-01 -8.23923527e-04 4.55840708e+00] [ 9.37055509e-03 -1.52114037e-04 9.99956084e-01 5.67421707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.89, Y:4.57, Z:0.57 [[ 9.94311528e-01 -1.06101022e-01 -9.33590218e-03 2.30887904e+02] [ 1.06098004e-01 9.94355340e-01 -8.19360028e-04 4.56787090e+00] [ 9.37013913e-03 -1.75821463e-04 9.99956084e-01 5.68124914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.92, Y:4.58, Z:0.57 [[ 9.94150635e-01 -1.07598086e-01 -9.33629954e-03 2.30919675e+02] [ 1.07595177e-01 9.94194455e-01 -8.14806962e-04 4.57508469e+00] [ 9.36976890e-03 -1.94499940e-04 9.99956084e-01 5.69893238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.95, Y:4.58, Z:0.57 [[ 9.94099221e-01 -1.08072037e-01 -9.33663989e-03 2.30952013e+02] [ 1.08069185e-01 9.94143045e-01 -8.10888157e-04 4.58220884e+00] [ 9.36958995e-03 -2.02899778e-04 9.99956084e-01 5.69514371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.98, Y:4.59, Z:0.58 [[ 9.93813586e-01 -1.10667868e-01 -9.33702741e-03 2.30979183e+02] [ 1.10665173e-01 9.93857419e-01 -8.06401239e-04 4.58837179e+00] [ 9.36891667e-03 -2.31871248e-04 9.99956084e-01 5.79798617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.01, Y:4.60, Z:0.57 [[ 9.94156517e-01 -1.07544545e-01 -9.32690946e-03 2.31012718e+02] [ 1.07540609e-01 9.94200263e-01 -9.24035381e-04 4.59911121e+00] [ 9.37219080e-03 -8.43857231e-05 9.99956076e-01 5.71318137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:231.04, Y:4.60, Z:0.58 [[ 9.94026842e-01 -1.08735662e-01 -9.33770192e-03 2.31040930e+02] [ 1.08732964e-01 9.94070675e-01 -7.97702402e-04 4.60397386e+00] [ 9.36907435e-03 -2.22378404e-04 9.99956085e-01 5.80771250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.07, Y:4.61, Z:0.57 [[ 9.94384320e-01 -1.05417268e-01 -9.32870408e-03 2.31074214e+02] [ 1.05413433e-01 9.94428073e-01 -9.03202956e-04 4.61399506e+00] [ 9.37193841e-03 -8.52398661e-05 9.99956079e-01 5.71011059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.10, Y:4.62, Z:0.58 [[ 9.94232515e-01 -1.06838680e-01 -9.33826262e-03 2.31102188e+02] [ 1.06835968e-01 9.94276346e-01 -7.90252158e-04 4.61959735e+00] [ 9.36924313e-03 -2.11967933e-04 9.99956085e-01 5.80327422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.14, Y:4.63, Z:0.57 [[ 9.94512325e-01 -1.04202657e-01 -9.32958759e-03 2.31135456e+02] [ 1.04198864e-01 9.94556082e-01 -8.92964136e-04 4.62706768e+00] [ 9.37184731e-03 -8.40685932e-05 9.99956080e-01 5.71184686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.17, Y:4.64, Z:0.57 [[ 9.94780550e-01 -1.01609268e-01 -9.33886883e-03 2.31168229e+02] [ 1.01606401e-01 9.94824370e-01 -7.82146309e-04 4.63740440e+00] [ 9.37000762e-03 -1.70824914e-04 9.99956086e-01 5.71640240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:4.64, Z:0.57 [[ 9.94981311e-01 -9.96241350e-02 -9.33924456e-03 2.31201313e+02] [ 9.96212232e-02 9.95025129e-01 -7.77633835e-04 4.64433854e+00] [ 9.37025412e-03 -1.56655834e-04 9.99956086e-01 5.72048834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:4.65, Z:0.58 [[ 9.94952075e-01 -9.99156621e-02 -9.33961812e-03 2.31228507e+02] [ 9.99128055e-02 9.94995896e-01 -7.73121180e-04 4.65482515e+00] [ 9.37012861e-03 -1.63928925e-04 9.99956086e-01 5.83176324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:4.66, Z:0.57 [[ 9.95352064e-01 -9.58499070e-02 -9.33080949e-03 2.31262387e+02] [ 9.58458731e-02 9.95395798e-01 -8.79568219e-04 4.66157956e+00] [ 9.37215509e-03 -1.88395404e-05 9.99956080e-01 5.73728955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.29, Y:4.67, Z:0.57 [[ 9.95440663e-01 -9.49244412e-02 -9.34009586e-03 2.31294896e+02] [ 9.49214279e-02 9.95484473e-01 -7.66395560e-04 4.66769004e+00] [ 9.37067007e-03 -1.23673931e-04 9.99956087e-01 5.72868300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.33, Y:4.67, Z:0.57 [[ 9.95488215e-01 -9.44244129e-02 -9.34046653e-03 2.31328016e+02] [ 9.44214202e-02 9.95532026e-01 -7.61851044e-04 4.67428667e+00] [ 9.37067091e-03 -1.23526380e-04 9.99956087e-01 5.71519033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.36, Y:4.69, Z:0.58 [[ 9.95490064e-01 -9.44048823e-02 -9.34083843e-03 2.31356493e+02] [ 9.44019318e-02 9.95533878e-01 -7.57263720e-04 4.68738253e+00] [ 9.37061049e-03 -1.27944683e-04 9.99956087e-01 5.80600378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.39, Y:4.70, Z:0.57 [[ 9.95522458e-01 -9.40629439e-02 -9.33795573e-03 2.31388517e+02] [ 9.40596443e-02 9.95566248e-01 -7.92873251e-04 4.69516302e+00] [ 9.37113354e-03 -8.90016666e-05 9.99956086e-01 5.69645723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.42, Y:4.70, Z:0.57 [[ 9.95427996e-01 -9.50570734e-02 -9.34119936e-03 2.31420952e+02] [ 9.50541952e-02 9.95471815e-01 -7.52614411e-04 4.70013449e+00] [ 9.37044200e-03 -1.38746733e-04 9.99956087e-01 5.69119442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.45, Y:4.70, Z:0.57 [[ 9.95328780e-01 -9.60903516e-02 -9.34156302e-03 2.31453267e+02] [ 9.60875615e-02 9.95372604e-01 -7.48073215e-04 4.70425835e+00] [ 9.37021853e-03 -1.53029211e-04 9.99956087e-01 5.70979135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.49, Y:4.71, Z:0.57 [[ 9.94994226e-01 -9.94948189e-02 -9.34187679e-03 2.31486415e+02] [ 9.94922157e-02 9.95038062e-01 -7.44134169e-04 4.70894775e+00] [ 9.36956047e-03 -1.89034819e-04 9.99956087e-01 5.70250146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.52, Y:4.71, Z:0.57 [[ 9.94847628e-01 -1.00950084e-01 -9.34223157e-03 2.31519597e+02] [ 1.00947587e-01 9.94891470e-01 -7.39653153e-04 4.71242977e+00] [ 9.36917455e-03 -2.07233551e-04 9.99956087e-01 5.70106688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:4.72, Z:0.57 [[ 9.94655968e-01 -1.02821305e-01 -9.34258130e-03 2.31551315e+02] [ 1.02818932e-01 9.94699817e-01 -7.35208962e-04 4.71594089e+00] [ 9.36865906e-03 -2.29314252e-04 9.99956087e-01 5.68995764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:4.72, Z:0.57 [[ 9.94628532e-01 -1.03086339e-01 -9.34288051e-03 2.31584641e+02] [ 1.03084014e-01 9.94672384e-01 -7.31386735e-04 4.72002198e+00] [ 9.36850121e-03 -2.35643508e-04 9.99956087e-01 5.70725764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:4.73, Z:0.57 [[ 9.94823887e-01 -1.01183686e-01 -9.34322308e-03 2.31616387e+02] [ 1.01181319e-01 9.94867736e-01 -7.26984064e-04 4.72666815e+00] [ 9.36883012e-03 -2.22138519e-04 9.99956087e-01 5.72220354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.65, Y:4.73, Z:0.57 [[ 9.94901422e-01 -1.00418423e-01 -9.34352259e-03 2.31649762e+02] [ 1.00416057e-01 9.94945271e-01 -7.23114085e-04 4.73094152e+00] [ 9.36890759e-03 -2.18812468e-04 9.99956087e-01 5.73095533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:4.73, Z:0.57 [[ 9.95066274e-01 -9.87714674e-02 -9.34386110e-03 2.31682963e+02] [ 9.87690709e-02 9.95110122e-01 -7.18713151e-04 4.73425786e+00] [ 9.36915911e-03 -2.07717262e-04 9.99956087e-01 5.72417545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.72, Y:4.74, Z:0.57 [[ 9.95073751e-01 -9.86960784e-02 -9.34420108e-03 2.31716066e+02] [ 9.86937204e-02 9.95117601e-01 -7.14265471e-04 4.73734536e+00] [ 9.36907416e-03 -2.11467147e-04 9.99956087e-01 5.72561167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.75, Y:4.74, Z:0.57 [[ 9.95154805e-01 -9.78754013e-02 -9.34453708e-03 2.31748274e+02] [ 9.78730486e-02 9.95198655e-01 -7.09842277e-04 4.74045914e+00] [ 9.36914683e-03 -2.08175379e-04 9.99956087e-01 5.73193525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.78, Y:4.74, Z:0.57 [[ 9.95200898e-01 -9.74055789e-02 -9.34482731e-03 2.31781806e+02] [ 9.74032416e-02 9.95244749e-01 -7.06000682e-04 4.74330914e+00] [ 9.36915871e-03 -2.07603959e-04 9.99956087e-01 5.73507786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:4.75, Z:0.57 [[ 9.95176923e-01 -9.76501964e-02 -9.34515852e-03 2.31814501e+02] [ 9.76479113e-02 9.95220776e-01 -7.01588986e-04 4.74613230e+00] [ 9.36900621e-03 -2.14330041e-04 9.99956087e-01 5.74006322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.85, Y:4.75, Z:0.58 [[ 9.95073991e-01 -9.86935383e-02 -9.34548718e-03 2.31847289e+02] [ 9.86913405e-02 9.95117849e-01 -6.97183437e-04 4.74872736e+00] [ 9.36866860e-03 -2.28569552e-04 9.99956087e-01 5.75302606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.88, Y:4.75, Z:0.58 [[ 9.94924001e-01 -1.00194255e-01 -9.34581395e-03 2.31879232e+02] [ 1.00192164e-01 9.94967864e-01 -6.92775064e-04 4.75162408e+00] [ 9.36819663e-03 -2.47118790e-04 9.99956087e-01 5.75486081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.91, Y:4.76, Z:0.57 [[ 9.94964428e-01 -9.97919676e-02 -9.34609487e-03 2.31912394e+02] [ 9.97898953e-02 9.95008292e-01 -6.88964310e-04 4.75553362e+00] [ 9.36819500e-03 -2.47150848e-04 9.99956087e-01 5.74633102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:4.76, Z:0.58 [[ 9.94957167e-01 -9.98643110e-02 -9.34641758e-03 2.31945449e+02] [ 9.98622833e-02 9.95001033e-01 -6.84558322e-04 4.75984079e+00] [ 9.36805809e-03 -2.52248391e-04 9.99956087e-01 5.75216138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.98, Y:4.76, Z:0.58 [[ 9.94944020e-01 -9.99951794e-02 -9.34673710e-03 2.31978630e+02] [ 9.99931987e-02 9.94987888e-01 -6.80167484e-04 4.76456422e+00] [ 9.36790368e-03 -2.57881569e-04 9.99956087e-01 5.75047811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.01, Y:4.77, Z:0.57 [[ 9.94952428e-01 -9.99114513e-02 -9.34705386e-03 2.32010925e+02] [ 9.99095080e-02 9.94996298e-01 -6.75786324e-04 4.76562272e+00] [ 9.36780278e-03 -2.61484308e-04 9.99956087e-01 5.74923334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.04, Y:4.76, Z:0.57 [[ 9.94721285e-01 -1.02187044e-01 -9.34733081e-03 2.32044403e+02] [ 1.02185237e-01 9.94765161e-01 -6.71933626e-04 4.76423157e+00] [ 9.36706195e-03 -2.86772535e-04 9.99956087e-01 5.74542740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:4.77, Z:0.58 [[ 9.94476211e-01 -1.04545149e-01 -9.34764176e-03 2.32077753e+02] [ 1.04543487e-01 9.94520092e-01 -6.67579642e-04 4.76579030e+00] [ 9.36620975e-03 -3.13342993e-04 9.99956087e-01 5.75160196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.11, Y:4.77, Z:0.57 [[ 9.94254755e-01 -1.06630660e-01 -9.34794852e-03 2.32110781e+02] [ 1.06629130e-01 9.94298642e-01 -6.63256119e-04 4.76758781e+00] [ 9.36537595e-03 -3.37318070e-04 9.99956087e-01 5.74968646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:4.77, Z:0.58 [[ 9.94078164e-01 -1.08264551e-01 -9.34825274e-03 2.32144003e+02] [ 1.08263135e-01 9.94122055e-01 -6.58940244e-04 4.76953370e+00] [ 9.36464409e-03 -3.57033037e-04 9.99956087e-01 5.75166836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.18, Y:4.77, Z:0.58 [[ 9.93713260e-01 -1.11564154e-01 -9.34855377e-03 2.32176149e+02] [ 1.11562924e-01 9.93757156e-01 -6.54641451e-04 4.76981732e+00] [ 9.36322672e-03 -3.92426100e-04 9.99956087e-01 5.77093437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:4.77, Z:0.58 [[ 9.93624777e-01 -1.12349464e-01 -9.34881144e-03 2.32208980e+02] [ 1.12348303e-01 9.93668675e-01 -6.50940723e-04 4.77035773e+00] [ 9.36275392e-03 -4.03532272e-04 9.99956087e-01 5.77140536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.24, Y:4.77, Z:0.58 [[ 9.93587489e-01 -1.12678732e-01 -9.34910369e-03 2.32242109e+02] [ 1.12677625e-01 9.93631388e-01 -6.46715883e-04 4.77061724e+00] [ 9.36243400e-03 -4.10865992e-04 9.99956087e-01 5.78686532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:4.77, Z:0.58 [[ 9.93579344e-01 -1.12750506e-01 -9.34939666e-03 2.32275047e+02] [ 1.12749442e-01 9.93623244e-01 -6.42452434e-04 4.76828875e+00] [ 9.36221467e-03 -4.15811788e-04 9.99956087e-01 5.80424435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:4.77, Z:0.58 [[ 9.93617760e-01 -1.12411446e-01 -9.34952470e-03 2.32308504e+02] [ 1.12410385e-01 9.93661660e-01 -6.40583578e-04 4.76805759e+00] [ 9.36227316e-03 -4.14488455e-04 9.99956087e-01 5.79910769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.34, Y:4.77, Z:0.58 [[ 9.93722848e-01 -1.11478616e-01 -9.34981758e-03 2.32341740e+02] [ 1.11477554e-01 9.93766748e-01 -6.36279935e-04 4.76878724e+00] [ 9.36246942e-03 -4.10008887e-04 9.99956087e-01 5.80027232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.38, Y:4.77, Z:0.58 [[ 9.93820907e-01 -1.10600994e-01 -9.35010381e-03 2.32375231e+02] [ 1.10599933e-01 9.93864807e-01 -6.32045507e-04 4.76865825e+00] [ 9.36264399e-03 -4.05980816e-04 9.99956087e-01 5.79047339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.41, Y:4.77, Z:0.58 [[ 9.93935228e-01 -1.09568846e-01 -9.35038852e-03 2.32408800e+02] [ 1.09567779e-01 9.93979128e-01 -6.27805133e-04 4.76592219e+00] [ 9.36287892e-03 -4.00503666e-04 9.99956087e-01 5.78821192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.44, Y:4.77, Z:0.58 [[ 9.94146407e-01 -1.07635897e-01 -9.35067472e-03 2.32441653e+02] [ 1.07634785e-01 9.94190306e-01 -6.23513065e-04 4.76603519e+00] [ 9.36346255e-03 -3.86594591e-04 9.99956087e-01 5.81136969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.47, Y:4.77, Z:0.58 [[ 9.94442210e-01 -1.04867778e-01 -9.35095485e-03 2.32474536e+02] [ 1.04866583e-01 9.94486107e-01 -6.19283266e-04 4.76566249e+00] [ 9.36433754e-03 -3.64761266e-04 9.99956087e-01 5.83304340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.51, Y:4.77, Z:0.58 [[ 9.94641306e-01 -1.02962256e-01 -9.35123470e-03 2.32508132e+02] [ 1.02961018e-01 9.94685202e-01 -6.15028243e-04 4.76626916e+00] [ 9.36485947e-03 -3.51080150e-04 9.99956087e-01 5.82446971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.54, Y:4.77, Z:0.58 [[ 9.94811566e-01 -1.01303988e-01 -9.35151481e-03 2.32541253e+02] [ 1.01302717e-01 9.94855460e-01 -6.10739226e-04 4.76688191e+00] [ 9.36527589e-03 -3.39763415e-04 9.99956087e-01 5.81955056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.57, Y:4.77, Z:0.58 [[ 9.95140381e-01 -9.80212578e-02 -9.35179517e-03 2.32574692e+02] [ 9.80198823e-02 9.95184272e-01 -6.06415668e-04 4.76726805e+00] [ 9.36620110e-03 -3.13193143e-04 9.99956087e-01 5.81821175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.61, Y:4.77, Z:0.58 [[ 9.95283278e-01 -9.65594956e-02 -9.35207387e-03 2.32607198e+02] [ 9.65580963e-02 9.95327168e-01 -6.02086743e-04 4.77029080e+00] [ 9.36651039e-03 -3.03771582e-04 9.99956087e-01 5.83311490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.64, Y:4.77, Z:0.58 [[ 9.95438090e-01 -9.49502060e-02 -9.35235267e-03 2.32639942e+02] [ 9.49487767e-02 9.95481980e-01 -5.97724409e-04 4.77378155e+00] [ 9.36685261e-03 -2.92996801e-04 9.99956087e-01 5.84408745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.67, Y:4.78, Z:0.59 [[ 9.95521062e-01 -9.40762660e-02 -9.35262967e-03 2.32672518e+02] [ 9.40748391e-02 9.95564951e-01 -5.93358393e-04 4.77711720e+00] [ 9.36697124e-03 -2.89146354e-04 9.99956087e-01 5.85180920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.71, Y:4.78, Z:0.58 [[ 9.95442577e-01 -9.49031038e-02 -9.35290646e-03 2.32705927e+02] [ 9.49017546e-02 9.95486469e-01 -5.88962855e-04 4.77873534e+00] [ 9.36658623e-03 -3.01328531e-04 9.99956087e-01 5.83307891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.74, Y:4.78, Z:0.58 [[ 9.95428809e-01 -9.50473830e-02 -9.35318019e-03 2.32739472e+02] [ 9.50460813e-02 9.95472702e-01 -5.84583252e-04 4.77951734e+00] [ 9.36639866e-03 -3.07072114e-04 9.99956087e-01 5.84323367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.77, Y:4.78, Z:0.59 [[ 9.95418146e-01 -9.51589646e-02 -9.35345115e-03 2.32772517e+02] [ 9.51577088e-02 9.95462040e-01 -5.80215073e-04 4.77868593e+00] [ 9.36621824e-03 -3.12496369e-04 9.99956087e-01 5.85238131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.81, Y:4.78, Z:0.59 [[ 9.95324079e-01 -9.61378486e-02 -9.35371976e-03 2.32805221e+02] [ 9.61366769e-02 9.95367976e-01 -5.75852102e-04 4.78011216e+00] [ 9.36575428e-03 -3.26076072e-04 9.99956087e-01 5.86434984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.84, Y:4.78, Z:0.60 [[ 9.95501273e-01 -9.42852992e-02 -9.35398713e-03 2.32836767e+02] [ 9.42840869e-02 9.95545169e-01 -5.71475697e-04 4.78092614e+00] [ 9.36619846e-03 -3.13027352e-04 9.99956087e-01 5.95018250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.86, Y:4.78, Z:0.60 [[ 9.95147675e-01 -9.79466841e-02 -9.35688979e-03 2.32864832e+02] [ 9.79460807e-02 9.95191585e-01 -5.23818489e-04 4.77882607e+00] [ 9.36320426e-03 -3.95193930e-04 9.99956086e-01 5.97408525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.90, Y:4.78, Z:0.59 [[ 9.95189514e-01 -9.75215194e-02 -9.34796268e-03 2.32898581e+02] [ 9.75195224e-02 9.95233386e-01 -6.70294452e-04 4.77672658e+00] [ 9.36877268e-03 -2.44538846e-04 9.99956082e-01 5.85752192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.93, Y:4.78, Z:0.59 [[ 9.95249984e-01 -9.69018272e-02 -9.35437790e-03 2.32932185e+02] [ 9.69008017e-02 9.95293885e-01 -5.63869181e-04 4.77756054e+00] [ 9.36499507e-03 -3.45255924e-04 9.99956088e-01 5.85772831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.97, Y:4.78, Z:0.59 [[ 9.95268943e-01 -9.67068932e-02 -9.35455834e-03 2.32965400e+02] [ 9.67058874e-02 9.95312844e-01 -5.60859673e-04 4.77934026e+00] [ 9.36495106e-03 -3.46434651e-04 9.99956088e-01 5.86506027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:4.78, Z:0.59 [[ 9.95409755e-01 -9.52465586e-02 -9.35481605e-03 2.32998091e+02] [ 9.52455290e-02 9.95453655e-01 -5.56527729e-04 4.78042210e+00] [ 9.36529318e-03 -3.37031273e-04 9.99956088e-01 5.86957883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:233.03, Y:4.78, Z:0.60 [[ 9.95485838e-01 -9.44480213e-02 -9.35507247e-03 2.33026815e+02] [ 9.44469973e-02 9.95529738e-01 -5.52183477e-04 4.77572645e+00] [ 9.36540548e-03 -3.33867673e-04 9.99956088e-01 5.95946792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.06, Y:4.78, Z:0.59 [[ 9.95844137e-01 -9.05927863e-02 -9.34888476e-03 2.33060584e+02] [ 9.05906091e-02 9.95888001e-01 -6.56958387e-04 4.77697571e+00] [ 9.36995785e-03 -1.92693007e-04 9.99956082e-01 5.87631406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.09, Y:4.78, Z:0.59 [[ 9.96126340e-01 -8.74345079e-02 -9.35534562e-03 2.33093709e+02] [ 8.74332297e-02 9.96170232e-01 -5.46322106e-04 4.78063813e+00] [ 9.36728423e-03 -2.73762243e-04 9.99956089e-01 5.89642591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.13, Y:4.78, Z:0.59 [[ 9.96315475e-01 -8.52522546e-02 -9.35559985e-03 2.33126755e+02] [ 8.52509214e-02 9.96359366e-01 -5.41933351e-04 4.78331670e+00] [ 9.36774057e-03 -2.57636923e-04 9.99956089e-01 5.91123326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.16, Y:4.78, Z:0.59 [[ 9.96480200e-01 -8.33047359e-02 -9.35585339e-03 2.33160228e+02] [ 8.33033583e-02 9.96524090e-01 -5.37520242e-04 4.78462639e+00] [ 9.36811127e-03 -2.43745729e-04 9.99956089e-01 5.92344952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.19, Y:4.78, Z:0.60 [[ 9.97086115e-01 -7.57082762e-02 -9.35610619e-03 2.33191955e+02] [ 7.57066058e-02 9.97129994e-01 -5.33083377e-04 4.78444518e+00] [ 9.36961294e-03 -1.76789010e-04 9.99956089e-01 6.00783367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:4.79, Z:0.59 [[ 9.96979995e-01 -7.70927890e-02 -9.35899093e-03 2.33221592e+02] [ 7.70916549e-02 9.97023893e-01 -4.82409735e-04 4.78631145e+00] [ 9.36832789e-03 -2.40547244e-04 9.99956087e-01 5.91998742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:233.25, Y:4.79, Z:0.60 [[ 9.97294016e-01 -7.29185213e-02 -9.35605061e-03 2.33252971e+02] [ 7.29167202e-02 9.97337890e-01 -5.33932951e-04 4.78898823e+00] [ 9.37007737e-03 -1.49724388e-04 9.99956089e-01 5.99980189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.28, Y:4.79, Z:0.59 [[ 9.97239356e-01 -7.36618534e-02 -9.35940117e-03 2.33282756e+02] [ 7.36606377e-02 9.97283252e-01 -4.75010703e-04 4.78994967e+00] [ 9.36896420e-03 -2.15720091e-04 9.99956087e-01 5.90673763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.32, Y:4.79, Z:0.59 [[ 9.97325584e-01 -7.24854623e-02 -9.35610124e-03 2.33315742e+02] [ 7.24836514e-02 9.97369458e-01 -5.32942992e-04 4.79217234e+00] [ 9.37012025e-03 -1.46646700e-04 9.99956089e-01 5.91013181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.35, Y:4.80, Z:0.59 [[ 9.97278832e-01 -7.31258499e-02 -9.35635608e-03 2.33348808e+02] [ 7.31241095e-02 9.97322709e-01 -5.28430758e-04 4.79505483e+00] [ 9.36994834e-03 -1.57182398e-04 9.99956089e-01 5.92052559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.38, Y:4.80, Z:0.59 [[ 9.97285848e-01 -7.30300689e-02 -9.35661194e-03 2.33380658e+02] [ 7.30283671e-02 9.97329726e-01 -5.23861033e-04 4.80033887e+00] [ 9.36988483e-03 -1.60858897e-04 9.99956089e-01 5.93657607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.41, Y:4.80, Z:0.60 [[ 9.97161124e-01 -7.47137378e-02 -9.35683515e-03 2.33408856e+02] [ 7.47121478e-02 9.97205006e-01 -5.19843254e-04 4.80203093e+00] [ 9.36952229e-03 -1.80701768e-04 9.99956089e-01 6.03207038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.44, Y:4.80, Z:0.59 [[ 9.97275149e-01 -7.31766430e-02 -9.35184470e-03 2.33442370e+02] [ 7.31741402e-02 9.97318993e-01 -6.09969836e-04 4.80398660e+00] [ 9.37140788e-03 -7.60054363e-05 9.99956085e-01 5.93373630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.48, Y:4.81, Z:0.59 [[ 9.97218055e-01 -7.39499552e-02 -9.35710886e-03 2.33475791e+02] [ 7.39483848e-02 9.97261938e-01 -5.14171177e-04 4.80562187e+00] [ 9.36951145e-03 -1.79202306e-04 9.99956089e-01 5.94155577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.51, Y:4.81, Z:0.59 [[ 9.97035998e-01 -7.63653016e-02 -9.35735671e-03 2.33508444e+02] [ 7.63638802e-02 9.97079886e-01 -5.09620374e-04 4.80701733e+00] [ 9.36894947e-03 -2.06454209e-04 9.99956089e-01 5.93335588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.54, Y:4.81, Z:0.59 [[ 9.96889110e-01 -7.82594254e-02 -9.35759955e-03 2.33541580e+02] [ 7.82581296e-02 9.96933002e-01 -5.05121684e-04 4.80768965e+00] [ 9.36843034e-03 -2.28757932e-04 9.99956089e-01 5.93612638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.57, Y:4.81, Z:0.59 [[ 9.96685996e-01 -8.08050450e-02 -9.35784057e-03 2.33574790e+02] [ 8.08039035e-02 9.96729892e-01 -5.00616315e-04 4.80691045e+00] [ 9.36769175e-03 -2.57192776e-04 9.99956089e-01 5.93860761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:233.61, Y:4.80, Z:0.59 [[ 9.96221906e-01 -8.63385204e-02 -9.35807577e-03 2.33607949e+02] [ 8.63376644e-02 9.96265809e-01 -4.96180351e-04 4.80114701e+00] [ 9.36597040e-03 -3.13648670e-04 9.99956089e-01 5.93538038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.64, Y:4.80, Z:0.60 [[ 9.96295172e-01 -8.54889010e-02 -9.35830760e-03 2.33640289e+02] [ 8.54880489e-02 9.96339075e-01 -4.91768758e-04 4.79907631e+00] [ 9.36608830e-03 -3.10076618e-04 9.99956089e-01 6.01955934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.67, Y:4.79, Z:0.59 [[ 9.95803714e-01 -9.10347596e-02 -9.36134313e-03 2.33670900e+02] [ 9.10346971e-02 9.95847627e-01 -4.33674678e-04 4.79360789e+00] [ 9.36195081e-03 -4.20352182e-04 9.99956088e-01 5.93643938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.70, Y:4.79, Z:0.59 [[ 9.95823888e-01 -9.08141220e-02 -9.35840396e-03 2.33704169e+02] [ 9.08135229e-02 9.95867795e-01 -4.89829061e-04 4.79214038e+00] [ 9.36421651e-03 -3.62086152e-04 9.99956089e-01 5.94804319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.74, Y:4.79, Z:0.60 [[ 9.96133197e-01 -8.73559924e-02 -9.35862928e-03 2.33738049e+02] [ 8.73552815e-02 9.96177102e-01 -4.85485748e-04 4.78675988e+00] [ 9.36526228e-03 -3.33917225e-04 9.99956089e-01 5.95292735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.77, Y:4.78, Z:0.60 [[ 9.96357218e-01 -8.47626416e-02 -9.35885478e-03 2.33766877e+02] [ 8.47618576e-02 9.96401122e-01 -4.81099057e-04 4.78475834e+00] [ 9.36595263e-03 -3.13927397e-04 9.99956089e-01 6.04733986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.80, Y:4.78, Z:0.60 [[ 9.96982248e-01 -7.70641281e-02 -9.35511789e-03 2.33799762e+02] [ 7.70623244e-02 9.97026124e-01 -5.53656177e-04 4.78109526e+00] [ 9.36996395e-03 -1.68941750e-04 9.99956087e-01 5.96516210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.83, Y:4.78, Z:0.60 [[ 9.97490387e-01 -7.01807565e-02 -9.35895217e-03 2.33832915e+02] [ 7.01793530e-02 9.97534275e-01 -4.78692202e-04 4.77638069e+00] [ 9.36947055e-03 -1.79314339e-04 9.99956089e-01 5.95689438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.87, Y:4.78, Z:0.60 [[ 9.97524493e-01 -6.96942777e-02 -9.35918066e-03 2.33866461e+02] [ 6.96928951e-02 9.97568381e-01 -4.74182400e-04 4.77838962e+00] [ 9.36947050e-03 -1.79259838e-04 9.99956089e-01 5.96003547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.252320588 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:233.90, Y:4.77, Z:0.61 [[ 9.97949192e-01 -6.33230732e-02 -9.35940968e-03 2.33896464e+02] [ 6.33214532e-02 9.97993073e-01 -4.69618063e-04 4.77427966e+00] [ 9.37036369e-03 -1.23996455e-04 9.99956089e-01 6.14016746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.93, Y:4.78, Z:0.61 [[ 9.98375796e-01 -5.61977791e-02 -9.35843499e-03 2.33928316e+02] [ 5.61956641e-02 9.98419655e-01 -4.89017371e-04 4.77589198e+00] [ 9.37112713e-03 -3.76803619e-05 9.99956089e-01 6.05707622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.312320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:233.96, Y:4.78, Z:0.61 [[ 9.98487200e-01 -5.41820323e-02 -9.36046528e-03 2.33959634e+02] [ 5.41802094e-02 9.98531073e-01 -4.48407248e-04 4.77621828e+00] [ 9.37101106e-03 -5.94230715e-05 9.99956089e-01 6.06314270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:233.99, Y:4.77, Z:0.60 [[ 9.98684469e-01 -5.04152827e-02 -9.36111074e-03 2.33990853e+02] [ 5.04134158e-02 9.98728340e-01 -4.35442094e-04 4.77301121e+00] [ 9.37115953e-03 -3.70563117e-05 9.99956089e-01 6.04329602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:234.02, Y:4.77, Z:0.61 [[ 9.98884952e-01 -4.62734257e-02 -9.36065728e-03 2.34021506e+02] [ 4.62712913e-02 9.98928811e-01 -4.44572855e-04 4.77415171e+00] [ 9.37120215e-03 1.09474353e-05 9.99956089e-01 6.07588127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.05, Y:4.78, Z:0.60 [[ 9.99029125e-01 -4.30487669e-02 -9.36006356e-03 2.34051534e+02] [ 4.30463786e-02 9.99072971e-01 -4.56558348e-04 4.77911439e+00] [ 9.37104078e-03 5.31982464e-05 9.99956089e-01 5.97440756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:234.08, Y:4.78, Z:0.61 [[ 9.99138668e-01 -4.04266928e-02 -9.35973246e-03 2.34081118e+02] [ 4.04241268e-02 9.99182504e-01 -4.63248127e-04 4.78135737e+00] [ 9.37080850e-03 8.44901044e-05 9.99956089e-01 6.10015342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:234.11, Y:4.79, Z:0.60 [[ 9.99254739e-01 -3.74485733e-02 -9.35788849e-03 2.34112016e+02] [ 3.74455271e-02 9.99298545e-01 -5.00577685e-04 4.78607705e+00] [ 9.37007028e-03 1.49793556e-04 9.99956089e-01 6.02324085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.14, Y:4.79, Z:0.60 [[ 9.99196620e-01 -3.89676340e-02 -9.36155487e-03 2.34141787e+02] [ 3.89653524e-02 9.99240471e-01 -4.26059638e-04 4.78900326e+00] [ 9.37104704e-03 6.09410655e-05 9.99956089e-01 5.97219905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52232058799999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:234.17, Y:4.79, Z:0.61 [[ 9.99054408e-01 -4.24580097e-02 -9.35983984e-03 2.34171734e+02] [ 4.24555550e-02 9.99098250e-01 -4.60888931e-04 4.79009224e+00] [ 9.37096804e-03 6.30759234e-05 9.99956090e-01 6.11769448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.552320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:234.20, Y:4.79, Z:0.62 [[ 9.98871280e-01 -4.65676758e-02 -9.36037531e-03 2.34202790e+02] [ 4.65655032e-02 9.98915137e-01 -4.50030770e-04 4.79125370e+00] [ 9.37117748e-03 1.36522250e-05 9.99956089e-01 6.17175493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.23, Y:4.79, Z:0.60 [[ 9.98688134e-01 -5.03424711e-02 -9.36194784e-03 2.34232998e+02] [ 5.03407620e-02 9.98732012e-01 -4.18267308e-04 4.79356116e+00] [ 9.37113362e-03 -5.35689905e-05 9.99956089e-01 5.99912113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.26, Y:4.80, Z:0.60 [[ 9.98487265e-01 -5.41809796e-02 -9.35968399e-03 2.34263960e+02] [ 5.41790110e-02 9.98531131e-01 -4.63939287e-04 4.79641885e+00] [ 9.37107252e-03 -4.38609521e-05 9.99956090e-01 5.98626177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.642320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:234.29, Y:4.80, Z:0.61 [[ 9.98243892e-01 -5.84938340e-02 -9.35971345e-03 2.34292668e+02] [ 5.84920605e-02 9.98287766e-01 -4.63344163e-04 4.79855118e+00] [ 9.37079021e-03 -8.49384456e-05 9.99956090e-01 6.07765605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.33, Y:4.80, Z:0.60 [[ 9.98336530e-01 -5.68915941e-02 -9.35519461e-03 2.34326235e+02] [ 5.68888912e-02 9.98380361e-01 -5.54987324e-04 4.79968791e+00] [ 9.37161668e-03 2.18574707e-05 9.99956085e-01 5.99869032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.36, Y:4.80, Z:0.60 [[ 9.98351658e-01 -5.66247086e-02 -9.35999792e-03 2.34358480e+02] [ 5.66229171e-02 9.98395531e-01 -4.56502412e-04 4.79781898e+00] [ 9.37082941e-03 -7.42404465e-05 9.99956090e-01 6.00119183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.39, Y:4.80, Z:0.60 [[ 9.98369002e-01 -5.63180417e-02 -9.36019636e-03 2.34390442e+02] [ 5.63162752e-02 9.98412877e-01 -4.52396605e-04 4.80007575e+00] [ 9.37081867e-03 -7.54726472e-05 9.99956090e-01 6.00731951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:234.42, Y:4.81, Z:0.60 [[ 9.98385289e-01 -5.60285529e-02 -9.36039300e-03 2.34422652e+02] [ 5.60268122e-02 9.98429164e-01 -4.48290711e-04 4.80512981e+00] [ 9.37080644e-03 -7.68661292e-05 9.99956090e-01 5.99874468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:234.45, Y:4.80, Z:0.60 [[ 9.98449652e-01 -5.48695970e-02 -9.36058731e-03 2.34453710e+02] [ 5.48678437e-02 9.98493526e-01 -4.44196157e-04 4.80317347e+00] [ 9.37085869e-03 -7.00877433e-05 9.99956090e-01 5.97410779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.48, Y:4.80, Z:0.61 [[ 9.98490929e-01 -5.41132477e-02 -9.36061518e-03 2.34482386e+02] [ 5.41114667e-02 9.98534803e-01 -4.43608012e-04 4.79918893e+00] [ 9.37090510e-03 -6.35780410e-05 9.99956090e-01 6.08648447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.52, Y:4.80, Z:0.60 [[ 9.98695688e-01 -5.01934658e-02 -9.35625063e-03 2.34515185e+02] [ 5.01906470e-02 9.98739511e-01 -5.35990791e-04 4.80141844e+00] [ 9.37136042e-03 6.56954194e-05 9.99956086e-01 6.00365444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.55, Y:4.80, Z:0.60 [[ 9.98861515e-01 -4.67765767e-02 -9.36085396e-03 2.34545440e+02] [ 4.67745308e-02 9.98905377e-01 -4.37497054e-04 4.80372799e+00] [ 9.37107197e-03 -8.50581658e-07 9.99956091e-01 6.00838006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.57, Y:4.80, Z:0.60 [[ 9.99068939e-01 -4.21144873e-02 -9.36085396e-03 2.34574684e+02] [ 4.21122366e-02 9.99112790e-01 -4.37497054e-04 4.80306930e+00] [ 9.37097389e-03 4.28832203e-05 9.99956091e-01 6.00765530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:234.60, Y:4.80, Z:0.60 [[ 9.99139950e-01 -4.03947480e-02 -9.36084014e-03 2.34604056e+02] [ 4.03924191e-02 9.99183797e-01 -4.37792598e-04 4.80441439e+00] [ 9.37088432e-03 5.93090962e-05 9.99956091e-01 6.01543322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.972320588 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:234.63, Y:4.81, Z:0.60 [[ 9.99275210e-01 -3.68975644e-02 -9.36081211e-03 2.34633078e+02] [ 3.68950764e-02 9.99319049e-01 -4.38391188e-04 4.80863000e+00] [ 9.37061342e-03 9.27055680e-05 9.99956091e-01 6.02500153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:234.66, Y:4.81, Z:0.61 [[ 9.99299335e-01 -3.62383048e-02 -9.36075588e-03 2.34662753e+02] [ 3.62357767e-02 9.99343172e-01 -4.39588451e-04 4.80852113e+00] [ 9.37053742e-03 1.00086187e-04 9.99956091e-01 6.09900756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.032320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:234.69, Y:4.81, Z:0.61 [[ 9.99267557e-01 -3.71045126e-02 -9.35970131e-03 2.34692403e+02] [ 3.71018126e-02 9.99311384e-01 -4.62000494e-04 4.80867098e+00] [ 9.37039837e-03 1.14400222e-04 9.99956090e-01 6.14955030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.72, Y:4.81, Z:0.61 [[ 9.99295646e-01 -3.63402869e-02 -9.35920556e-03 2.34722552e+02] [ 3.63374544e-02 9.99339465e-01 -4.72570834e-04 4.81429709e+00] [ 9.37019684e-03 1.32148271e-04 9.99956090e-01 6.05731854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.092320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:234.75, Y:4.82, Z:0.62 [[ 9.99226725e-01 -3.81880697e-02 -9.36078246e-03 2.34751487e+02] [ 3.81856332e-02 9.99270566e-01 -4.38942463e-04 4.81718261e+00] [ 9.37071675e-03 8.11556340e-05 9.99956091e-01 6.17424544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:234.78, Y:4.82, Z:0.62 [[ 9.99337895e-01 -3.51595199e-02 -9.35845320e-03 2.34782563e+02] [ 3.51564870e-02 9.99381700e-01 -4.88444970e-04 4.81920097e+00] [ 9.36984036e-03 1.59111229e-04 9.99956089e-01 6.15648084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15232058799998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:234.81, Y:4.82, Z:0.62 [[ 9.99361534e-01 -3.44802807e-02 -9.36130941e-03 2.34811447e+02] [ 3.44777876e-02 9.99405373e-01 -4.27620004e-04 4.82165719e+00] [ 9.37048738e-03 1.04589746e-04 9.99956091e-01 6.15397124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.84, Y:4.83, Z:0.61 [[ 9.99425159e-01 -3.25842230e-02 -9.36052499e-03 2.34841364e+02] [ 3.25814902e-02 9.99468984e-01 -4.44339657e-04 4.82586828e+00] [ 9.37003285e-03 1.39104380e-04 9.99956091e-01 6.05044940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:234.87, Y:4.83, Z:0.62 [[ 9.99411847e-01 -3.29899443e-02 -9.36074515e-03 2.34870262e+02] [ 3.29872731e-02 9.99455675e-01 -4.39652060e-04 4.82801452e+00] [ 9.37015396e-03 1.30608021e-04 9.99956091e-01 6.17793226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:234.90, Y:4.83, Z:0.61 [[ 9.99501583e-01 -3.01490161e-02 -9.36066893e-03 2.34900005e+02] [ 3.01462052e-02 9.99545402e-01 -4.41271573e-04 4.82966456e+00] [ 9.36971750e-03 1.58862989e-04 9.99956091e-01 6.06712180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27232058799999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:234.93, Y:4.83, Z:0.62 [[ 9.99551367e-01 -2.84506860e-02 -9.36067951e-03 2.34929455e+02] [ 2.84478028e-02 9.99595182e-01 -4.41047012e-04 4.83408918e+00] [ 9.36943823e-03 1.74558379e-04 9.99956091e-01 6.17753376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.96, Y:4.84, Z:0.61 [[ 9.99635887e-01 -2.53074701e-02 -9.36088811e-03 2.34959735e+02] [ 2.53044905e-02 9.99679695e-01 -4.36629428e-04 4.83826867e+00] [ 9.36893975e-03 1.99597942e-04 9.99956091e-01 6.06960562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.99, Y:4.84, Z:0.62 [[ 9.99631534e-01 -2.54788903e-02 -9.36063712e-03 2.34990130e+02] [ 2.54758684e-02 9.99675340e-01 -4.41945582e-04 4.84118587e+00] [ 9.36885837e-03 2.03312381e-04 9.99956091e-01 6.17710021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.02, Y:4.84, Z:0.61 [[ 9.99666626e-01 -2.40627717e-02 -9.36052393e-03 2.35019927e+02] [ 2.40596653e-02 9.99710426e-01 -4.44344021e-04 4.84429243e+00] [ 9.36850551e-03 2.18984816e-04 9.99956091e-01 6.09395348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:4.85, Z:0.61 [[ 9.99661400e-01 -2.42789046e-02 -9.36061568e-03 2.35048842e+02] [ 2.42758258e-02 9.99705201e-01 -4.42402731e-04 4.84886406e+00] [ 9.36859723e-03 2.15016257e-04 9.99956091e-01 6.10177090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.08, Y:4.85, Z:0.61 [[ 9.99685884e-01 -2.32489316e-02 -9.36055820e-03 2.35077217e+02] [ 2.32457964e-02 9.99729682e-01 -4.43615475e-04 4.85218972e+00] [ 9.36834146e-03 2.25882498e-04 9.99956091e-01 6.09876638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.11, Y:4.86, Z:0.61 [[ 9.99659534e-01 -2.43556586e-02 -9.36050080e-03 2.35105542e+02] [ 2.43525605e-02 9.99703333e-01 -4.44823379e-04 4.85607533e+00] [ 9.36855782e-03 2.16719769e-04 9.99956091e-01 6.10153754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.13, Y:4.86, Z:0.61 [[ 9.99653187e-01 -2.46148048e-02 -9.36044296e-03 2.35134324e+02] [ 2.46117068e-02 9.99696987e-01 -4.46037259e-04 4.85888298e+00] [ 9.36858574e-03 2.15506090e-04 9.99956091e-01 6.11255791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.16, Y:4.86, Z:0.62 [[ 9.99638378e-01 -2.52090503e-02 -9.36038487e-03 2.35164295e+02] [ 2.52059669e-02 9.99682179e-01 -4.47252988e-04 4.86055143e+00] [ 9.36868476e-03 2.11153700e-04 9.99956091e-01 6.22110011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.19, Y:4.86, Z:0.61 [[ 9.99628687e-01 -2.55899908e-02 -9.36164508e-03 2.35193857e+02] [ 2.55871707e-02 9.99672506e-01 -4.20905170e-04 4.86192096e+00] [ 9.36935015e-03 1.81210872e-04 9.99956090e-01 6.10919656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.22, Y:4.87, Z:0.62 [[ 9.99639597e-01 -2.51607124e-02 -9.36030989e-03 2.35224056e+02] [ 2.51576128e-02 9.99683396e-01 -4.48755003e-04 4.86548611e+00] [ 9.36863738e-03 2.13110218e-04 9.99956091e-01 6.21181154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.25, Y:4.87, Z:0.62 [[ 9.99662294e-01 -2.42414759e-02 -9.36212822e-03 2.35252895e+02] [ 2.42386912e-02 9.99706115e-01 -4.10813175e-04 4.87187464e+00] [ 9.36933555e-03 1.83748706e-04 9.99956090e-01 6.20996510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:235.28, Y:4.88, Z:0.62 [[ 9.99728386e-01 -2.13429411e-02 -9.36130367e-03 2.35281631e+02] [ 2.13398683e-02 9.99772187e-01 -4.28020151e-04 4.87676053e+00] [ 9.36830626e-03 2.28134908e-04 9.99956090e-01 6.20502284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.31, Y:4.88, Z:0.62 [[ 9.99810933e-01 -1.70429839e-02 -9.36139037e-03 2.35310178e+02] [ 1.70397396e-02 9.99854722e-01 -4.26218549e-04 4.88442846e+00] [ 9.36729441e-03 2.66622311e-04 9.99956090e-01 6.20554482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.34, Y:4.89, Z:0.62 [[ 9.99822684e-01 -1.63390265e-02 -9.36142961e-03 2.35339579e+02] [ 1.63357590e-02 9.99866472e-01 -4.25408148e-04 4.88993872e+00] [ 9.36713035e-03 2.72406658e-04 9.99956090e-01 6.20860594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.37, Y:4.90, Z:0.62 [[ 9.99793795e-01 -1.80201308e-02 -9.36169923e-03 2.35366939e+02] [ 1.80169888e-02 9.99837593e-01 -4.19863432e-04 4.89788684e+00] [ 9.36774481e-03 2.51107225e-04 9.99956090e-01 6.19511030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.752320588 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:235.38, Y:4.87, Z:0.61 [[ 9.95602728e-01 -9.32075370e-02 -9.35750112e-03 2.35378522e+02] [ 9.32068867e-02 9.95646634e-01 -5.06516990e-04 4.87033717e+00] [ 9.36397569e-03 -3.67893850e-04 9.99956089e-01 6.05110472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:4.91, Z:0.61 [[ 9.99762705e-01 -1.96916701e-02 -9.31518219e-03 2.35426683e+02] [ 1.96801223e-02 9.99805443e-01 -1.32973145e-03 4.90711466e+00] [ 9.33955449e-03 1.14609198e-03 9.99955729e-01 6.12666694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.46, Y:4.91, Z:0.62 [[ 9.99702167e-01 -2.25392620e-02 -9.35730195e-03 2.35456056e+02] [ 2.25360752e-02 9.99745931e-01 -4.45882958e-04 4.91243444e+00] [ 9.36497443e-03 2.34873299e-04 9.99956120e-01 6.19641648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.49, Y:4.92, Z:0.61 [[ 9.99674295e-01 -2.37434589e-02 -9.35688195e-03 2.35485920e+02] [ 2.37402425e-02 9.99718057e-01 -4.54678997e-04 4.92220803e+00] [ 9.36503950e-03 2.32396259e-04 9.99956120e-01 6.13083055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.51, Y:4.93, Z:0.62 [[ 9.99547245e-01 -2.85962804e-02 -9.35721527e-03 2.35513058e+02] [ 2.85933417e-02 9.99591027e-01 -4.47712621e-04 4.92637742e+00] [ 9.36619133e-03 1.79955863e-04 9.99956120e-01 6.20375556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.55, Y:4.93, Z:0.61 [[ 9.99671942e-01 -2.38446124e-02 -9.35109086e-03 2.35546506e+02] [ 2.38402740e-02 9.99715615e-01 -5.75164611e-04 4.93057701e+00] [ 9.36214613e-03 3.52043356e-04 9.99956112e-01 6.13395258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.57, Y:4.94, Z:0.62 [[ 9.99576702e-01 -2.75473817e-02 -9.35729444e-03 2.35574767e+02] [ 2.75444262e-02 9.99620481e-01 -4.44603527e-04 4.93556829e+00] [ 9.36599083e-03 1.86674022e-04 9.99956121e-01 6.20480826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.61, Y:4.94, Z:0.61 [[ 9.99663751e-01 -2.41852106e-02 -9.35198139e-03 2.35607171e+02] [ 2.41810545e-02 9.99707440e-01 -5.57249528e-04 4.94060162e+00] [ 9.36272258e-03 3.30921382e-04 9.99956114e-01 6.13226681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.64, Y:4.94, Z:0.62 [[ 9.99541830e-01 -2.87847974e-02 -9.35763503e-03 2.35635231e+02] [ 2.87819778e-02 9.99585618e-01 -4.35875181e-04 4.94392435e+00] [ 9.36630398e-03 1.66344233e-04 9.99956121e-01 6.24293060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.66, Y:4.95, Z:0.62 [[ 9.99529386e-01 -2.92151083e-02 -9.35331595e-03 2.35664387e+02] [ 2.92114325e-02 9.99573115e-01 -5.29393341e-04 4.95035022e+00] [ 9.36478944e-03 2.55920444e-04 9.99956117e-01 6.19531689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.69, Y:4.95, Z:0.62 [[ 9.99485907e-01 -3.06665616e-02 -9.35329295e-03 2.35694347e+02] [ 3.06629447e-02 9.99529641e-01 -5.29892907e-04 4.95312324e+00] [ 9.36514354e-03 2.42820989e-04 9.99956117e-01 6.19268288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.72, Y:4.96, Z:0.62 [[ 9.99503783e-01 -3.00790946e-02 -9.35066793e-03 2.35724980e+02] [ 3.00749089e-02 9.99547475e-01 -5.87951706e-04 4.95573791e+00] [ 9.36412157e-03 3.06439468e-04 9.99956109e-01 6.20136859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.76, Y:4.96, Z:0.62 [[ 9.99516891e-01 -2.96400525e-02 -9.35156891e-03 2.35755057e+02] [ 2.96360368e-02 9.99560595e-01 -5.67724994e-04 4.95723925e+00] [ 9.36428718e-03 2.90307281e-04 9.99956112e-01 6.20413620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.79, Y:4.96, Z:0.61 [[ 9.99589950e-01 -2.70643051e-02 -9.35177706e-03 2.35787348e+02] [ 2.70602207e-02 9.99633647e-01 -5.63031521e-04 4.96025876e+00] [ 9.36358907e-03 3.09739498e-04 9.99956113e-01 6.14870125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.82, Y:4.96, Z:0.61 [[ 9.99439156e-01 -3.21526439e-02 -9.35849622e-03 2.35817239e+02] [ 3.21502191e-02 9.99482964e-01 -4.09464807e-04 4.95865560e+00] [ 9.36682292e-03 1.08357458e-04 9.99956124e-01 6.14815366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.85, Y:4.96, Z:0.62 [[ 9.99285643e-01 -3.66145064e-02 -9.35847019e-03 2.35847547e+02] [ 3.66122717e-02 9.99329462e-01 -4.10058894e-04 4.95861019e+00] [ 9.36720908e-03 6.71311117e-05 9.99956124e-01 6.22929433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.88, Y:4.96, Z:0.62 [[ 9.99139614e-01 -4.04040910e-02 -9.35635049e-03 2.35879395e+02] [ 4.04015641e-02 9.99183418e-01 -4.59001343e-04 4.95669681e+00] [ 9.36725579e-03 8.05952307e-05 9.99956123e-01 6.17189417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.91, Y:4.95, Z:0.63 [[ 9.98755746e-01 -4.89834084e-02 -9.35874393e-03 2.35908458e+02] [ 4.89817779e-02 9.98799591e-01 -4.03486369e-04 4.95151712e+00] [ 9.36727375e-03 -5.54235870e-05 9.99956125e-01 6.25128238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.94, Y:4.95, Z:0.62 [[ 9.98804452e-01 -4.79807050e-02 -9.35514347e-03 2.35942700e+02] [ 4.79782498e-02 9.98848262e-01 -4.86823216e-04 4.94971552e+00] [ 9.36772692e-03 3.73977850e-05 9.99956121e-01 6.16755096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.97, Y:4.94, Z:0.62 [[ 9.98558128e-01 -5.28590075e-02 -9.35892459e-03 2.35972136e+02] [ 5.28575997e-02 9.98601981e-01 -3.97886113e-04 4.94257212e+00] [ 9.36687250e-03 -9.73778768e-05 9.99956125e-01 6.23593986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.00, Y:4.94, Z:0.63 [[ 9.98391747e-01 -5.59144246e-02 -9.35394933e-03 2.36002349e+02] [ 5.59120452e-02 9.98435565e-01 -5.15886859e-04 4.93686945e+00] [ 9.36816120e-03 -7.94125534e-06 9.99956118e-01 6.26387841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.04, Y:4.93, Z:0.63 [[ 9.98571710e-01 -5.26030968e-02 -9.35166703e-03 2.36035933e+02] [ 5.26000589e-02 9.98615496e-01 -5.70679849e-04 4.93077080e+00] [ 9.36873914e-03 7.79665165e-05 9.99956109e-01 6.25904922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.07, Y:4.93, Z:0.62 [[ 9.98772529e-01 -4.86407059e-02 -9.35503863e-03 2.36070175e+02] [ 4.86382619e-02 9.98816340e-01 -4.88717893e-04 4.92760208e+00] [ 9.36773703e-03 3.31051873e-05 9.99956121e-01 6.17191158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.10, Y:4.92, Z:0.63 [[ 9.98751078e-01 -4.90783496e-02 -9.35947314e-03 2.36100635e+02] [ 4.90769500e-02 9.98794928e-01 -3.79292868e-04 4.92160452e+00] [ 9.36680937e-03 -8.05152343e-05 9.99956127e-01 6.25128751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.13, Y:4.92, Z:0.63 [[ 9.98766027e-01 -4.87736867e-02 -9.35685681e-03 2.36131152e+02] [ 4.87716644e-02 9.98809855e-01 -4.44315926e-04 4.91913292e+00] [ 9.36739173e-03 -1.25818286e-05 9.99956125e-01 6.26299301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.16, Y:4.92, Z:0.62 [[ 9.98965494e-01 -4.45019424e-02 -9.35517606e-03 2.36164143e+02] [ 4.44993382e-02 9.99009295e-01 -4.86440918e-04 4.91914557e+00] [ 9.36755541e-03 6.96385481e-05 9.99956121e-01 6.18171613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.19, Y:4.92, Z:0.63 [[ 9.98928305e-01 -4.53280979e-02 -9.35980151e-03 2.36191341e+02] [ 4.53266285e-02 9.98972152e-01 -3.69171021e-04 4.91640142e+00] [ 9.36691488e-03 -5.54728633e-05 9.99956128e-01 6.26049911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.23, Y:4.92, Z:0.62 [[ 9.99164295e-01 -3.97897290e-02 -9.35357232e-03 2.36225595e+02] [ 3.97865429e-02 9.99208063e-01 -5.26531090e-04 4.91706643e+00] [ 9.36711541e-03 1.53944759e-04 9.99956116e-01 6.16922092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.26, Y:4.91, Z:0.62 [[ 9.99238779e-01 -3.78715546e-02 -9.35987828e-03 2.36255075e+02] [ 3.78697999e-02 9.99282615e-01 -3.64689746e-04 4.91496745e+00] [ 9.36697502e-03 9.95541862e-06 9.99956129e-01 6.16782463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.28, Y:4.91, Z:0.62 [[ 9.99287011e-01 -3.65767931e-02 -9.35985497e-03 2.36284994e+02] [ 3.65749761e-02 9.99330845e-01 -3.65287156e-04 4.91360169e+00] [ 9.36695280e-03 2.26902392e-05 9.99956129e-01 6.18956918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.31, Y:4.91, Z:0.63 [[ 9.99247934e-01 -3.76292547e-02 -9.35983185e-03 2.36314005e+02] [ 3.76274783e-02 9.99291769e-01 -3.65878461e-04 4.91443963e+00] [ 9.36697066e-03 1.34164268e-05 9.99956129e-01 6.28345820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.34, Y:4.91, Z:0.62 [[ 9.99306813e-01 -3.60322170e-02 -9.35800788e-03 2.36344961e+02] [ 3.60299305e-02 9.99350626e-01 -4.12866608e-04 4.91443679e+00] [ 9.36680753e-03 7.54120406e-05 9.99956128e-01 6.21445112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.37, Y:4.91, Z:0.62 [[ 9.99298034e-01 -3.62743712e-02 -9.35998960e-03 2.36374196e+02] [ 3.62725758e-02 9.99341868e-01 -3.61565334e-04 4.91482302e+00] [ 9.36694504e-03 2.18005954e-05 9.99956129e-01 6.21375412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.40, Y:4.91, Z:0.62 [[ 9.99309369e-01 -3.59607607e-02 -9.35996653e-03 2.36403397e+02] [ 3.59589459e-02 9.99353202e-01 -3.62161407e-04 4.91451061e+00] [ 9.36693613e-03 2.53367562e-05 9.99956129e-01 6.20260124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.43, Y:4.92, Z:0.63 [[ 9.99217643e-01 -3.84251733e-02 -9.35993205e-03 2.36431745e+02] [ 3.84234583e-02 9.99261480e-01 -3.63050494e-04 4.91509013e+00] [ 9.36696983e-03 3.12550063e-06 9.99956129e-01 6.27725781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.46, Y:4.92, Z:0.62 [[ 9.99252438e-01 -3.75103293e-02 -9.35628440e-03 2.36464416e+02] [ 3.75076858e-02 9.99296234e-01 -4.57911036e-04 4.91611296e+00] [ 9.36687616e-03 1.06636143e-04 9.99956124e-01 6.21481994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.49, Y:4.92, Z:0.62 [[ 9.99069204e-01 -4.21083469e-02 -9.36016268e-03 2.36493930e+02] [ 4.21068603e-02 9.99113049e-01 -3.55918941e-04 4.91644718e+00] [ 9.36684784e-03 -3.85394093e-05 9.99956129e-01 6.23165761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.52, Y:4.92, Z:0.62 [[ 9.98933774e-01 -4.52073345e-02 -9.36014004e-03 2.36523407e+02] [ 4.52059783e-02 9.98977624e-01 -3.56513578e-04 4.91503807e+00] [ 9.36668748e-03 -6.70008333e-05 9.99956129e-01 6.23437336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.55, Y:4.91, Z:0.63 [[ 9.98589678e-01 -5.22593927e-02 -9.36011761e-03 2.36553364e+02] [ 5.22583407e-02 9.98633536e-01 -3.57101521e-04 4.90629300e+00] [ 9.36598925e-03 -1.32546322e-04 9.99956129e-01 6.30198950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.58, Y:4.90, Z:0.63 [[ 9.98425072e-01 -5.53155686e-02 -9.35753055e-03 2.36584493e+02] [ 5.53140100e-02 9.98468918e-01 -4.25488741e-04 4.90347526e+00] [ 9.36673955e-03 -9.27839114e-05 9.99956127e-01 6.30867634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.62, Y:4.90, Z:0.62 [[ 9.98220231e-01 -5.88965198e-02 -9.35794000e-03 2.36617173e+02] [ 5.88952209e-02 9.98264084e-01 -4.14553781e-04 4.90035319e+00] [ 9.36611118e-03 -1.37321973e-04 9.99956128e-01 6.21487307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.65, Y:4.89, Z:0.62 [[ 9.98017360e-01 -6.22393022e-02 -9.36045574e-03 2.36649570e+02] [ 6.22387870e-02 9.98061227e-01 -3.46616165e-04 4.89395823e+00] [ 9.36388109e-03 -2.36654460e-04 9.99956130e-01 6.22151335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.68, Y:4.89, Z:0.63 [[ 9.97941784e-01 -6.34395447e-02 -9.36059990e-03 2.36679986e+02] [ 6.34391191e-02 9.97985652e-01 -3.42678285e-04 4.88970494e+00] [ 9.36348375e-03 -2.51855233e-04 9.99956130e-01 6.30845165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:4.88, Z:0.62 [[ 9.97948008e-01 -6.33417309e-02 -9.35935804e-03 2.36712558e+02] [ 6.33409820e-02 9.97991873e-01 -3.76716188e-04 4.88144466e+00] [ 9.36442512e-03 -2.16887759e-04 9.99956129e-01 6.24461872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.74, Y:4.88, Z:0.62 [[ 9.97968447e-01 -6.30186891e-02 -9.36075517e-03 2.36743640e+02] [ 6.30182886e-02 9.98012315e-01 -3.38026594e-04 4.87809125e+00] [ 9.36345093e-03 -2.52558896e-04 9.99956130e-01 6.24598815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:4.87, Z:0.62 [[ 9.97913835e-01 -6.38776414e-02 -9.36077559e-03 2.36774177e+02] [ 6.38772840e-02 9.97957704e-01 -3.37460287e-04 4.86948697e+00] [ 9.36321428e-03 -2.61184632e-04 9.99956130e-01 6.23659329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:4.87, Z:0.62 [[ 9.97904960e-01 -6.40161376e-02 -9.36077559e-03 2.36804933e+02] [ 6.40157862e-02 9.97948829e-01 -3.37460287e-04 4.86604290e+00] [ 9.36317794e-03 -2.62484115e-04 9.99956130e-01 6.22826175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.84, Y:4.86, Z:0.62 [[ 9.97923609e-01 -6.37247636e-02 -9.36077559e-03 2.36835566e+02] [ 6.37243995e-02 9.97967478e-01 -3.37460287e-04 4.85905714e+00] [ 9.36325418e-03 -2.59750216e-04 9.99956130e-01 6.22730768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:4.85, Z:0.62 [[ 9.97928173e-01 -6.36532518e-02 -9.36077559e-03 2.36865910e+02] [ 6.36528846e-02 9.97972042e-01 -3.37460287e-04 4.85059461e+00] [ 9.36327277e-03 -2.59079240e-04 9.99956130e-01 6.21571010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.90, Y:4.84, Z:0.62 [[ 9.98028192e-01 -6.20653233e-02 -9.36075511e-03 2.36895755e+02] [ 6.20648809e-02 9.98072060e-01 -3.38027339e-04 4.84189599e+00] [ 9.36368791e-03 -2.43613337e-04 9.99956130e-01 6.21158693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:4.84, Z:0.62 [[ 9.98049159e-01 -6.17272412e-02 -9.36074485e-03 2.36925481e+02] [ 6.17267813e-02 9.98093027e-01 -3.38311239e-04 4.83939550e+00] [ 9.36377718e-03 -2.40157402e-04 9.99956130e-01 6.20850840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.95, Y:4.84, Z:0.62 [[ 9.98203103e-01 -5.91856617e-02 -9.36072399e-03 2.36954261e+02] [ 5.91850846e-02 9.98246969e-01 -3.38887309e-04 4.83590117e+00] [ 9.36437162e-03 -2.15736879e-04 9.99956130e-01 6.22209140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.98, Y:4.83, Z:0.62 [[ 9.98334709e-01 -5.69226286e-02 -9.36068191e-03 2.36983356e+02] [ 5.69219413e-02 9.98378574e-01 -3.40045816e-04 4.83416496e+00] [ 9.36486056e-03 -1.93348645e-04 9.99956130e-01 6.23870668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.01, Y:4.83, Z:0.62 [[ 9.98525372e-01 -5.34739134e-02 -9.36063942e-03 2.37012251e+02] [ 5.34730637e-02 9.98569234e-01 -3.41211528e-04 4.82981221e+00] [ 9.36549245e-03 -1.59833699e-04 9.99956130e-01 6.24494655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.04, Y:4.83, Z:0.63 [[ 9.98621666e-01 -5.16444394e-02 -9.36059654e-03 2.37041293e+02] [ 5.16434983e-02 9.98665526e-01 -3.42383671e-04 4.82942735e+00] [ 9.36578728e-03 -1.41502200e-04 9.99956130e-01 6.25262517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:4.83, Z:0.62 [[ 9.98732901e-01 -4.94466658e-02 -9.36055375e-03 2.37070511e+02] [ 4.94456173e-02 9.98776758e-01 -3.43549579e-04 4.82676501e+00] [ 9.36609091e-03 -1.19724091e-04 9.99956130e-01 6.23767124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.10, Y:4.82, Z:0.62 [[ 9.98757406e-01 -4.89492028e-02 -9.36051023e-03 2.37098964e+02] [ 4.89481213e-02 9.98801263e-01 -3.44731273e-04 4.82390245e+00] [ 9.36616376e-03 -1.13876479e-04 9.99956130e-01 6.24289035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.13, Y:4.82, Z:0.63 [[ 9.98778805e-01 -4.85106283e-02 -9.36045546e-03 2.37127682e+02] [ 4.85095137e-02 9.98822661e-01 -3.46212153e-04 4.81800927e+00] [ 9.36622999e-03 -1.08281783e-04 9.99956130e-01 6.26093834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.16, Y:4.82, Z:0.64 [[ 9.98786228e-01 -4.83575663e-02 -9.36041143e-03 2.37156649e+02] [ 4.83564339e-02 9.98830083e-01 -3.47398458e-04 4.81904495e+00] [ 9.36625987e-03 -1.05659321e-04 9.99956130e-01 6.36824072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.19, Y:4.82, Z:0.63 [[ 9.98904832e-01 -4.58427222e-02 -9.35847700e-03 2.37188344e+02] [ 4.58409924e-02 9.98948669e-01 -3.99363672e-04 4.82028038e+00] [ 9.36694606e-03 -3.00755714e-05 9.99956129e-01 6.27497035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:4.82, Z:0.63 [[ 9.99012227e-01 -4.34390586e-02 -9.36043483e-03 2.37217754e+02] [ 4.34377190e-02 9.99056077e-01 -3.46470049e-04 4.81641699e+00] [ 9.36664963e-03 -6.04681226e-05 9.99956130e-01 6.27837253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.25, Y:4.82, Z:0.63 [[ 9.99038086e-01 -4.28402255e-02 -9.36039004e-03 2.37246136e+02] [ 4.28388483e-02 9.99081935e-01 -3.47675883e-04 4.81534781e+00] [ 9.36669111e-03 -5.36468799e-05 9.99956130e-01 6.28478829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.27, Y:4.81, Z:0.63 [[ 9.99179473e-01 -3.94051484e-02 -9.36033315e-03 2.37274848e+02] [ 3.94036061e-02 9.99223315e-01 -3.49200983e-04 4.81488327e+00] [ 9.36682344e-03 -1.99164267e-05 9.99956130e-01 6.28707417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.642320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:237.30, Y:4.81, Z:0.64 [[ 9.99223424e-01 -3.82744556e-02 -9.36028777e-03 2.37304423e+02] [ 3.82728524e-02 9.99267265e-01 -3.50412990e-04 4.81491628e+00] [ 9.36684102e-03 -8.10404492e-06 9.99956130e-01 6.38650156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.672320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:237.33, Y:4.81, Z:0.64 [[ 9.99318291e-01 -3.57118313e-02 -9.36044431e-03 2.37333117e+02] [ 3.57101547e-02 9.99362129e-01 -3.46240246e-04 4.81293310e+00] [ 9.36683843e-03 1.17412962e-05 9.99956130e-01 6.36516291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.36, Y:4.81, Z:0.63 [[ 9.99411530e-01 -3.29999049e-02 -9.35947956e-03 2.37363085e+02] [ 3.29978697e-02 9.99455353e-01 -3.71824745e-04 4.81480060e+00] [ 9.36665212e-03 6.27630505e-05 9.99956130e-01 6.30307724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.39, Y:4.82, Z:0.63 [[ 9.99537844e-01 -2.89220522e-02 -9.36018514e-03 2.37392098e+02] [ 2.89200134e-02 9.99581667e-01 -3.53121824e-04 4.81982933e+00] [ 9.36648247e-03 8.22619462e-05 9.99956130e-01 6.31189868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.42, Y:4.82, Z:0.63 [[ 9.99589847e-01 -2.70652058e-02 -9.36013843e-03 2.37421199e+02] [ 2.70630741e-02 9.99633665e-01 -3.54355889e-04 4.82116606e+00] [ 9.36630020e-03 1.00896429e-04 9.99956130e-01 6.31635301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.45, Y:4.82, Z:0.64 [[ 9.99603199e-01 -2.65675036e-02 -9.36009165e-03 2.37449888e+02] [ 2.65653385e-02 9.99647016e-01 -3.55587079e-04 4.82180220e+00] [ 9.36623475e-03 1.06791979e-04 9.99956130e-01 6.42280488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.48, Y:4.82, Z:0.63 [[ 9.99669201e-01 -2.39561547e-02 -9.35898519e-03 2.37480816e+02] [ 2.39536033e-02 9.99712997e-01 -3.84627758e-04 4.82313685e+00] [ 9.36551334e-03 1.60319105e-04 9.99956130e-01 6.30617452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:4.83, Z:0.63 [[ 9.99662773e-01 -2.42224805e-02 -9.36008043e-03 2.37509841e+02] [ 2.42202105e-02 9.99706584e-01 -3.55816767e-04 4.82512050e+00] [ 9.36595280e-03 1.28993658e-04 9.99956130e-01 6.29936316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:237.54, Y:4.83, Z:0.64 [[ 9.99585113e-01 -2.72395119e-02 -9.36003302e-03 2.37538884e+02] [ 2.72373624e-02 9.99628930e-01 -3.57059474e-04 4.82622074e+00] [ 9.36628592e-03 1.01968722e-04 9.99956130e-01 6.40892863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:4.83, Z:0.63 [[ 9.99475799e-01 -3.09922052e-02 -9.36004148e-03 2.37568987e+02] [ 3.09902224e-02 9.99519624e-01 -3.56838371e-04 4.82523816e+00] [ 9.36660435e-03 6.65815494e-05 9.99956130e-01 6.33730336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.60, Y:4.83, Z:0.63 [[ 9.99393719e-01 -3.35348463e-02 -9.35997519e-03 2.37597503e+02] [ 3.35329588e-02 9.99437548e-01 -3.58568921e-04 4.82535114e+00] [ 9.36673520e-03 4.44838655e-05 9.99956130e-01 6.34470056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.63, Y:4.83, Z:0.63 [[ 9.99309373e-01 -3.59606528e-02 -9.35992739e-03 2.37625986e+02] [ 3.59588600e-02 9.99353206e-01 -3.59812351e-04 4.82563199e+00] [ 9.36681253e-03 2.29915365e-05 9.99956130e-01 6.33751415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:4.83, Z:0.63 [[ 9.99184469e-01 -3.92783756e-02 -9.35985566e-03 2.37654771e+02] [ 3.92767110e-02 9.99228307e-01 -3.61668564e-04 4.82550295e+00] [ 9.36683848e-03 -6.25073341e-06 9.99956130e-01 6.31386876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.68, Y:4.83, Z:0.63 [[ 9.99061958e-01 -4.22800038e-02 -9.35980793e-03 2.37683420e+02] [ 4.22784594e-02 9.99105800e-01 -3.62899717e-04 4.82551018e+00] [ 9.36678179e-03 -3.31589573e-05 9.99956130e-01 6.33761117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.71, Y:4.83, Z:0.63 [[ 9.99056458e-01 -4.24097677e-02 -9.35976040e-03 2.37712718e+02] [ 4.24082175e-02 9.99100301e-01 -3.64121427e-04 4.82661635e+00] [ 9.36678173e-03 -3.31528916e-05 9.99956130e-01 6.34035822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.74, Y:4.83, Z:0.64 [[ 9.99024435e-01 -4.31575476e-02 -9.35971295e-03 2.37741964e+02] [ 4.31560188e-02 9.99068278e-01 -3.65337069e-04 4.82579240e+00] [ 9.36675935e-03 -3.89472893e-05 9.99956130e-01 6.36677133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.77, Y:4.82, Z:0.64 [[ 9.98966756e-01 -4.44726548e-02 -9.35966533e-03 2.37770997e+02] [ 4.44711723e-02 9.99010601e-01 -3.66552930e-04 4.82149536e+00] [ 9.36670647e-03 -5.00610980e-05 9.99956130e-01 6.36013133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.80, Y:4.82, Z:0.64 [[ 9.98927064e-01 -4.53554656e-02 -9.35961704e-03 2.37799945e+02] [ 4.53540104e-02 9.98970910e-01 -3.67781923e-04 4.82153710e+00] [ 9.36666607e-03 -5.71088519e-05 9.99956130e-01 6.35031883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.83, Y:4.82, Z:0.63 [[ 9.98936192e-01 -4.51539829e-02 -9.35956879e-03 2.37829146e+02] [ 4.51525074e-02 9.98980037e-01 -3.69005718e-04 4.82325320e+00] [ 9.36668446e-03 -5.39948319e-05 9.99956130e-01 6.34793858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.86, Y:4.83, Z:0.64 [[ 9.99036134e-01 -4.28859141e-02 -9.35952097e-03 2.37857728e+02] [ 4.28843277e-02 9.99079975e-01 -3.70214636e-04 4.82562197e+00] [ 9.36678698e-03 -3.15189661e-05 9.99956130e-01 6.37792224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:4.82, Z:0.64 [[ 9.99093211e-01 -4.15349896e-02 -9.35947256e-03 2.37887099e+02] [ 4.15333325e-02 9.99137050e-01 -3.71434432e-04 4.82407986e+00] [ 9.36682333e-03 -1.76324660e-05 9.99956130e-01 6.41561780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.92, Y:4.82, Z:0.65 [[ 9.99065444e-01 -4.21976319e-02 -9.35943602e-03 2.37916480e+02] [ 4.21959952e-02 9.99109283e-01 -3.72352923e-04 4.82427756e+00] [ 9.36681183e-03 -2.29257795e-05 9.99956130e-01 6.53450173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:4.83, Z:0.64 [[ 9.99091707e-01 -4.15714402e-02 -9.35821308e-03 2.37947047e+02] [ 4.15694890e-02 9.99135534e-01 -4.03001078e-04 4.82528510e+00] [ 9.36687656e-03 1.36188991e-05 9.99956130e-01 6.41702937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:4.83, Z:0.64 [[ 9.99061418e-01 -4.22928358e-02 -9.35942322e-03 2.37975572e+02] [ 4.22912010e-02 9.99105257e-01 -3.72603740e-04 4.82519530e+00] [ 9.36680741e-03 -2.35672280e-05 9.99956130e-01 6.40810688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:4.83, Z:0.65 [[ 9.99077654e-01 -4.19075531e-02 -9.35937417e-03 2.38005169e+02] [ 4.19058899e-02 9.99121492e-01 -3.73831751e-04 4.82508471e+00] [ 9.36681826e-03 -1.87259550e-05 9.99956130e-01 6.52321906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:4.83, Z:0.64 [[ 9.99059016e-01 -4.23495164e-02 -9.35958786e-03 2.38034983e+02] [ 4.23479225e-02 9.99102856e-01 -3.68500069e-04 4.82743904e+00] [ 9.36679677e-03 -2.82057857e-05 9.99956130e-01 6.41584158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:4.83, Z:0.64 [[ 9.99074717e-01 -4.19775303e-02 -9.35932238e-03 2.38062901e+02] [ 4.19758581e-02 9.99118555e-01 -3.75123806e-04 4.82892951e+00] [ 9.36681942e-03 -1.80888776e-05 9.99956130e-01 6.42185488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.09, Y:4.83, Z:0.64 [[ 9.99161259e-01 -3.98645462e-02 -9.35924806e-03 2.38092278e+02] [ 3.98627639e-02 9.99205093e-01 -3.76969141e-04 4.82741583e+00] [ 9.36683603e-03 3.56746550e-06 9.99956130e-01 6.42719175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.12, Y:4.83, Z:0.64 [[ 9.99133545e-01 -4.05532304e-02 -9.35919831e-03 2.38121098e+02] [ 4.05514668e-02 9.99177379e-01 -3.78200213e-04 4.82688333e+00] [ 9.36683648e-03 -1.65669973e-06 9.99956130e-01 6.43053391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.15, Y:4.83, Z:0.64 [[ 9.99128052e-01 -4.06883647e-02 -9.35914832e-03 2.38150305e+02] [ 4.06865955e-02 9.99171886e-01 -3.79433190e-04 4.82714707e+00] [ 9.36683639e-03 -1.68953810e-06 9.99956130e-01 6.42420040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:4.83, Z:0.64 [[ 9.99105235e-01 -4.12448280e-02 -9.35909812e-03 2.38178645e+02] [ 4.12430717e-02 9.99149070e-01 -3.80667350e-04 4.82523655e+00] [ 9.36683475e-03 -5.67121219e-06 9.99956130e-01 6.41126743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:4.83, Z:0.64 [[ 9.99131644e-01 -4.06000929e-02 -9.35902194e-03 2.38206205e+02] [ 4.05982908e-02 9.99175476e-01 -3.82531359e-04 4.82501410e+00] [ 9.36683601e-03 2.23889066e-06 9.99956130e-01 6.42685827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:238.23, Y:4.83, Z:0.65 [[ 9.99172838e-01 -3.95733507e-02 -9.35894609e-03 2.38234741e+02] [ 3.95714863e-02 9.99216668e-01 -3.84378065e-04 4.82783137e+00] [ 9.36682606e-03 1.37127147e-05 9.99956130e-01 6.52569644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:4.83, Z:0.66 [[ 9.99260081e-01 -3.73057148e-02 -9.35811241e-03 2.38265187e+02] [ 3.73035618e-02 9.99303898e-01 -4.04575487e-04 4.83128755e+00] [ 9.36669119e-03 5.51852085e-05 9.99956130e-01 6.56189018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.29, Y:4.83, Z:0.65 [[ 9.99304754e-01 -3.60889508e-02 -9.35932647e-03 2.38294562e+02] [ 3.60870205e-02 9.99348581e-01 -3.75096138e-04 4.83316381e+00] [ 9.36676646e-03 3.70851474e-05 9.99956130e-01 6.46031143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:238.32, Y:4.83, Z:0.65 [[ 9.99347488e-01 -3.48856493e-02 -9.35891241e-03 2.38323807e+02] [ 3.48835720e-02 9.99391309e-01 -3.85157335e-04 4.83140404e+00] [ 9.36665219e-03 5.84337206e-05 9.99956130e-01 6.47697604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:4.83, Z:0.65 [[ 9.99329063e-01 -3.54095501e-02 -9.35886133e-03 2.38352669e+02] [ 3.54074842e-02 9.99372884e-01 -3.86394580e-04 4.83229755e+00] [ 9.36667430e-03 5.47615982e-05 9.99956130e-01 6.46958221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.38, Y:4.84, Z:0.65 [[ 9.99253315e-01 -3.74863419e-02 -9.35881009e-03 2.38381298e+02] [ 3.74843554e-02 9.99297139e-01 -3.87631818e-04 4.83544089e+00] [ 9.36676305e-03 3.65334149e-05 9.99956130e-01 6.46311911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:4.84, Z:0.65 [[ 9.99197623e-01 -3.89425636e-02 -9.35875816e-03 2.38408772e+02] [ 3.89406294e-02 9.99241450e-01 -3.88881434e-04 4.83712866e+00] [ 9.36680312e-03 2.41334713e-05 9.99956130e-01 6.46816068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:4.84, Z:0.65 [[ 9.99116740e-01 -4.09652973e-02 -9.35868042e-03 2.38436574e+02] [ 4.09634344e-02 9.99160570e-01 -3.90743567e-04 4.83822565e+00] [ 9.36683138e-03 7.03474734e-06 9.99956130e-01 6.47993370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:4.84, Z:0.66 [[ 9.98988559e-01 -4.39804083e-02 -9.35860256e-03 2.38466226e+02] [ 4.39786602e-02 9.99032394e-01 -3.92599531e-04 4.84018803e+00] [ 9.36681380e-03 -1.93763620e-05 9.99956130e-01 6.60141658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.50, Y:4.84, Z:0.65 [[ 9.98923103e-01 -4.54427131e-02 -9.35921532e-03 2.38496091e+02] [ 4.54411663e-02 9.98966945e-01 -3.77965343e-04 4.84178798e+00] [ 9.36672251e-03 -4.77353474e-05 9.99956130e-01 6.50698451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.53, Y:4.84, Z:0.66 [[ 9.98889466e-01 -4.61762835e-02 -9.35866650e-03 2.38525463e+02] [ 4.61746459e-02 9.98933306e-01 -3.91098386e-04 4.84150288e+00] [ 9.36674313e-03 -4.14690530e-05 9.99956130e-01 6.59387637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.56, Y:4.84, Z:0.65 [[ 9.98711511e-01 -4.98771163e-02 -9.35898555e-03 2.38555861e+02] [ 4.98757124e-02 9.98755359e-01 -3.83496853e-04 4.83800557e+00] [ 9.36646469e-03 -8.37833495e-05 9.99956130e-01 6.50451358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:238.58, Y:4.84, Z:0.65 [[ 9.98647368e-01 -5.11453935e-02 -9.35860990e-03 2.38584803e+02] [ 5.11439613e-02 9.98691214e-01 -3.92454821e-04 4.83743482e+00] [ 9.36643374e-03 -8.67124090e-05 9.99956130e-01 6.50385086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.61, Y:4.84, Z:0.65 [[ 9.98540895e-01 -5.31836259e-02 -9.35855876e-03 2.38613554e+02] [ 5.31822718e-02 9.98584744e-01 -3.93670538e-04 4.83542237e+00] [ 9.36625083e-03 -1.04613284e-04 9.99956130e-01 6.49739370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.64, Y:4.83, Z:0.65 [[ 9.98435082e-01 -5.51344236e-02 -9.35850826e-03 2.38642895e+02] [ 5.51331439e-02 9.98478933e-01 -3.94867514e-04 4.83484514e+00] [ 9.36604413e-03 -1.21714404e-04 9.99956130e-01 6.51145192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.67, Y:4.83, Z:0.66 [[ 9.98328303e-01 -5.70352467e-02 -9.35845732e-03 2.38671707e+02] [ 5.70340392e-02 9.98372156e-01 -3.96071051e-04 4.83375732e+00] [ 9.36581322e-03 -1.38341681e-04 9.99956130e-01 6.61951664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:238.70, Y:4.83, Z:0.65 [[ 9.98321206e-01 -5.71596372e-02 -9.35661772e-03 2.38703066e+02] [ 5.71580305e-02 9.98365047e-01 -4.39257954e-04 4.83134216e+00] [ 9.36642791e-03 -9.62853104e-05 9.99956129e-01 6.52768633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.73, Y:4.83, Z:0.65 [[ 9.98306380e-01 -5.74176886e-02 -9.35844456e-03 2.38732372e+02] [ 5.74164977e-02 9.98350234e-01 -3.96095964e-04 4.83074775e+00] [ 9.36574822e-03 -1.41903982e-04 9.99956130e-01 6.52805505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.76, Y:4.83, Z:0.66 [[ 9.98146948e-01 -6.01256265e-02 -9.35839384e-03 2.38760389e+02] [ 6.01245433e-02 9.98190804e-01 -3.97290690e-04 4.82993761e+00] [ 9.36535002e-03 -1.66114666e-04 9.99956130e-01 6.60291308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.79, Y:4.83, Z:0.65 [[ 9.98159397e-01 -5.99190031e-02 -9.35580992e-03 2.38791477e+02] [ 5.99173414e-02 9.98203237e-01 -4.58052520e-04 4.82554226e+00] [ 9.36644579e-03 -1.03365830e-04 9.99956129e-01 6.52388324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.82, Y:4.82, Z:0.65 [[ 9.98145754e-01 -6.01454406e-02 -9.35838739e-03 2.38819474e+02] [ 6.01443578e-02 9.98189610e-01 -3.97347895e-04 4.82353582e+00] [ 9.36534373e-03 -1.66243085e-04 9.99956130e-01 6.51792928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:238.85, Y:4.82, Z:0.66 [[ 9.98114293e-01 -6.06653139e-02 -9.35831168e-03 2.38847771e+02] [ 6.06642374e-02 9.98158149e-01 -3.99123114e-04 4.81985608e+00] [ 9.36528800e-03 -1.69344356e-04 9.99956130e-01 6.62236476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.88, Y:4.82, Z:0.65 [[ 9.98183976e-01 -5.95079644e-02 -9.35693650e-03 2.38878871e+02] [ 5.95065351e-02 9.98227823e-01 -4.31327245e-04 4.81920328e+00] [ 9.36602176e-03 -1.26254926e-04 9.99956130e-01 6.53682324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.91, Y:4.82, Z:0.65 [[ 9.98149846e-01 -6.00775059e-02 -9.35830405e-03 2.38907676e+02] [ 6.00764021e-02 9.98193702e-01 -3.99274404e-04 4.81645163e+00] [ 9.36538757e-03 -1.63677552e-04 9.99956130e-01 6.54987691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.94, Y:4.81, Z:0.65 [[ 9.98164254e-01 -5.98376635e-02 -9.35825320e-03 2.38936285e+02] [ 5.98365380e-02 9.98208109e-01 -4.00462639e-04 4.81318401e+00] [ 9.36544698e-03 -1.60237982e-04 9.99956130e-01 6.54003765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.97, Y:4.81, Z:0.65 [[ 9.98354011e-01 -5.65834971e-02 -9.35820196e-03 2.38965713e+02] [ 5.65822174e-02 9.98397862e-01 -4.01656443e-04 4.80926896e+00] [ 9.36593596e-03 -1.28512498e-04 9.99956130e-01 6.54071910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.99, Y:4.81, Z:0.65 [[ 9.98485303e-01 -5.42173785e-02 -9.35815006e-03 2.38994133e+02] [ 5.42159837e-02 9.98529151e-01 -4.02862209e-04 4.81011755e+00] [ 9.36622776e-03 -1.05109316e-04 9.99956130e-01 6.54502621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.02, Y:4.81, Z:0.65 [[ 9.98801543e-01 -4.80406557e-02 -9.35809770e-03 2.39022186e+02] [ 4.80389783e-02 9.98845380e-01 -4.04074858e-04 4.81017517e+00] [ 9.36670467e-03 -4.59628604e-05 9.99956130e-01 6.54462619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.05, Y:4.81, Z:0.66 [[ 9.98930078e-01 -4.52893623e-02 -9.35801733e-03 2.39050640e+02] [ 4.52875468e-02 9.98973910e-01 -4.05927472e-04 4.80876364e+00] [ 9.36679937e-03 -1.83084871e-05 9.99956130e-01 6.55143083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.08, Y:4.81, Z:0.66 [[ 9.99031350e-01 -4.29975567e-02 -9.35793612e-03 2.39079447e+02] [ 4.29956232e-02 9.99075177e-01 -4.07791264e-04 4.80725307e+00] [ 9.36681571e-03 5.04596177e-06 9.99956130e-01 6.56611634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.11, Y:4.81, Z:0.66 [[ 9.99137930e-01 -4.04453633e-02 -9.35788107e-03 2.39107913e+02] [ 4.04433061e-02 9.99181751e-01 -4.09050638e-04 4.80861993e+00] [ 9.36676819e-03 3.02343591e-05 9.99956130e-01 6.59073463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.14, Y:4.81, Z:0.66 [[ 9.99175346e-01 -3.95102418e-02 -9.35782618e-03 2.39137101e+02] [ 3.95081318e-02 9.99219165e-01 -4.10302337e-04 4.81177798e+00] [ 9.36673041e-03 4.02537498e-05 9.99956130e-01 6.59392995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.17, Y:4.81, Z:0.66 [[ 9.99189153e-01 -3.91595214e-02 -9.35777132e-03 2.39166281e+02] [ 3.91573844e-02 9.99232971e-01 -4.11549859e-04 4.81268800e+00] [ 9.36670973e-03 4.47903072e-05 9.99956130e-01 6.58120957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.592320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:239.20, Y:4.81, Z:0.67 [[ 9.99192616e-01 -3.90710846e-02 -9.35771619e-03 2.39195479e+02] [ 3.90689319e-02 9.99236433e-01 -4.12799574e-04 4.81207449e+00] [ 9.36669947e-03 4.68703098e-05 9.99956130e-01 6.65698248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.23, Y:4.81, Z:0.66 [[ 9.99212243e-01 -3.85658961e-02 -9.35760348e-03 2.39225280e+02] [ 3.85636975e-02 9.99256058e-01 -4.15350737e-04 4.81277004e+00] [ 9.36666034e-03 5.41597518e-05 9.99956130e-01 6.57093593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.25, Y:4.82, Z:0.67 [[ 9.99173647e-01 -3.95532118e-02 -9.35765167e-03 2.39253630e+02] [ 3.95510667e-02 9.99217465e-01 -4.14262156e-04 4.81546406e+00] [ 9.36671438e-03 4.38147242e-05 9.99956130e-01 6.66470292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.28, Y:4.82, Z:0.66 [[ 9.99207776e-01 -3.86815139e-02 -9.35739510e-03 2.39283599e+02] [ 3.86792763e-02 9.99251589e-01 -4.20045578e-04 4.81695228e+00] [ 9.36663992e-03 5.77755371e-05 9.99956130e-01 6.57991938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.31, Y:4.82, Z:0.66 [[ 9.99206191e-01 -3.87224035e-02 -9.35757418e-03 2.39312249e+02] [ 3.87202054e-02 9.99250005e-01 -4.16017432e-04 4.81753333e+00] [ 9.36666524e-03 5.33599991e-05 9.99956130e-01 6.58581589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.34, Y:4.82, Z:0.67 [[ 9.99152781e-01 -4.00768833e-02 -9.35751818e-03 2.39341673e+02] [ 4.00747329e-02 9.99196598e-01 -4.17273288e-04 4.81799360e+00] [ 9.36672335e-03 4.19197244e-05 9.99956130e-01 6.68317231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.37, Y:4.82, Z:0.66 [[ 9.99156645e-01 -3.99804543e-02 -9.35743268e-03 2.39371228e+02] [ 3.99782817e-02 9.99200461e-01 -4.19188675e-04 4.82058044e+00] [ 9.36671040e-03 4.47410706e-05 9.99956130e-01 6.59756986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.40, Y:4.82, Z:0.66 [[ 9.99150163e-01 -4.01421064e-02 -9.35747243e-03 2.39399571e+02] [ 4.01399493e-02 9.99193980e-01 -4.18299571e-04 4.82375294e+00] [ 9.36672154e-03 4.23356164e-05 9.99956130e-01 6.60113666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.43, Y:4.83, Z:0.66 [[ 9.99107415e-01 -4.11923789e-02 -9.35741625e-03 2.39427970e+02] [ 4.11902561e-02 9.99151233e-01 -4.19552442e-04 4.82519672e+00] [ 9.36675635e-03 3.37435839e-05 9.99956130e-01 6.61346409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.46, Y:4.83, Z:0.66 [[ 9.99031156e-01 -4.30021984e-02 -9.35733110e-03 2.39456063e+02] [ 4.30001372e-02 9.99074977e-01 -4.21443045e-04 4.82631319e+00] [ 9.36679834e-03 1.86682109e-05 9.99956130e-01 6.62246513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.49, Y:4.83, Z:0.66 [[ 9.98906766e-01 -4.58008223e-02 -9.35724520e-03 2.39485350e+02] [ 4.57988662e-02 9.98950592e-01 -4.23341894e-04 4.82732116e+00] [ 9.36681503e-03 -5.67213842e-06 9.99956130e-01 6.62953629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.51, Y:4.83, Z:0.66 [[ 9.98897570e-01 -4.60009453e-02 -9.35718839e-03 2.39513817e+02] [ 4.59989861e-02 9.98941396e-01 -4.24593746e-04 4.82856373e+00] [ 9.36681455e-03 -6.29551815e-06 9.99956130e-01 6.63220521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.54, Y:4.83, Z:0.66 [[ 9.98790739e-01 -4.82649363e-02 -9.35710295e-03 2.39542183e+02] [ 4.82630590e-02 9.98834569e-01 -4.26468347e-04 4.82820514e+00] [ 9.36678136e-03 -2.56497758e-05 9.99956130e-01 6.63517371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.57, Y:4.83, Z:0.66 [[ 9.98648530e-01 -5.11229843e-02 -9.35703150e-03 2.39571119e+02] [ 5.11212178e-02 9.98692364e-01 -4.28030303e-04 4.82644482e+00] [ 9.36667810e-03 -5.08910120e-05 9.99956130e-01 6.64072935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.60, Y:4.83, Z:0.67 [[ 9.98578798e-01 -5.24674264e-02 -9.35697433e-03 2.39599585e+02] [ 5.24657072e-02 9.98622634e-01 -4.29276503e-04 4.82814725e+00] [ 9.36660938e-03 -6.22538611e-05 9.99956130e-01 6.65056797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.63, Y:4.83, Z:0.67 [[ 9.98517767e-01 -5.36163834e-02 -9.35691766e-03 2.39628130e+02] [ 5.36147031e-02 9.98561605e-01 -4.30508230e-04 4.82995369e+00] [ 9.36654101e-03 -7.17982456e-05 9.99956130e-01 6.66514986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.66, Y:4.83, Z:0.67 [[ 9.98482736e-01 -5.42648596e-02 -9.35686092e-03 2.39657428e+02] [ 5.42631962e-02 9.98526574e-01 -4.31737812e-04 4.82857118e+00] [ 9.36650247e-03 -7.66504282e-05 9.99956130e-01 6.65083236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.69, Y:4.83, Z:0.67 [[ 9.98477486e-01 -5.43613763e-02 -9.35680383e-03 2.39686434e+02] [ 5.43597056e-02 9.98521324e-01 -4.32971670e-04 4.82719283e+00] [ 9.36650509e-03 -7.63206370e-05 9.99956130e-01 6.65099710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.72, Y:4.82, Z:0.67 [[ 9.98517869e-01 -5.36145096e-02 -9.35674629e-03 2.39715271e+02] [ 5.36127945e-02 9.98561706e-01 -4.34211531e-04 4.82400100e+00] [ 9.36656857e-03 -6.80733425e-05 9.99956130e-01 6.66024062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.74, Y:4.82, Z:0.67 [[ 9.98487435e-01 -5.41783611e-02 -9.35668891e-03 2.39744377e+02] [ 5.41766592e-02 9.98531271e-01 -4.35444415e-04 4.82363388e+00] [ 9.36653814e-03 -7.21283693e-05 9.99956130e-01 6.65540829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.77, Y:4.82, Z:0.67 [[ 9.98495039e-01 -5.40380470e-02 -9.35663166e-03 2.39773336e+02] [ 5.40363274e-02 9.98538875e-01 -4.36671117e-04 4.82328692e+00] [ 9.36655731e-03 -6.95840683e-05 9.99956130e-01 6.66611056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.80, Y:4.82, Z:0.67 [[ 9.98486237e-01 -5.42004486e-02 -9.35657377e-03 2.39802013e+02] [ 5.41987246e-02 9.98530073e-01 -4.37908059e-04 4.82008016e+00] [ 9.36655511e-03 -6.98691947e-05 9.99956130e-01 6.67286365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.83, Y:4.82, Z:0.67 [[ 9.98478159e-01 -5.43490672e-02 -9.35651617e-03 2.39829772e+02] [ 5.43473382e-02 9.98521995e-01 -4.39135465e-04 4.81917135e+00] [ 9.36655379e-03 -7.00345774e-05 9.99956130e-01 6.67560926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.86, Y:4.82, Z:0.67 [[ 9.98491018e-01 -5.41123205e-02 -9.35642922e-03 2.39857949e+02] [ 5.41105638e-02 9.98534853e-01 -4.40980244e-04 4.81581482e+00] [ 9.36658314e-03 -6.59668471e-05 9.99956130e-01 6.68298419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.89, Y:4.82, Z:0.67 [[ 9.98505208e-01 -5.38498749e-02 -9.35634177e-03 2.39886740e+02] [ 5.38480894e-02 9.98549041e-01 -4.42827869e-04 4.81534571e+00] [ 9.36661233e-03 -6.16551953e-05 9.99956130e-01 6.68506052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.92, Y:4.81, Z:0.67 [[ 9.98510800e-01 -5.37460837e-02 -9.35628282e-03 2.39915007e+02] [ 5.37442820e-02 9.98554633e-01 -4.44070078e-04 4.81215319e+00] [ 9.36662658e-03 -5.94379338e-05 9.99956130e-01 6.68692951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.94, Y:4.81, Z:0.67 [[ 9.98470106e-01 -5.44968672e-02 -9.35620943e-03 2.39942923e+02] [ 5.44950841e-02 9.98513939e-01 -4.45610930e-04 4.81089893e+00] [ 9.36658993e-03 -6.49382265e-05 9.99956130e-01 6.69994645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.97, Y:4.81, Z:0.67 [[ 9.98498161e-01 -5.39804257e-02 -9.35611957e-03 2.39971968e+02] [ 5.39786023e-02 9.98541992e-01 -4.47489770e-04 4.80946906e+00] [ 9.36663396e-03 -5.82125448e-05 9.99956130e-01 6.70955889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.00, Y:4.81, Z:0.67 [[ 9.98551769e-01 -5.29795041e-02 -9.35605902e-03 2.39999779e+02] [ 5.29776249e-02 9.98595599e-01 -4.48752143e-04 4.80537905e+00] [ 9.36669402e-03 -4.75595387e-05 9.99956130e-01 6.70827559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.03, Y:4.81, Z:0.67 [[ 9.98596787e-01 -5.21241056e-02 -9.35596811e-03 2.40028660e+02] [ 5.21221712e-02 9.98640614e-01 -4.50639474e-04 4.80535923e+00] [ 9.36673892e-03 -3.76462404e-05 9.99956130e-01 6.72249221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.06, Y:4.81, Z:0.67 [[ 9.98707536e-01 -4.99572254e-02 -9.35590782e-03 2.40057526e+02] [ 4.99551842e-02 9.98751358e-01 -4.51887728e-04 4.80692592e+00] [ 9.36680070e-03 -1.60724190e-05 9.99956130e-01 6.72206742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.09, Y:4.81, Z:0.67 [[ 9.98790044e-01 -4.82795549e-02 -9.35584638e-03 2.40086200e+02] [ 4.82774282e-02 9.98833862e-01 -4.53156367e-04 4.80731140e+00] [ 9.36681436e-03 9.31866218e-07 9.99956130e-01 6.73350089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.12, Y:4.81, Z:0.67 [[ 9.98854628e-01 -4.69244177e-02 -9.35578523e-03 2.40115046e+02] [ 4.69222197e-02 9.98898443e-01 -4.54415217e-04 4.80623055e+00] [ 9.36680247e-03 1.49005323e-05 9.99956130e-01 6.74559817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.14, Y:4.80, Z:0.68 [[ 9.99025826e-01 -4.31261946e-02 -9.35572375e-03 2.40144322e+02] [ 4.31238183e-02 9.99069632e-01 -4.55677545e-04 4.80427708e+00] [ 9.36667112e-03 5.17791054e-05 9.99956130e-01 6.76041619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.17, Y:4.81, Z:0.68 [[ 9.99073902e-01 -4.19977458e-02 -9.35566232e-03 2.40173068e+02] [ 4.19953082e-02 9.99117703e-01 -4.56935382e-04 4.80657185e+00] [ 9.36659810e-03 6.36182921e-05 9.99956130e-01 6.76735901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.20, Y:4.81, Z:0.67 [[ 9.99119908e-01 -4.08886473e-02 -9.35560144e-03 2.40201445e+02] [ 4.08861494e-02 9.99163707e-01 -4.58178473e-04 4.81002590e+00] [ 9.36651171e-03 7.52607155e-05 9.99956130e-01 6.73978183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.23, Y:4.81, Z:0.67 [[ 9.99122970e-01 -4.08137749e-02 -9.35554045e-03 2.40230752e+02] [ 4.08112621e-02 9.99166768e-01 -4.59420349e-04 4.80985354e+00] [ 9.36649579e-03 7.72060105e-05 9.99956130e-01 6.73465635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.26, Y:4.81, Z:0.67 [[ 9.99143294e-01 -4.03131976e-02 -9.35547920e-03 2.40259814e+02] [ 4.03106512e-02 9.99187089e-01 -4.60664398e-04 4.80796533e+00] [ 9.36644488e-03 8.31442850e-05 9.99956130e-01 6.74438686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.29, Y:4.81, Z:0.68 [[ 9.99194765e-01 -3.90166439e-02 -9.35541804e-03 2.40288445e+02] [ 3.90140291e-02 9.99238556e-01 -4.61903117e-04 4.80711712e+00] [ 9.36631632e-03 9.65386247e-05 9.99956130e-01 6.77973208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.32, Y:4.81, Z:0.68 [[ 9.99196710e-01 -3.89668062e-02 -9.35535682e-03 2.40317467e+02] [ 3.89641777e-02 9.99240501e-01 -4.63139665e-04 4.80999526e+00] [ 9.36629851e-03 9.82438447e-05 9.99956130e-01 6.79190501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.792320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:240.35, Y:4.81, Z:0.68 [[ 9.99258318e-01 -3.73536122e-02 -9.35529563e-03 2.40347806e+02] [ 3.73509014e-02 9.99302104e-01 -4.64372366e-04 4.81307510e+00] [ 9.36611259e-03 1.14599224e-04 9.99956130e-01 6.84969959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.38, Y:4.81, Z:0.68 [[ 9.99255197e-01 -3.74365386e-02 -9.35715026e-03 2.40377446e+02] [ 3.74341805e-02 9.99299004e-01 -4.27095125e-04 4.81379347e+00] [ 9.36657990e-03 7.64997719e-05 9.99956130e-01 6.75471447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.41, Y:4.81, Z:0.68 [[ 9.99222281e-01 -3.83055636e-02 -9.35506182e-03 2.40405909e+02] [ 3.83028533e-02 9.99266067e-01 -4.68773206e-04 4.81451393e+00] [ 9.36615244e-03 1.10083072e-04 9.99956131e-01 6.75267207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.43, Y:4.81, Z:0.68 [[ 9.99227739e-01 -3.81629284e-02 -9.35500035e-03 2.40434541e+02] [ 3.81602004e-02 9.99271524e-01 -4.69996631e-04 4.81466619e+00] [ 9.36612190e-03 1.12644983e-04 9.99956131e-01 6.76406574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.46, Y:4.81, Z:0.68 [[ 9.99202399e-01 -3.88207574e-02 -9.35493883e-03 2.40463171e+02] [ 3.88180468e-02 9.99246184e-01 -4.71217939e-04 4.81487728e+00] [ 9.36617997e-03 1.07701642e-04 9.99956131e-01 6.78220031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.49, Y:4.82, Z:0.68 [[ 9.99168390e-01 -3.96864568e-02 -9.35489277e-03 2.40491812e+02] [ 3.96837757e-02 9.99212177e-01 -4.72130549e-04 4.81521129e+00] [ 9.36625996e-03 1.00500454e-04 9.99956131e-01 6.78682793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.52, Y:4.82, Z:0.68 [[ 9.99201945e-01 -3.88324616e-02 -9.35483024e-03 2.40520707e+02] [ 3.88297314e-02 9.99245729e-01 -4.73366298e-04 4.81831222e+00] [ 9.36615615e-03 1.09742980e-04 9.99956131e-01 6.79513340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.55, Y:4.82, Z:0.68 [[ 9.99226350e-01 -3.81993386e-02 -9.35478393e-03 2.40549577e+02] [ 3.81965721e-02 9.99270132e-01 -4.74279766e-04 4.82183775e+00] [ 9.36607335e-03 1.16592160e-04 9.99956131e-01 6.78706950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.58, Y:4.83, Z:0.68 [[ 9.99308302e-01 -3.59917655e-02 -9.35472112e-03 2.40578608e+02] [ 3.59888907e-02 9.99352077e-01 -4.75515501e-04 4.82581807e+00] [ 9.36577462e-03 1.38520551e-04 9.99956131e-01 6.79592455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:240.61, Y:4.83, Z:0.68 [[ 9.99322034e-01 -3.56084571e-02 -9.35465857e-03 2.40606944e+02] [ 3.56055541e-02 9.99365808e-01 -4.76742892e-04 4.82677124e+00] [ 9.36570199e-03 1.43341876e-04 9.99956131e-01 6.79545656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.64, Y:4.83, Z:0.69 [[ 9.99436643e-01 -3.22318055e-02 -9.35456507e-03 2.40638313e+02] [ 3.22287375e-02 9.99480405e-01 -4.78570368e-04 4.82878878e+00] [ 9.36512967e-03 1.76814941e-04 9.99956131e-01 6.88665160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.67, Y:4.83, Z:0.68 [[ 9.99419878e-01 -3.27465354e-02 -9.35802141e-03 2.40667171e+02] [ 3.27441241e-02 9.99463683e-01 -4.10811936e-04 4.83213340e+00] [ 9.36645521e-03 1.04153401e-04 9.99956128e-01 6.80164543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.70, Y:4.84, Z:0.68 [[ 9.99443634e-01 -3.20143579e-02 -9.35437303e-03 2.40695389e+02] [ 3.20112514e-02 9.99487393e-01 -4.81667087e-04 4.83702346e+00] [ 9.36499817e-03 1.81953917e-04 9.99956131e-01 6.80560441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.72, Y:4.85, Z:0.68 [[ 9.99499980e-01 -3.02040716e-02 -9.35431066e-03 2.40723412e+02] [ 3.02008745e-02 9.99543733e-01 -4.82875332e-04 4.84542803e+00] [ 9.36462739e-03 2.00125522e-04 9.99956131e-01 6.82018773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.75, Y:4.85, Z:0.68 [[ 9.99537580e-01 -2.89331153e-02 -9.35424854e-03 2.40752334e+02] [ 2.89298514e-02 9.99581327e-01 -4.84075600e-04 4.84948457e+00] [ 9.36433799e-03 2.13234733e-04 9.99956131e-01 6.82360593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.78, Y:4.85, Z:0.68 [[ 9.99550188e-01 -2.84942195e-02 -9.35418649e-03 2.40781088e+02] [ 2.84909252e-02 9.99593933e-01 -4.85271805e-04 4.85388423e+00] [ 9.36421551e-03 2.18544097e-04 9.99956131e-01 6.82951424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.81, Y:4.86, Z:0.68 [[ 9.99564800e-01 -2.79769652e-02 -9.35412408e-03 2.40808495e+02] [ 2.79736370e-02 9.99608543e-01 -4.86471838e-04 4.85699947e+00] [ 9.36407234e-03 2.24591254e-04 9.99956131e-01 6.82649925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.84, Y:4.87, Z:0.68 [[ 9.99555142e-01 -2.83199652e-02 -9.35402970e-03 2.40837179e+02] [ 2.83166351e-02 9.99598884e-01 -4.88279832e-04 4.86653330e+00] [ 9.36410572e-03 2.23187971e-04 9.99956131e-01 6.83617733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:4.87, Z:0.68 [[ 9.99543684e-01 -2.87215395e-02 -9.35396680e-03 2.40865784e+02] [ 2.87182157e-02 9.99587427e-01 -4.89481881e-04 4.87279627e+00] [ 9.36416628e-03 2.20629287e-04 9.99956131e-01 6.83765397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.89, Y:4.88, Z:0.69 [[ 9.99472928e-01 -3.10865128e-02 -9.35390364e-03 2.40894054e+02] [ 3.10832813e-02 9.99516678e-01 -4.90685966e-04 4.87787780e+00] [ 9.36463640e-03 1.99677322e-04 9.99956131e-01 6.93022276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.93, Y:4.88, Z:0.68 [[ 9.99499142e-01 -3.02323842e-02 -9.35238419e-03 2.40925269e+02] [ 3.02288451e-02 9.99542869e-01 -5.19581226e-04 4.88291890e+00] [ 9.36381710e-03 2.36609217e-04 9.99956131e-01 6.83307425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.95, Y:4.89, Z:0.68 [[ 9.99495458e-01 -3.03535026e-02 -9.35387969e-03 2.40953587e+02] [ 3.03502351e-02 9.99539205e-01 -4.91096608e-04 4.88552576e+00] [ 9.36447597e-03 2.06956381e-04 9.99956131e-01 6.82841293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.98, Y:4.89, Z:0.68 [[ 9.99452598e-01 -3.17334374e-02 -9.35378482e-03 2.40982060e+02] [ 3.17302135e-02 9.99496348e-01 -4.92897060e-04 4.89364255e+00] [ 9.36471509e-03 1.95829658e-04 9.99956131e-01 6.83895553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.01, Y:4.90, Z:0.68 [[ 9.99422324e-01 -3.26730220e-02 -9.35372116e-03 2.41010220e+02] [ 3.26698280e-02 9.99466077e-01 -4.94102036e-04 4.89895665e+00] [ 9.36487080e-03 1.88232143e-04 9.99956131e-01 6.84447401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.04, Y:4.91, Z:0.69 [[ 9.99334490e-01 -3.52574270e-02 -9.35362485e-03 2.41039088e+02] [ 3.52543291e-02 9.99378250e-01 -4.95918561e-04 4.90562793e+00] [ 9.36529405e-03 1.65832753e-04 9.99956131e-01 6.87489206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.07, Y:4.91, Z:0.69 [[ 9.99281473e-01 -3.67294075e-02 -9.35355996e-03 2.41067228e+02] [ 3.67263627e-02 9.99325236e-01 -4.97139461e-04 4.90816132e+00] [ 9.36550815e-03 1.53260017e-04 9.99956131e-01 6.87918827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:241.10, Y:4.91, Z:0.70 [[ 9.99142009e-01 -4.03454906e-02 -9.35346150e-03 2.41095187e+02] [ 4.03425869e-02 9.99185782e-01 -4.98985085e-04 4.91014333e+00] [ 9.36597754e-03 1.21214127e-04 9.99956131e-01 6.98290294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:241.12, Y:4.91, Z:0.69 [[ 9.99025994e-01 -4.31230178e-02 -9.35242298e-03 2.41123968e+02] [ 4.31200545e-02 9.99069763e-01 -5.18351436e-04 4.91315133e+00] [ 9.36607589e-03 1.14569570e-04 9.99956131e-01 6.94212741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.15, Y:4.92, Z:0.68 [[ 9.98984590e-01 -4.40715593e-02 -9.35340894e-03 2.41154186e+02] [ 4.40688098e-02 9.99028373e-01 -4.99957188e-04 4.91573422e+00] [ 9.36635480e-03 8.72559277e-05 9.99956131e-01 6.84898046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.18, Y:4.92, Z:0.69 [[ 9.98888703e-01 -4.61938737e-02 -9.35331586e-03 2.41182611e+02] [ 4.61912010e-02 9.98932491e-01 -5.01692361e-04 4.92029445e+00] [ 9.36650623e-03 6.90939394e-05 9.99956131e-01 6.86251242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:4.92, Z:0.69 [[ 9.98819947e-01 -4.76574220e-02 -9.35324870e-03 2.41210712e+02] [ 4.76548018e-02 9.98863738e-01 -5.02941480e-04 4.92212815e+00] [ 9.36658985e-03 5.66207699e-05 9.99956131e-01 6.88178858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.24, Y:4.92, Z:0.69 [[ 9.98758889e-01 -4.89203539e-02 -9.35314740e-03 2.41239177e+02] [ 4.89177715e-02 9.98802682e-01 -5.04818243e-04 4.92212308e+00] [ 9.36664459e-03 4.66565799e-05 9.99956131e-01 6.88186734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:4.92, Z:0.70 [[ 9.98699379e-01 -5.01205629e-02 -9.35307959e-03 2.41268155e+02] [ 5.01180213e-02 9.98743174e-01 -5.06071522e-04 4.92259639e+00] [ 9.36668899e-03 3.66554716e-05 9.99956131e-01 6.97948590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.30, Y:4.92, Z:0.69 [[ 9.98681181e-01 -5.04819971e-02 -9.35238057e-03 2.41297707e+02] [ 5.04793503e-02 9.98724970e-01 -5.18996629e-04 4.92373750e+00] [ 9.36665599e-03 4.62100718e-05 9.99956131e-01 6.86969477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.33, Y:4.92, Z:0.68 [[ 9.98521509e-01 -5.35473193e-02 -9.35315497e-03 2.41326751e+02] [ 5.35449414e-02 9.98565313e-01 -5.04643672e-04 4.92476939e+00] [ 9.36675844e-03 3.08342610e-06 9.99956131e-01 6.84935445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.36, Y:4.93, Z:0.69 [[ 9.98483905e-01 -5.42439936e-02 -9.35308655e-03 2.41355441e+02] [ 5.42416344e-02 9.98527711e-01 -5.05908661e-04 4.92543592e+00] [ 9.36675861e-03 -2.18504600e-06 9.99956131e-01 6.85464878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.38, Y:4.93, Z:0.69 [[ 9.98473010e-01 -5.44441892e-02 -9.35301888e-03 2.41383894e+02] [ 5.44418271e-02 9.98516815e-01 -5.07156529e-04 4.92693036e+00] [ 9.36675835e-03 -2.81333071e-06 9.99956131e-01 6.85731752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.41, Y:4.93, Z:0.69 [[ 9.98440793e-01 -5.50318534e-02 -9.35291682e-03 2.41412782e+02] [ 5.50294995e-02 9.98484599e-01 -5.09031768e-04 4.92579077e+00] [ 9.36675637e-03 -6.44824922e-06 9.99956131e-01 6.88345995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:241.44, Y:4.93, Z:0.69 [[ 9.98473942e-01 -5.44271222e-02 -9.35284857e-03 2.41441249e+02] [ 5.44247301e-02 9.98517746e-01 -5.10282802e-04 4.92652384e+00] [ 9.36675849e-03 4.77821434e-07 9.99956131e-01 6.87439606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96232058799998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:241.47, Y:4.92, Z:0.69 [[ 9.98607709e-01 -5.19150244e-02 -9.35277967e-03 2.41470414e+02] [ 5.19125103e-02 9.98651506e-01 -5.11542488e-04 4.92498181e+00] [ 9.36672424e-03 2.53040006e-05 9.99956131e-01 6.86573940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99232058799998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:241.50, Y:4.93, Z:0.69 [[ 9.98690912e-01 -5.02890501e-02 -9.35271142e-03 2.41499309e+02] [ 5.02864530e-02 9.98734704e-01 -5.12787379e-04 4.92540437e+00] [ 9.36666506e-03 4.18014123e-05 9.99956131e-01 6.86830336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02232058799999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:241.53, Y:4.93, Z:0.69 [[ 9.98749468e-01 -4.91124094e-02 -9.35264318e-03 2.41528142e+02] [ 4.91097491e-02 9.98793256e-01 -5.14028871e-04 4.92695142e+00] [ 9.36660213e-03 5.40801005e-05 9.99956131e-01 6.87612696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.052320588 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:241.56, Y:4.93, Z:0.69 [[ 9.98870481e-01 -4.65863840e-02 -9.35257512e-03 2.41556451e+02] [ 4.65836014e-02 9.98914262e-01 -5.15264321e-04 4.93166815e+00] [ 9.36642497e-03 7.90056894e-05 9.99956131e-01 6.88269924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.082320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:241.59, Y:4.93, Z:0.69 [[ 9.98915577e-01 -4.56092077e-02 -9.35250668e-03 2.41585638e+02] [ 4.56063707e-02 9.98959355e-01 -5.16503621e-04 4.93396510e+00] [ 9.36633135e-03 8.94096269e-05 9.99956131e-01 6.87566349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:241.61, Y:4.94, Z:0.69 [[ 9.99081287e-01 -4.18224039e-02 -9.35243795e-03 2.41614855e+02] [ 4.18193894e-02 9.99125053e-01 -5.17745086e-04 4.93567620e+00] [ 9.36590840e-03 1.26156183e-04 9.99956131e-01 6.86847227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:241.64, Y:4.94, Z:0.69 [[ 9.99149902e-01 -4.01498120e-02 -9.35236882e-03 2.41643258e+02] [ 4.01467125e-02 9.99193661e-01 -5.18990909e-04 4.93841354e+00] [ 9.36566502e-03 1.43082854e-04 9.99956131e-01 6.87398539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.172320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:241.67, Y:4.94, Z:0.69 [[ 9.99210737e-01 -3.86061758e-02 -9.35230011e-03 2.41671776e+02] [ 3.86029971e-02 9.99254491e-01 -5.20226092e-04 4.94237662e+00] [ 9.36541182e-03 1.58788682e-04 9.99956131e-01 6.88595803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.202320588 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:241.70, Y:4.95, Z:0.70 [[ 9.99260145e-01 -3.73054830e-02 -9.35223181e-03 2.41699395e+02] [ 3.73022359e-02 9.99303893e-01 -5.21451043e-04 4.94975220e+00] [ 9.36517464e-03 1.72206087e-04 9.99956131e-01 6.97372902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.232320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:241.73, Y:4.95, Z:0.69 [[ 9.99362586e-01 -3.44526217e-02 -9.35088775e-03 2.41729026e+02] [ 3.44490252e-02 9.99406307e-01 -5.45463778e-04 4.95452663e+00] [ 9.36412885e-03 2.22987124e-04 9.99956131e-01 6.88761642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.262320588 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:241.76, Y:4.96, Z:0.69 [[ 9.99470093e-01 -3.11780335e-02 -9.35215226e-03 2.41757307e+02] [ 3.11745052e-02 9.99513820e-01 -5.22845545e-04 4.96300052e+00] [ 9.36390673e-03 2.31019766e-04 9.99956131e-01 6.88788723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.292320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:241.79, Y:4.97, Z:0.69 [[ 9.99481918e-01 -3.07966701e-02 -9.35208468e-03 2.41785899e+02] [ 3.07931139e-02 9.99525642e-01 -5.24051446e-04 4.96906535e+00] [ 9.36378749e-03 2.35800135e-04 9.99956131e-01 6.90413507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:241.81, Y:4.97, Z:0.69 [[ 9.99490383e-01 -3.05207172e-02 -9.35203409e-03 2.41814426e+02] [ 3.05171405e-02 9.99534106e-01 -5.24952748e-04 4.97464127e+00] [ 9.36369897e-03 2.39287885e-04 9.99956131e-01 6.90751794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.352320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:241.84, Y:4.98, Z:0.69 [[ 9.99455113e-01 -3.16546673e-02 -9.35196557e-03 2.41842259e+02] [ 3.16511288e-02 9.99498839e-01 -5.26170631e-04 4.98106090e+00] [ 9.36393448e-03 2.29883660e-04 9.99956131e-01 6.92116186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:241.87, Y:4.98, Z:0.69 [[ 9.99412830e-01 -3.29626595e-02 -9.35186276e-03 2.41870942e+02] [ 3.29591612e-02 9.99456560e-01 -5.27991651e-04 4.98472718e+00] [ 9.36418459e-03 2.19452079e-04 9.99956131e-01 6.91795829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.412320588 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:241.90, Y:4.99, Z:0.70 [[ 9.99310290e-01 -3.59372923e-02 -9.35179321e-03 2.41899809e+02] [ 3.59339126e-02 9.99354028e-01 -5.29220567e-04 4.99293050e+00] [ 9.36477097e-03 1.92809038e-04 9.99956131e-01 7.04108622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442320588 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:241.93, Y:5.00, Z:0.70 [[ 9.99304364e-01 -3.61015739e-02 -9.35228320e-03 2.41929786e+02] [ 3.60982821e-02 9.99348109e-01 -5.20596311e-04 4.99790294e+00] [ 9.36498088e-03 1.82632808e-04 9.99956131e-01 7.01752804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:241.96, Y:5.00, Z:0.69 [[ 9.99310318e-01 -3.59360862e-02 -9.35343721e-03 2.41957496e+02] [ 3.59329772e-02 9.99354077e-01 -5.00283984e-04 5.00241402e+00] [ 9.36537386e-03 1.63842100e-04 9.99956131e-01 6.92644052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502320588 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:241.99, Y:5.01, Z:0.70 [[ 9.99293343e-01 -3.64055366e-02 -9.35155081e-03 2.41985406e+02] [ 3.64021387e-02 9.99337080e-01 -5.33358923e-04 5.01066995e+00] [ 9.36476870e-03 1.92565572e-04 9.99956131e-01 7.00214497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.532320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:242.02, Y:5.02, Z:0.69 [[ 9.99323107e-01 -3.55794088e-02 -9.35055607e-03 2.42015531e+02] [ 3.55758124e-02 9.99366829e-01 -5.50715348e-04 5.01564806e+00] [ 9.36422969e-03 2.17688944e-04 9.99956131e-01 6.92799055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:242.04, Y:5.02, Z:0.69 [[ 9.99252424e-01 -3.75119196e-02 -9.35139430e-03 2.42043659e+02] [ 3.75085446e-02 9.99296163e-01 -5.36093521e-04 5.02121041e+00] [ 9.36492235e-03 1.84935560e-04 9.99956131e-01 6.92993263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.592320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:242.07, Y:5.02, Z:0.69 [[ 9.99171837e-01 -3.96004129e-02 -9.35128816e-03 2.42072062e+02] [ 3.95971121e-02 9.99215582e-01 -5.37938716e-04 5.02409383e+00] [ 9.36525544e-03 1.67209210e-04 9.99956131e-01 6.94061825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:242.10, Y:5.03, Z:0.69 [[ 9.99072650e-01 -4.20284889e-02 -9.35121671e-03 2.42100595e+02] [ 4.20252827e-02 9.99116402e-01 -5.39177845e-04 5.02721111e+00] [ 9.36561483e-03 1.45690313e-04 9.99956131e-01 6.94328185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65232058799998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:242.13, Y:5.03, Z:0.69 [[ 9.98842593e-01 -4.71808300e-02 -9.35114551e-03 2.42128853e+02] [ 4.71778380e-02 9.98886360e-01 -5.40409999e-04 5.03238094e+00] [ 9.36622868e-03 9.86176961e-05 9.99956131e-01 6.93894531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68232058799998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:242.16, Y:5.04, Z:0.69 [[ 9.98754305e-01 -4.90142333e-02 -9.35107384e-03 2.42157311e+02] [ 4.90113101e-02 9.98798077e-01 -5.41647178e-04 5.03542930e+00] [ 9.36638299e-03 8.26640710e-05 9.99956131e-01 6.93788632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71232058799998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:242.19, Y:5.04, Z:0.69 [[ 9.98603946e-01 -5.19876639e-02 -9.35100261e-03 2.42185845e+02] [ 5.19848596e-02 9.98647726e-01 -5.42874090e-04 5.03758186e+00] [ 9.36658025e-03 5.60056508e-05 9.99956131e-01 6.94231843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74232058799998 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:242.21, Y:5.04, Z:0.69 [[ 9.98555486e-01 -5.29103072e-02 -9.35093081e-03 2.42214883e+02] [ 5.29075317e-02 9.98599267e-01 -5.44108132e-04 5.04051482e+00] [ 9.36662158e-03 4.85874916e-05 9.99956131e-01 6.94463557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:242.24, Y:5.04, Z:0.70 [[ 9.98567624e-01 -5.26807525e-02 -9.35085895e-03 2.42243365e+02] [ 5.26779554e-02 9.98611404e-01 -5.45340247e-04 5.04497522e+00] [ 9.36660332e-03 5.19749838e-05 9.99956131e-01 6.95729258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.802320588 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:242.27, Y:5.05, Z:0.70 [[ 9.98546190e-01 -5.30854960e-02 -9.35078729e-03 2.42271786e+02] [ 5.30827052e-02 9.98589970e-01 -5.46566183e-04 5.05136351e+00] [ 9.36661714e-03 4.94064943e-05 9.99956131e-01 6.98041396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.832320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:242.30, Y:5.05, Z:0.70 [[ 9.98525911e-01 -5.34655880e-02 -9.35071555e-03 2.42300091e+02] [ 5.34628024e-02 9.98569691e-01 -5.47790935e-04 5.05327946e+00] [ 9.36662910e-03 4.70679849e-05 9.99956131e-01 6.97388659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.862320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:242.33, Y:5.05, Z:0.70 [[ 9.98456962e-01 -5.47381069e-02 -9.35064351e-03 2.42328683e+02] [ 5.47353656e-02 9.98500745e-01 -5.49017800e-04 5.05387061e+00] [ 9.36667671e-03 3.63597541e-05 9.99956131e-01 6.95642539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.892320588 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:242.36, Y:5.06, Z:0.71 [[ 9.98408050e-01 -5.56231237e-02 -9.35057151e-03 2.42358126e+02] [ 5.56204098e-02 9.98451835e-01 -5.50241361e-04 5.05544460e+00] [ 9.36670143e-03 2.92827852e-05 9.99956131e-01 7.05458451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.922320588 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:242.39, Y:5.06, Z:0.71 [[ 9.98388343e-01 -5.59757581e-02 -9.35050089e-03 2.42390131e+02] [ 5.59730484e-02 9.98432128e-01 -5.51440418e-04 5.05796094e+00] [ 9.36670780e-03 2.71756451e-05 9.99956131e-01 7.09253324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.952320588 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:242.42, Y:5.06, Z:0.71 [[ 9.98285717e-01 -5.77764015e-02 -9.35488745e-03 2.42419886e+02] [ 5.77744714e-02 9.98329546e-01 -4.76651119e-04 5.05881347e+00] [ 9.36679973e-03 -6.46396728e-05 9.99956128e-01 7.06961459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.982320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:242.45, Y:5.06, Z:0.70 [[ 9.98136914e-01 -6.02925343e-02 -9.35473995e-03 2.42448063e+02] [ 6.02906913e-02 9.98180747e-01 -4.79151372e-04 5.05894185e+00] [ 9.36661056e-03 -8.57450675e-05 9.99956129e-01 6.99616321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.012320588 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:242.48, Y:5.06, Z:0.70 [[ 9.98151664e-01 -6.00485275e-02 -9.35038862e-03 2.42476472e+02] [ 6.00459841e-02 9.98195459e-01 -5.52758332e-04 5.06115707e+00] [ 9.36670778e-03 -9.71663685e-06 9.99956131e-01 6.99730644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042320588 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:242.50, Y:5.06, Z:0.70 [[ 9.98204728e-01 -5.91598866e-02 -9.35031630e-03 2.42504797e+02] [ 5.91572928e-02 9.98248520e-01 -5.53979037e-04 5.06328981e+00] [ 9.36671274e-03 -1.54904823e-07 9.99956131e-01 6.99413746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.072320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:242.53, Y:5.06, Z:0.70 [[ 9.98179132e-01 -5.95902149e-02 -9.35024328e-03 2.42533381e+02] [ 5.95876285e-02 9.98222924e-01 -5.55208701e-04 5.06329755e+00] [ 9.36671219e-03 -2.96108400e-06 9.99956131e-01 6.98121326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.102320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:242.56, Y:5.06, Z:0.70 [[ 9.98118136e-01 -6.06033066e-02 -9.35016990e-03 2.42562338e+02] [ 6.06007531e-02 9.98161930e-01 -5.56441683e-04 5.06305519e+00] [ 9.36670584e-03 -1.12328019e-05 9.99956131e-01 6.97537739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.132320588 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:242.59, Y:5.06, Z:0.70 [[ 9.98037961e-01 -6.19096378e-02 -9.35009655e-03 2.42591044e+02] [ 6.19071300e-02 9.98081758e-01 -5.57671558e-04 5.06231788e+00] [ 9.36668605e-03 -2.22602573e-05 9.99956131e-01 6.98435675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162320588 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:242.62, Y:5.06, Z:0.70 [[ 9.98044967e-01 -6.17966118e-02 -9.35002347e-03 2.42619914e+02] [ 6.17940877e-02 9.98088763e-01 -5.58894105e-04 5.06365522e+00] [ 9.36669112e-03 -1.99747214e-05 9.99956131e-01 6.99041968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.192320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:242.65, Y:5.07, Z:0.70 [[ 9.98073390e-01 -6.13358467e-02 -9.34995066e-03 2.42648869e+02] [ 6.13332909e-02 9.98117184e-01 -5.60109635e-04 5.06601786e+00] [ 9.36670122e-03 -1.44327212e-05 9.99956131e-01 7.00093193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:242.68, Y:5.07, Z:0.70 [[ 9.98237252e-01 -5.86086022e-02 -9.34987720e-03 2.42678080e+02] [ 5.86059154e-02 9.98281038e-01 -5.61333105e-04 5.06876804e+00] [ 9.36670407e-03 1.23855041e-05 9.99956131e-01 7.00679067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.252320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:242.71, Y:5.07, Z:0.71 [[ 9.98581781e-01 -5.24118969e-02 -9.34982193e-03 2.42709748e+02] [ 5.24089297e-02 9.98625549e-01 -5.62252240e-04 5.07116800e+00] [ 9.36643977e-03 7.14406833e-05 9.99956131e-01 7.12120770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:242.74, Y:5.08, Z:0.70 [[ 9.98694082e-01 -5.02250879e-02 -9.35797481e-03 2.42736313e+02] [ 5.02233039e-02 9.98737923e-01 -4.25690935e-04 5.07540712e+00] [ 9.36754469e-03 -4.48533957e-05 9.99956123e-01 7.02285577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:242.76, Y:5.08, Z:0.70 [[ 9.98758642e-01 -4.89260290e-02 -9.34982152e-03 2.42764571e+02] [ 4.89229164e-02 9.98802399e-01 -5.61465324e-04 5.07873050e+00] [ 9.36609444e-03 1.03347808e-04 9.99956132e-01 7.03042606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:242.79, Y:5.08, Z:0.70 [[ 9.98836723e-01 -4.73052084e-02 -9.34974819e-03 2.42792852e+02] [ 4.73020134e-02 9.98880475e-01 -5.62683853e-04 5.08303900e+00] [ 9.36589878e-03 1.19767383e-04 9.99956132e-01 7.03790872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.372320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:242.82, Y:5.08, Z:0.71 [[ 9.98840111e-01 -4.72336290e-02 -9.34967457e-03 2.42823027e+02] [ 4.72304194e-02 9.98883862e-01 -5.63904474e-04 5.08467305e+00] [ 9.36587429e-03 1.21661356e-04 9.99956132e-01 7.12367963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:5.09, Z:0.71 [[ 9.98756714e-01 -4.89648454e-02 -9.35259625e-03 2.42851358e+02] [ 4.89621647e-02 9.98800501e-01 -5.15512854e-04 5.08632872e+00] [ 9.36661983e-03 5.69485660e-05 9.99956131e-01 7.05062113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.88, Y:5.09, Z:0.71 [[ 9.98700513e-01 -5.00986381e-02 -9.34945206e-03 2.42880313e+02] [ 5.00955220e-02 9.98744270e-01 -5.67328625e-04 5.08823645e+00] [ 9.36613406e-03 9.82257067e-05 9.99956132e-01 7.06551382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.91, Y:5.09, Z:0.71 [[ 9.98665449e-01 -5.07928186e-02 -9.34937748e-03 2.42909135e+02] [ 5.07897215e-02 9.98709207e-01 -5.68555094e-04 5.09066489e+00] [ 9.36618788e-03 9.29440500e-05 9.99956132e-01 7.06298555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.94, Y:5.09, Z:0.71 [[ 9.98585085e-01 -5.23490026e-02 -9.34930234e-03 2.42937954e+02] [ 5.23459621e-02 9.98628848e-01 -5.69787962e-04 5.09231613e+00] [ 9.36631085e-03 7.95835347e-05 9.99956132e-01 7.05337965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.97, Y:5.09, Z:0.71 [[ 9.98541341e-01 -5.31769002e-02 -9.34922748e-03 2.42966716e+02] [ 5.31738846e-02 9.98585105e-01 -5.71013693e-04 5.09339124e+00] [ 9.36636404e-03 7.30460364e-05 9.99956132e-01 7.05825131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.00, Y:5.10, Z:0.71 [[ 9.98560039e-01 -5.28246318e-02 -9.34915253e-03 2.42995853e+02] [ 5.28215892e-02 9.98603801e-01 -5.72238241e-04 5.09519948e+00] [ 9.36632753e-03 7.75771464e-05 9.99956132e-01 7.06771126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.03, Y:5.10, Z:0.71 [[ 9.98626458e-01 -5.15537853e-02 -9.34907730e-03 2.43025526e+02] [ 5.15506756e-02 9.98670215e-01 -5.73464671e-04 5.09691650e+00] [ 9.36620931e-03 9.07257425e-05 9.99956132e-01 7.13904531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.05, Y:5.10, Z:0.71 [[ 9.98605603e-01 -5.19559503e-02 -9.35034870e-03 2.43054205e+02] [ 5.19530523e-02 9.98649375e-01 -5.52731448e-04 5.09788351e+00] [ 9.36643757e-03 6.61815665e-05 9.99956132e-01 7.07812920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.08, Y:5.10, Z:0.71 [[ 9.98730444e-01 -4.94984552e-02 -9.34893114e-03 2.43082719e+02] [ 4.94952340e-02 9.98774194e-01 -5.75749614e-04 5.09771680e+00] [ 9.36596988e-03 1.12291133e-04 9.99956132e-01 7.07209739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:243.11, Y:5.10, Z:0.71 [[ 9.98816704e-01 -4.77261967e-02 -9.34885564e-03 2.43111051e+02] [ 4.77228865e-02 9.98860447e-01 -5.76972950e-04 5.09902730e+00] [ 9.36573885e-03 1.30135845e-04 9.99956132e-01 7.07230385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.14, Y:5.10, Z:0.71 [[ 9.98953295e-01 -4.47762735e-02 -9.34877921e-03 2.43139930e+02] [ 4.47728225e-02 9.98997027e-01 -5.78208629e-04 5.10099686e+00] [ 9.36529267e-03 1.59032183e-04 9.99956132e-01 7.08516450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.17, Y:5.10, Z:0.71 [[ 9.98947383e-01 -4.49079834e-02 -9.34870344e-03 2.43169191e+02] [ 4.49045267e-02 9.98991115e-01 -5.79431230e-04 5.10278206e+00] [ 9.36529276e-03 1.59022208e-04 9.99956132e-01 7.08791127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.20, Y:5.10, Z:0.71 [[ 9.99006075e-01 -4.35828605e-02 -9.34862688e-03 2.43198038e+02] [ 4.35793343e-02 9.99049801e-01 -5.80663777e-04 5.10386227e+00] [ 9.36505081e-03 1.72679705e-04 9.99956132e-01 7.09274784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:243.23, Y:5.10, Z:0.71 [[ 9.99034514e-01 -4.29260339e-02 -9.34855041e-03 2.43227014e+02] [ 4.29224675e-02 9.99078237e-01 -5.81892267e-04 5.10471700e+00] [ 9.36491159e-03 1.80067607e-04 9.99956132e-01 7.10771818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.26, Y:5.11, Z:0.71 [[ 9.99088601e-01 -4.16482161e-02 -9.34847390e-03 2.43255692e+02] [ 4.16445823e-02 9.99132318e-01 -5.83118848e-04 5.10590166e+00] [ 9.36464826e-03 1.93274103e-04 9.99956132e-01 7.10826866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.28, Y:5.11, Z:0.71 [[ 9.99112773e-01 -4.10642622e-02 -9.34839743e-03 2.43284617e+02] [ 4.10605914e-02 9.99156487e-01 -5.84342352e-04 5.10825086e+00] [ 9.36450752e-03 1.99973181e-04 9.99956132e-01 7.10606452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.31, Y:5.11, Z:0.71 [[ 9.99093592e-01 -4.15283466e-02 -9.34832042e-03 2.43313345e+02] [ 4.15246845e-02 9.99137307e-01 -5.85571763e-04 5.10963373e+00] [ 9.36457351e-03 1.96854940e-04 9.99956132e-01 7.09927279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.34, Y:5.11, Z:0.71 [[ 9.99094872e-01 -4.14975588e-02 -9.34824252e-03 2.43341691e+02] [ 4.14938838e-02 9.99138586e-01 -5.86812670e-04 5.11058917e+00] [ 9.36454111e-03 1.98386641e-04 9.99956132e-01 7.11765004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.37, Y:5.11, Z:0.71 [[ 9.99117889e-01 -4.09396584e-02 -9.34816523e-03 2.43370806e+02] [ 4.09359475e-02 9.99161600e-01 -5.88041339e-04 5.11018225e+00] [ 9.36440194e-03 2.04846620e-04 9.99956132e-01 7.12358977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.40, Y:5.11, Z:0.71 [[ 9.99136218e-01 -4.04898879e-02 -9.34808754e-03 2.43399163e+02] [ 4.04861459e-02 9.99179926e-01 -5.89273815e-04 5.11129007e+00] [ 9.36428105e-03 2.10296775e-04 9.99956132e-01 7.12277839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.43, Y:5.11, Z:0.72 [[ 9.99172138e-01 -3.95936059e-02 -9.34800981e-03 2.43428758e+02] [ 3.95898131e-02 9.99215842e-01 -5.90504370e-04 5.11229101e+00] [ 9.36405969e-03 2.19929552e-04 9.99956132e-01 7.17154934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.46, Y:5.11, Z:0.71 [[ 9.99182575e-01 -3.93292707e-02 -9.34824562e-03 2.43457248e+02] [ 3.93255012e-02 9.99226281e-01 -5.86778584e-04 5.11461454e+00] [ 9.36409028e-03 2.18674492e-04 9.99956132e-01 7.13393037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.49, Y:5.12, Z:0.71 [[ 9.99171153e-01 -3.96184739e-02 -9.34788519e-03 2.43485888e+02] [ 3.96146639e-02 9.99214855e-01 -5.92465414e-04 5.11668683e+00] [ 9.36401833e-03 2.21661021e-04 9.99956132e-01 7.13852739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.51, Y:5.12, Z:0.71 [[ 9.99148680e-01 -4.01812653e-02 -9.34780731e-03 2.43514588e+02] [ 4.01774684e-02 9.99192383e-01 -5.93691677e-04 5.11708427e+00] [ 9.36411315e-03 2.17615022e-04 9.99956132e-01 7.12692583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.54, Y:5.12, Z:0.71 [[ 9.99114001e-01 -4.10345370e-02 -9.34772912e-03 2.43543201e+02] [ 4.10307659e-02 9.99157706e-01 -5.94920288e-04 5.11774415e+00] [ 9.36426787e-03 2.10848704e-04 9.99956132e-01 7.13241889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.57, Y:5.12, Z:0.71 [[ 9.99049074e-01 -4.25860146e-02 -9.34765058e-03 2.43571828e+02] [ 4.25822999e-02 9.99092785e-01 -5.96151751e-04 5.11991890e+00] [ 9.36455798e-03 1.97540395e-04 9.99956132e-01 7.13693601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.60, Y:5.12, Z:0.71 [[ 9.99053341e-01 -4.24858115e-02 -9.34757214e-03 2.43600460e+02] [ 4.24820809e-02 9.99097050e-01 -5.97379162e-04 5.12244845e+00] [ 9.36451189e-03 1.99709331e-04 9.99956132e-01 7.14460759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.63, Y:5.12, Z:0.71 [[ 9.99026473e-01 -4.31130004e-02 -9.34749419e-03 2.43629433e+02] [ 4.31092859e-02 9.99070183e-01 -5.98596462e-04 5.12459660e+00] [ 9.36461002e-03 1.95049913e-04 9.99956132e-01 7.13627199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.66, Y:5.13, Z:0.71 [[ 9.99021296e-01 -4.32328051e-02 -9.34741523e-03 2.43658207e+02] [ 4.32290843e-02 9.99065006e-01 -5.99826939e-04 5.12701050e+00] [ 9.36460765e-03 1.95159685e-04 9.99956132e-01 7.13874454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.69, Y:5.13, Z:0.71 [[ 9.99002191e-01 -4.36720618e-02 -9.34733544e-03 2.43687199e+02] [ 4.36683487e-02 9.99045902e-01 -6.01067726e-04 5.12956305e+00] [ 9.36466703e-03 1.92285272e-04 9.99956132e-01 7.14333626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.72, Y:5.13, Z:0.72 [[ 9.98986834e-01 -4.40219832e-02 -9.34725655e-03 2.43716062e+02] [ 4.40182739e-02 9.99030544e-01 -6.02292025e-04 5.13267105e+00] [ 9.36470889e-03 1.90231703e-04 9.99956132e-01 7.15709272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.74, Y:5.14, Z:0.72 [[ 9.99005158e-01 -4.36041729e-02 -9.34717731e-03 2.43744491e+02] [ 4.36004338e-02 9.99048867e-01 -6.03519384e-04 5.13602631e+00] [ 9.36460286e-03 1.95377993e-04 9.99956132e-01 7.16318454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.77, Y:5.14, Z:0.72 [[ 9.99027159e-01 -4.30971934e-02 -9.34709764e-03 2.43772956e+02] [ 4.30934206e-02 9.99070864e-01 -6.04750774e-04 5.13807486e+00] [ 9.36447597e-03 2.01364037e-04 9.99956132e-01 7.16127220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.80, Y:5.14, Z:0.72 [[ 9.98912837e-01 -4.56703134e-02 -9.34701774e-03 2.43801819e+02] [ 4.56666417e-02 9.98956551e-01 -6.05983109e-04 5.14075550e+00] [ 9.36494004e-03 1.78477396e-04 9.99956132e-01 7.16398409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.83, Y:5.14, Z:0.72 [[ 9.98811636e-01 -4.78325314e-02 -9.34693768e-03 2.43830495e+02] [ 4.78289428e-02 9.98855357e-01 -6.07215433e-04 5.14245202e+00] [ 9.36528343e-03 1.59439692e-04 9.99956132e-01 7.16111165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.86, Y:5.14, Z:0.72 [[ 9.98751343e-01 -4.90753559e-02 -9.34685712e-03 2.43859024e+02] [ 4.90718102e-02 9.98795068e-01 -6.08453019e-04 5.14361083e+00] [ 9.36545484e-03 1.49026072e-04 9.99956132e-01 7.16451745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.89, Y:5.14, Z:0.72 [[ 9.98584333e-01 -5.23637935e-02 -9.34677772e-03 2.43888141e+02] [ 5.23603804e-02 9.98628068e-01 -6.09670226e-04 5.14480868e+00] [ 9.36587923e-03 1.19406299e-04 9.99956132e-01 7.15667565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.92, Y:5.15, Z:0.72 [[ 9.98398574e-01 -5.57936164e-02 -9.34669763e-03 2.43917120e+02] [ 5.57903420e-02 9.98442319e-01 -6.10895626e-04 5.14838097e+00] [ 9.36622254e-03 8.84618639e-05 9.99956132e-01 7.16442961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.95, Y:5.15, Z:0.72 [[ 9.98387789e-01 -5.59862782e-02 -9.34661712e-03 2.43947071e+02] [ 5.59830008e-02 9.98431534e-01 -6.12125043e-04 5.15004464e+00] [ 9.36622787e-03 8.78864957e-05 9.99956132e-01 7.22741218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.98, Y:5.15, Z:0.72 [[ 9.98213208e-01 -5.90166384e-02 -9.35029906e-03 2.43975675e+02] [ 5.90140201e-02 9.98256999e-01 -5.55928695e-04 5.14982870e+00] [ 9.36681053e-03 3.13662958e-06 9.99956130e-01 7.16322332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:5.15, Z:0.73 [[ 9.98148328e-01 -6.01045667e-02 -9.34642449e-03 2.44005125e+02] [ 6.01014445e-02 9.98192085e-01 -6.14828858e-04 5.14831595e+00] [ 9.36648097e-03 5.19567840e-05 9.99956132e-01 7.28117787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.03, Y:5.15, Z:0.72 [[ 9.98090033e-01 -6.10647896e-02 -9.34759513e-03 2.44034143e+02] [ 6.10618762e-02 9.98133804e-01 -5.97018355e-04 5.14864801e+00] [ 9.36660749e-03 2.50963730e-05 9.99956132e-01 7.17459864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:5.15, Z:0.72 [[ 9.97988704e-01 -6.26991983e-02 -9.34648300e-03 2.44063459e+02] [ 6.26961981e-02 9.98032469e-01 -6.13948953e-04 5.14754440e+00] [ 9.36658762e-03 2.67251704e-05 9.99956132e-01 7.17814773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.09, Y:5.15, Z:0.73 [[ 9.98069106e-01 -6.14060599e-02 -9.34640249e-03 2.44093436e+02] [ 6.14029915e-02 9.98112866e-01 -6.15172196e-04 5.14841073e+00] [ 9.36653988e-03 4.00872914e-05 9.99956132e-01 7.30083966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.12, Y:5.15, Z:0.73 [[ 9.98091197e-01 -6.10454127e-02 -9.34989277e-03 2.44122092e+02] [ 6.10428256e-02 9.98134990e-01 -5.62100915e-04 5.14972716e+00] [ 9.36676881e-03 -9.71589820e-06 9.99956131e-01 7.30346328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.15, Y:5.15, Z:0.73 [[ 9.98064846e-01 -6.14744793e-02 -9.35158035e-03 2.44150482e+02] [ 6.14721504e-02 9.98108655e-01 -5.36547591e-04 5.14831795e+00] [ 9.36687726e-03 -3.93524647e-05 9.99956129e-01 7.32223168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.18, Y:5.15, Z:0.72 [[ 9.97956117e-01 -6.32150914e-02 -9.35099955e-03 2.44178299e+02] [ 6.32127568e-02 9.97999925e-01 -5.45309046e-04 5.14766962e+00] [ 9.36676861e-03 -4.69079626e-05 9.99956130e-01 7.19741242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:5.15, Z:0.72 [[ 9.97846144e-01 -6.49286206e-02 -9.34597600e-03 2.44206781e+02] [ 6.49256528e-02 9.97889911e-01 -6.20922715e-04 5.14635214e+00] [ 9.36657081e-03 1.27917437e-05 9.99956133e-01 7.17962426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:5.15, Z:0.73 [[ 9.97870690e-01 -6.45502911e-02 -9.34587304e-03 2.44236744e+02] [ 6.45472922e-02 9.97914455e-01 -6.22468549e-04 5.14785772e+00] [ 9.36656233e-03 1.78923223e-05 9.99956133e-01 7.29777313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.27, Y:5.15, Z:0.72 [[ 9.97714726e-01 -6.69172076e-02 -9.34950552e-03 2.44265044e+02] [ 6.69148241e-02 9.97758530e-01 -5.67866095e-04 5.14834618e+00] [ 9.36654890e-03 -5.90521521e-05 9.99956131e-01 7.16985014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.29, Y:5.14, Z:0.72 [[ 9.97576464e-01 -6.89482162e-02 -9.34568917e-03 2.44293910e+02] [ 6.89453872e-02 9.97620240e-01 -6.24938253e-04 5.14299891e+00] [ 9.36653705e-03 -2.09184654e-05 9.99956133e-01 7.18855984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.32, Y:5.14, Z:0.72 [[ 9.97507336e-01 -6.99412227e-02 -9.34560743e-03 2.44323311e+02] [ 6.99384258e-02 9.97551114e-01 -6.26158343e-04 5.14231031e+00] [ 9.36651538e-03 -2.90195315e-05 9.99956133e-01 7.19772671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.35, Y:5.14, Z:0.72 [[ 9.97613004e-01 -6.84175066e-02 -9.34552615e-03 2.44352446e+02] [ 6.84146315e-02 9.97656777e-01 -6.27369139e-04 5.14263143e+00] [ 9.36655053e-03 -1.34991158e-05 9.99956133e-01 7.19719078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.38, Y:5.14, Z:0.72 [[ 9.97663419e-01 -6.76783993e-02 -9.34544435e-03 2.44381696e+02] [ 6.76754804e-02 9.97707189e-01 -6.28585239e-04 5.14343263e+00] [ 9.36655865e-03 -5.34093713e-06 9.99956133e-01 7.18427010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.41, Y:5.14, Z:0.73 [[ 9.97993758e-01 -6.26188768e-02 -9.34536186e-03 2.44411737e+02] [ 6.26157245e-02 9.98037512e-01 -6.29809290e-04 5.14393580e+00] [ 9.36645964e-03 4.33791367e-05 9.99956133e-01 7.30231432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:244.44, Y:5.15, Z:0.73 [[ 9.98012235e-01 -6.23231294e-02 -9.34918741e-03 2.44439322e+02] [ 6.23204960e-02 9.98056024e-01 -5.73021885e-04 5.14510537e+00] [ 9.36672533e-03 -1.07631443e-05 9.99956131e-01 7.31642276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:5.14, Z:0.72 [[ 9.98188986e-01 -5.94254225e-02 -9.34703466e-03 2.44468203e+02] [ 5.94223643e-02 9.98232747e-01 -6.04805754e-04 5.14449962e+00] [ 9.36645692e-03 4.82875441e-05 9.99956133e-01 7.22278238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.50, Y:5.14, Z:0.72 [[ 9.98243908e-01 -5.84959060e-02 -9.34500786e-03 2.44497465e+02] [ 5.84925277e-02 9.98287645e-01 -6.34649763e-04 5.14303466e+00] [ 9.36613030e-03 8.69221284e-05 9.99956133e-01 7.21775361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.53, Y:5.14, Z:0.72 [[ 9.98290603e-01 -5.76935452e-02 -9.34492400e-03 2.44526108e+02] [ 5.76901202e-02 9.98334336e-01 -6.35882053e-04 5.14189198e+00] [ 9.36604479e-03 9.56852897e-05 9.99956133e-01 7.22708431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.56, Y:5.14, Z:0.72 [[ 9.98372139e-01 -5.62649643e-02 -9.34483986e-03 2.44555111e+02] [ 5.62614652e-02 9.98415866e-01 -6.37116251e-04 5.14210727e+00] [ 9.36588370e-03 1.10324732e-04 9.99956133e-01 7.22038746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:244.58, Y:5.14, Z:0.73 [[ 9.98414735e-01 -5.55039914e-02 -9.34475532e-03 2.44584310e+02] [ 5.55004473e-02 9.98458458e-01 -6.38353791e-04 5.14392229e+00] [ 9.36578117e-03 1.18703730e-04 9.99956133e-01 7.33127241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.61, Y:5.14, Z:0.72 [[ 9.98544161e-01 -5.31246283e-02 -9.34517419e-03 2.44613640e+02] [ 5.31210373e-02 9.98587881e-01 -6.32233663e-04 5.14209875e+00] [ 9.36556487e-03 1.34887886e-04 9.99956133e-01 7.20787065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.64, Y:5.14, Z:0.73 [[ 9.98572386e-01 -5.25915076e-02 -9.34464918e-03 2.44643013e+02] [ 5.25878216e-02 9.98616098e-01 -6.39900570e-04 5.14136490e+00] [ 9.36537044e-03 1.47572295e-04 9.99956133e-01 7.34384158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.67, Y:5.14, Z:0.72 [[ 9.98639029e-01 -5.13104451e-02 -9.34495131e-03 2.44672583e+02] [ 5.13067442e-02 9.98682739e-01 -6.35498277e-04 5.14181480e+00] [ 9.36524928e-03 1.55174356e-04 9.99956133e-01 7.22026640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.70, Y:5.14, Z:0.72 [[ 9.98729492e-01 -4.95184948e-02 -9.34452165e-03 2.44701773e+02] [ 4.95146570e-02 9.98773191e-01 -6.41754478e-04 5.14441663e+00] [ 9.36483643e-03 1.78248339e-04 9.99956133e-01 7.21736935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.73, Y:5.15, Z:0.72 [[ 9.98823594e-01 -4.75826656e-02 -9.34443709e-03 2.44730480e+02] [ 4.75787316e-02 9.98867284e-01 -6.42983378e-04 5.14617251e+00] [ 9.36444736e-03 1.97630504e-04 9.99956133e-01 7.22063869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.76, Y:5.15, Z:0.72 [[ 9.98977180e-01 -4.42411294e-02 -9.34435430e-03 2.44758976e+02] [ 4.42370380e-02 9.99020855e-01 -6.44184411e-04 5.14650479e+00] [ 9.36370427e-03 2.30158970e-04 9.99956133e-01 7.22878449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.79, Y:5.15, Z:0.72 [[ 9.99070481e-01 -4.20815723e-02 -9.34427047e-03 2.44787604e+02] [ 4.20773752e-02 9.99114147e-01 -6.45398048e-04 5.14954906e+00] [ 9.36315218e-03 2.51615764e-04 9.99956133e-01 7.24036541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.82, Y:5.15, Z:0.72 [[ 9.99147964e-01 -4.01998923e-02 -9.34418771e-03 2.44816562e+02] [ 4.01956017e-02 9.99191621e-01 -6.46594094e-04 5.15371842e+00] [ 9.36262708e-03 2.70447925e-04 9.99956133e-01 7.24132716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.84, Y:5.16, Z:0.72 [[ 9.99271742e-01 -3.69955747e-02 -9.34410467e-03 2.44844705e+02] [ 3.69911330e-02 9.99315384e-01 -6.47791936e-04 5.15806446e+00] [ 9.36167298e-03 3.01671159e-04 9.99956133e-01 7.24117307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.87, Y:5.16, Z:0.74 [[ 9.99283611e-01 -3.66736031e-02 -9.34402286e-03 2.44874129e+02] [ 3.66691363e-02 9.99327250e-01 -6.48969795e-04 5.16052328e+00] [ 9.36153673e-03 3.05867632e-04 9.99956133e-01 7.38529468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.90, Y:5.17, Z:0.73 [[ 9.99425057e-01 -3.25920237e-02 -9.34422200e-03 2.44903510e+02] [ 3.25874054e-02 9.99468681e-01 -6.46107691e-04 5.16594433e+00] [ 9.36031519e-03 3.41232265e-04 9.99956133e-01 7.26883227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.93, Y:5.17, Z:0.73 [[ 9.99462808e-01 -3.14131658e-02 -9.34393719e-03 2.44931970e+02] [ 3.14084579e-02 9.99506421e-01 -6.50200697e-04 5.17107168e+00] [ 9.35975008e-03 3.56372757e-04 9.99956133e-01 7.26826704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.96, Y:5.18, Z:0.73 [[ 9.99564371e-01 -2.79957253e-02 -9.34385639e-03 2.44959982e+02] [ 2.79908574e-02 9.99607967e-01 -6.51359862e-04 5.17778480e+00] [ 9.35842858e-03 3.89533559e-04 9.99956133e-01 7.25330258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.99, Y:5.18, Z:0.73 [[ 9.99613566e-01 -2.61803907e-02 -9.34379591e-03 2.44987837e+02] [ 2.61754356e-02 9.99657152e-01 -6.52226193e-04 5.18191295e+00] [ 9.35766795e-03 4.07396223e-04 9.99956133e-01 7.25841285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.02, Y:5.18, Z:0.73 [[ 9.99608704e-01 -2.63654129e-02 -9.34367307e-03 2.45016253e+02] [ 2.63604495e-02 9.99652289e-01 -6.53981362e-04 5.18386293e+00] [ 9.35766666e-03 4.07422039e-04 9.99956133e-01 7.26108126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.04, Y:5.19, Z:0.73 [[ 9.99654426e-01 -2.45708609e-02 -9.34355170e-03 2.45043700e+02] [ 2.45658031e-02 9.99698000e-01 -6.55710722e-04 5.18912206e+00] [ 9.35684133e-03 4.25952273e-04 9.99956133e-01 7.25652043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.07, Y:5.20, Z:0.73 [[ 9.99706654e-01 -2.23451655e-02 -9.34343013e-03 2.45071854e+02] [ 2.23399946e-02 9.99750215e-01 -6.57438501e-04 5.19871172e+00] [ 9.35578685e-03 4.48513465e-04 9.99956133e-01 7.27134957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.10, Y:5.20, Z:0.73 [[ 9.99709776e-01 -2.22050944e-02 -9.34334976e-03 2.45099782e+02] [ 2.21999068e-02 9.99753335e-01 -6.58578692e-04 5.20337340e+00] [ 9.35566888e-03 4.50966063e-04 9.99956133e-01 7.27147739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.13, Y:5.21, Z:0.73 [[ 9.99689657e-01 -2.30931592e-02 -9.34322917e-03 2.45127678e+02] [ 2.30879944e-02 9.99733219e-01 -6.60285105e-04 5.21071997e+00] [ 9.35598464e-03 4.44363767e-04 9.99956133e-01 7.27336717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.16, Y:5.22, Z:0.73 [[ 9.99686408e-01 -2.32334127e-02 -9.34314827e-03 2.45156030e+02] [ 2.32282434e-02 9.99729969e-01 -6.61427934e-04 5.21631318e+00] [ 9.35599256e-03 4.44195594e-04 9.99956133e-01 7.27514304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.18, Y:5.22, Z:0.73 [[ 9.99598637e-01 -2.67445565e-02 -9.34306724e-03 2.45183050e+02] [ 2.67395295e-02 9.99642215e-01 -6.62570555e-04 5.22431241e+00] [ 9.35744458e-03 4.12475402e-04 9.99956133e-01 7.28709620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:245.21, Y:5.23, Z:0.73 [[ 9.99527362e-01 -2.92875599e-02 -9.34296517e-03 2.45211479e+02] [ 2.92826304e-02 9.99570951e-01 -6.64006660e-04 5.22794476e+00] [ 9.35840372e-03 3.90106230e-04 9.99956133e-01 7.28551795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.24, Y:5.23, Z:0.73 [[ 9.99426725e-01 -3.25412480e-02 -9.34288212e-03 2.45240460e+02] [ 3.25364495e-02 9.99470328e-01 -6.65173142e-04 5.23112031e+00] [ 9.35957903e-03 3.60807602e-04 9.99956133e-01 7.29612286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.27, Y:5.24, Z:0.73 [[ 9.99243957e-01 -3.77389133e-02 -9.34279814e-03 2.45269509e+02] [ 3.77343306e-02 9.99287584e-01 -6.66350636e-04 5.23552420e+00] [ 9.36128953e-03 3.13302613e-04 9.99956133e-01 7.30164821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.30, Y:5.24, Z:0.73 [[ 9.99148080e-01 -4.01973710e-02 -9.34271311e-03 2.45298666e+02] [ 4.01928846e-02 9.99191717e-01 -6.67540675e-04 5.23929720e+00] [ 9.36199493e-03 2.91461393e-04 9.99956133e-01 7.29900977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.33, Y:5.24, Z:0.73 [[ 9.98930628e-01 -4.52804088e-02 -9.34264838e-03 2.45327537e+02] [ 4.52761361e-02 9.98974286e-01 -6.68445348e-04 5.24488306e+00] [ 9.36333298e-03 2.44731512e-04 9.99956133e-01 7.31933708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.36, Y:5.25, Z:0.73 [[ 9.98809343e-01 -4.78812465e-02 -9.34256111e-03 2.45356364e+02] [ 4.78770760e-02 9.98853011e-01 -6.69662941e-04 5.24730519e+00] [ 9.36390959e-03 2.21571093e-04 9.99956133e-01 7.31924284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.39, Y:5.25, Z:0.73 [[ 9.98580958e-01 -5.24288810e-02 -9.34247315e-03 2.45385086e+02] [ 5.24248980e-02 9.98624644e-01 -6.70887786e-04 5.24670826e+00] [ 9.36479782e-03 1.80157567e-04 9.99956133e-01 7.30486647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.41, Y:5.25, Z:0.73 [[ 9.98487815e-01 -5.41738295e-02 -9.34238386e-03 2.45414003e+02] [ 5.41699113e-02 9.98531506e-01 -6.72128886e-04 5.24758631e+00] [ 9.36507643e-03 1.65036398e-04 9.99956133e-01 7.30029878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:5.25, Z:0.73 [[ 9.98368709e-01 -5.63262160e-02 -9.34229545e-03 2.45442428e+02] [ 5.63223804e-02 9.98412408e-01 -6.73355604e-04 5.24976995e+00] [ 9.36539126e-03 1.46076847e-04 9.99956133e-01 7.30568934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:5.25, Z:0.73 [[ 9.98090597e-01 -6.10563955e-02 -9.34220701e-03 2.45471593e+02] [ 6.10527556e-02 9.98134313e-01 -6.74580415e-04 5.25276184e+00] [ 9.36596482e-03 1.02924888e-04 9.99956133e-01 7.30236431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:5.25, Z:0.73 [[ 9.97924698e-01 -6.37104527e-02 -9.34211745e-03 2.45500447e+02] [ 6.37069175e-02 9.97968422e-01 -6.75818339e-04 5.25381008e+00] [ 9.36619491e-03 7.92583059e-05 9.99956133e-01 7.30652035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.53, Y:5.25, Z:0.73 [[ 9.97735252e-01 -6.66115117e-02 -9.34202824e-03 2.45529183e+02] [ 6.66080921e-02 9.97778985e-01 -6.77049291e-04 5.25136375e+00] [ 9.36637874e-03 5.32612674e-05 9.99956133e-01 7.32090797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.56, Y:5.25, Z:0.73 [[ 9.97663156e-01 -6.76827588e-02 -9.34193864e-03 2.45557652e+02] [ 6.76793746e-02 9.97706892e-01 -6.78283336e-04 5.25261435e+00] [ 9.36642465e-03 4.44417287e-05 9.99956133e-01 7.32448776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:5.26, Z:0.74 [[ 9.97738305e-01 -6.65657958e-02 -9.34184874e-03 2.45589007e+02] [ 6.65623511e-02 9.97782036e-01 -6.79519295e-04 5.25522826e+00] [ 9.36636160e-03 5.61670140e-05 9.99956133e-01 7.41625830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.62, Y:5.26, Z:0.73 [[ 9.97654430e-01 -6.78103967e-02 -9.34814042e-03 2.45617345e+02] [ 6.78078185e-02 9.97698225e-01 -5.92832618e-04 5.25814320e+00] [ 9.36682332e-03 -4.24349212e-05 9.99956129e-01 7.31667664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:5.26, Z:0.73 [[ 9.97797927e-01 -6.56660438e-02 -9.34166480e-03 2.45645773e+02] [ 6.56625402e-02 9.97841654e-01 -6.81586512e-04 5.26036676e+00] [ 9.36625934e-03 6.66881683e-05 9.99956133e-01 7.31832408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:245.68, Y:5.26, Z:0.75 [[ 9.97999775e-01 -6.25234718e-02 -9.34157505e-03 2.45676905e+02] [ 6.25198191e-02 9.98043489e-01 -6.82814314e-04 5.26251770e+00] [ 9.36599008e-03 9.74149500e-05 9.99956133e-01 7.46634972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.71, Y:5.27, Z:0.73 [[ 9.98035298e-01 -6.19532557e-02 -9.34543227e-03 2.45706225e+02] [ 6.19500719e-02 9.98079051e-01 -6.30056277e-04 5.26593956e+00] [ 9.36651421e-03 4.98682039e-05 9.99956132e-01 7.34497800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:5.27, Z:0.73 [[ 9.98105412e-01 -6.08138596e-02 -9.34138069e-03 2.45734997e+02] [ 6.08101089e-02 9.98149118e-01 -6.85285151e-04 5.27127418e+00] [ 9.36576573e-03 1.15936441e-04 9.99956134e-01 7.34181646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.76, Y:5.27, Z:0.73 [[ 9.98101389e-01 -6.08798664e-02 -9.34129040e-03 2.45763772e+02] [ 6.08761071e-02 9.98145094e-01 -6.86513638e-04 5.27418939e+00] [ 9.36575804e-03 1.16548819e-04 9.99956134e-01 7.34883273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:5.28, Z:0.74 [[ 9.98153388e-01 -6.00212891e-02 -9.34119964e-03 2.45792619e+02] [ 6.00174807e-02 9.98197089e-01 -6.87746395e-04 5.27764841e+00] [ 9.36563772e-03 1.25841126e-04 9.99956134e-01 7.35154441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:5.28, Z:0.74 [[ 9.98190123e-01 -5.94072491e-02 -9.34110910e-03 2.45821318e+02] [ 5.94034023e-02 9.98233821e-01 -6.88973907e-04 5.28117778e+00] [ 9.36554108e-03 1.32833288e-04 9.99956134e-01 7.35715013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:5.28, Z:0.74 [[ 9.98214213e-01 -5.90011030e-02 -9.34101732e-03 2.45849550e+02] [ 5.89972268e-02 9.98257908e-01 -6.90216033e-04 5.28337643e+00] [ 9.36546792e-03 1.37889337e-04 9.99956134e-01 7.36624303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.88, Y:5.29, Z:0.74 [[ 9.98233755e-01 -5.86695537e-02 -9.34092623e-03 2.45877893e+02] [ 5.86656515e-02 9.98277448e-01 -6.91446610e-04 5.28578207e+00] [ 9.36540286e-03 1.42233823e-04 9.99956134e-01 7.35896623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.91, Y:5.29, Z:0.74 [[ 9.98231450e-01 -5.87087776e-02 -9.34083505e-03 2.45906226e+02] [ 5.87048656e-02 9.98275142e-01 -6.92676220e-04 5.28873128e+00] [ 9.36538961e-03 1.43098721e-04 9.99956134e-01 7.36475148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.94, Y:5.29, Z:0.75 [[ 9.98238715e-01 -5.85851419e-02 -9.34074385e-03 2.45936456e+02] [ 5.85812130e-02 9.98282405e-01 -6.93903913e-04 5.29158622e+00] [ 9.36535269e-03 1.45489645e-04 9.99956134e-01 7.45723222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.97, Y:5.30, Z:0.74 [[ 9.98150322e-01 -6.00720372e-02 -9.34263189e-03 2.45965224e+02] [ 6.00684109e-02 9.98194039e-01 -6.68515272e-04 5.29538522e+00] [ 9.36591854e-03 1.06081683e-04 9.99956133e-01 7.37760577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.99, Y:5.30, Z:0.74 [[ 9.98060599e-01 -6.15450554e-02 -9.34056067e-03 2.45993562e+02] [ 6.15412337e-02 9.98104299e-01 -6.96299923e-04 5.29817803e+00] [ 9.36570757e-03 1.20119891e-04 9.99956134e-01 7.39010339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.02, Y:5.30, Z:0.74 [[ 9.97970077e-01 -6.29958876e-02 -9.34046946e-03 2.46022608e+02] [ 6.29921180e-02 9.98013781e-01 -6.97521220e-04 5.29968448e+00] [ 9.36585821e-03 1.07729351e-04 9.99956134e-01 7.39365712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.05, Y:5.30, Z:0.74 [[ 9.97940516e-01 -6.34624585e-02 -9.34037716e-03 2.46051074e+02] [ 6.34586978e-02 9.97984221e-01 -6.98755060e-04 5.30129685e+00] [ 9.36589374e-03 1.04587814e-04 9.99956134e-01 7.39434092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.08, Y:5.30, Z:0.74 [[ 9.97851847e-01 -6.48417372e-02 -9.34028455e-03 2.46079528e+02] [ 6.48380253e-02 9.97895556e-01 -6.99990811e-04 5.30226011e+00] [ 9.36601706e-03 9.28815179e-05 9.99956134e-01 7.39483088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.11, Y:5.30, Z:0.74 [[ 9.97818092e-01 -6.53591355e-02 -9.34019270e-03 2.46107764e+02] [ 6.53554348e-02 9.97861802e-01 -7.01214185e-04 5.30444092e+00] [ 9.36605227e-03 8.92518455e-05 9.99956134e-01 7.40755655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:5.31, Z:0.74 [[ 9.97819612e-01 -6.53359326e-02 -9.34007685e-03 2.46136141e+02] [ 6.53322165e-02 9.97863321e-01 -7.02753968e-04 5.30613336e+00] [ 9.36603519e-03 9.10137694e-05 9.99956134e-01 7.41539113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:5.31, Z:0.75 [[ 9.97857734e-01 -6.47511117e-02 -9.33998427e-03 2.46165841e+02] [ 6.47473585e-02 9.97901440e-01 -7.03982283e-04 5.30774121e+00] [ 9.36596738e-03 9.77348562e-05 9.99956134e-01 7.49422991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.20, Y:5.31, Z:0.74 [[ 9.97918948e-01 -6.38006492e-02 -9.34074484e-03 2.46195919e+02] [ 6.37969490e-02 9.97962659e-01 -6.93874065e-04 5.30889644e+00] [ 9.36598417e-03 9.65190552e-05 9.99956134e-01 7.42165857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.22, Y:5.31, Z:0.74 [[ 9.97953058e-01 -6.32649666e-02 -9.34010528e-03 2.46224474e+02] [ 6.32611632e-02 9.97996759e-01 -7.02378798e-04 5.30944603e+00] [ 9.36583077e-03 1.10075145e-04 9.99956134e-01 7.42259587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.25, Y:5.31, Z:0.74 [[ 9.97935812e-01 -6.35364381e-02 -9.34001280e-03 2.46252888e+02] [ 6.35326352e-02 9.97979513e-01 -7.03606395e-04 5.31094301e+00] [ 9.36584607e-03 1.08758393e-04 9.99956134e-01 7.41595481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.28, Y:5.31, Z:0.74 [[ 9.97849874e-01 -6.48721421e-02 -9.33991986e-03 2.46281972e+02] [ 6.48683862e-02 9.97893579e-01 -7.04838026e-04 5.31022488e+00] [ 9.36597041e-03 9.74570075e-05 9.99956134e-01 7.43233965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.31, Y:5.31, Z:0.74 [[ 9.97803444e-01 -6.55824224e-02 -9.33982675e-03 2.46311144e+02] [ 6.55786860e-02 9.97847151e-01 -7.06069645e-04 5.31132682e+00] [ 9.36602527e-03 9.20251575e-05 9.99956134e-01 7.44675932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.34, Y:5.31, Z:0.74 [[ 9.97796653e-01 -6.56856880e-02 -9.33973350e-03 2.46340038e+02] [ 6.56819446e-02 9.97840359e-01 -7.07301019e-04 5.31086540e+00] [ 9.36602258e-03 9.22907309e-05 9.99956134e-01 7.44611780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.062320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:246.37, Y:5.31, Z:0.76 [[ 9.97810810e-01 -6.54702951e-02 -9.33963966e-03 2.46369282e+02] [ 6.54665307e-02 9.97854514e-01 -7.08537882e-04 5.31190003e+00] [ 9.36598978e-03 9.55529509e-05 9.99956134e-01 7.55772715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.40, Y:5.31, Z:0.74 [[ 9.97843536e-01 -6.49694640e-02 -9.34062636e-03 2.46399585e+02] [ 6.49657995e-02 9.97887249e-01 -6.95514151e-04 5.31171428e+00] [ 9.36607912e-03 8.71930397e-05 9.99956134e-01 7.43385573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.43, Y:5.31, Z:0.75 [[ 9.97890817e-01 -6.42392837e-02 -9.33975851e-03 2.46428847e+02] [ 6.42354800e-02 9.97934519e-01 -7.06979034e-04 5.31314171e+00] [ 9.36588324e-03 1.05544015e-04 9.99956134e-01 7.53117898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.46, Y:5.31, Z:0.74 [[ 9.97835332e-01 -6.50952478e-02 -9.34127900e-03 2.46457469e+02] [ 6.50916697e-02 9.97879052e-01 -6.86888661e-04 5.31429347e+00] [ 9.36617982e-03 7.73623279e-05 9.99956133e-01 7.43871337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.49, Y:5.31, Z:0.75 [[ 9.97856125e-01 -6.47759296e-02 -9.33981762e-03 2.46486565e+02] [ 6.47721565e-02 9.97899829e-01 -7.06215629e-04 5.31236803e+00] [ 9.36594818e-03 9.97414622e-05 9.99956134e-01 7.46088618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.52, Y:5.31, Z:0.75 [[ 9.97833479e-01 -6.51238591e-02 -9.33972419e-03 2.46515430e+02] [ 6.51200897e-02 9.97877184e-01 -7.07449151e-04 5.31212033e+00] [ 9.36596948e-03 9.77127705e-05 9.99956134e-01 7.46756618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.54, Y:5.31, Z:0.75 [[ 9.97902884e-01 -6.40515866e-02 -9.33962947e-03 2.46543906e+02] [ 6.40477586e-02 9.97946583e-01 -7.08697433e-04 5.31206660e+00] [ 9.36584451e-03 1.09028878e-04 9.99956134e-01 7.47537609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.57, Y:5.31, Z:0.75 [[ 9.97917848e-01 -6.38180422e-02 -9.33953616e-03 2.46572543e+02] [ 6.38141925e-02 9.97961545e-01 -7.09924967e-04 5.31367458e+00] [ 9.36580395e-03 1.12451837e-04 9.99956134e-01 7.48147837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.60, Y:5.31, Z:0.75 [[ 9.97821508e-01 -6.53070688e-02 -9.33944135e-03 2.46601565e+02] [ 6.53032726e-02 9.97865210e-01 -7.11170045e-04 5.31469066e+00] [ 9.36594803e-03 9.97246824e-05 9.99956134e-01 7.46463711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.63, Y:5.32, Z:0.75 [[ 9.97777186e-01 -6.59807855e-02 -9.33934678e-03 2.46629940e+02] [ 6.59770072e-02 9.97820889e-01 -7.12409772e-04 5.31592675e+00] [ 9.36600067e-03 9.46440672e-05 9.99956134e-01 7.47048108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.362320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:246.66, Y:5.32, Z:0.75 [[ 9.97629258e-01 -6.81809473e-02 -9.33925300e-03 2.46658428e+02] [ 6.81772540e-02 9.97672969e-01 -7.13637040e-04 5.31667145e+00] [ 9.36617672e-03 7.52205671e-05 9.99956134e-01 7.48497158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.69, Y:5.31, Z:0.75 [[ 9.97297241e-01 -7.28765612e-02 -9.33915762e-03 2.46687136e+02] [ 7.28730619e-02 9.97340968e-01 -7.14883059e-04 5.31464547e+00] [ 9.36642272e-03 3.23778906e-05 9.99956134e-01 7.50237945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.72, Y:5.31, Z:0.75 [[ 9.97067892e-01 -7.59499824e-02 -9.33906225e-03 2.46716079e+02] [ 7.59466063e-02 9.97111629e-01 -7.16126873e-04 5.31445812e+00] [ 9.36647739e-03 4.75702844e-06 9.99956134e-01 7.50141980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.74, Y:5.31, Z:0.75 [[ 9.96746780e-01 -8.00539892e-02 -9.33896522e-03 2.46744703e+02] [ 8.00507814e-02 9.96790529e-01 -7.17389952e-04 5.31208968e+00] [ 9.36642201e-03 -3.25353386e-05 9.99956134e-01 7.49944829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.77, Y:5.31, Z:0.75 [[ 9.96606753e-01 -8.17787529e-02 -9.33887055e-03 2.46773513e+02] [ 8.17756093e-02 9.96650507e-01 -7.18620258e-04 5.31174151e+00] [ 9.36635794e-03 -4.75100272e-05 9.99956134e-01 7.49798220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.80, Y:5.31, Z:0.75 [[ 9.96543403e-01 -8.25471538e-02 -9.33877681e-03 2.46802412e+02] [ 8.25440325e-02 9.96587159e-01 -7.19836423e-04 5.30764220e+00] [ 9.36632549e-03 -5.35120575e-05 9.99956134e-01 7.49694557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.83, Y:5.31, Z:0.75 [[ 9.96532583e-01 -8.26776856e-02 -9.33868227e-03 2.46831652e+02] [ 8.26745586e-02 9.96576338e-01 -7.21060772e-04 5.30986747e+00] [ 9.36632542e-03 -5.35108812e-05 9.99956134e-01 7.49969249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.86, Y:5.31, Z:0.75 [[ 9.96652287e-01 -8.12219802e-02 -9.33858767e-03 2.46860408e+02] [ 8.12187777e-02 9.96696036e-01 -7.22283936e-04 5.30940211e+00] [ 9.36639864e-03 -3.86027401e-05 9.99956134e-01 7.49996175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.89, Y:5.31, Z:0.75 [[ 9.96754174e-01 -7.99619176e-02 -9.33849276e-03 2.46889372e+02] [ 7.99586484e-02 9.96797919e-01 -7.23508977e-04 5.31078705e+00] [ 9.36644331e-03 -2.55326657e-05 9.99956134e-01 7.51290270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.92, Y:5.31, Z:0.75 [[ 9.97137521e-01 -7.50303855e-02 -9.33839791e-03 2.46918323e+02] [ 7.50268885e-02 9.97181248e-01 -7.24731173e-04 5.31452250e+00] [ 9.36645213e-03 2.20257065e-05 9.99956134e-01 7.52824683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:5.32, Z:0.75 [[ 9.97321494e-01 -7.25440096e-02 -9.33830219e-03 2.46947279e+02] [ 7.25403920e-02 9.97365211e-01 -7.25962359e-04 5.31689499e+00] [ 9.36636196e-03 4.66137625e-05 9.99956134e-01 7.52270041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.98, Y:5.32, Z:0.75 [[ 9.97366858e-01 -7.19176511e-02 -9.33820606e-03 2.46976265e+02] [ 7.19139945e-02 9.97410572e-01 -7.27196873e-04 5.31824562e+00] [ 9.36632373e-03 5.37343611e-05 9.99956134e-01 7.52380428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.00, Y:5.32, Z:0.75 [[ 9.97341268e-01 -7.22716738e-02 -9.33810944e-03 2.47004576e+02] [ 7.22680212e-02 9.97384982e-01 -7.28435467e-04 5.32029530e+00] [ 9.36633537e-03 5.16520613e-05 9.99956134e-01 7.53667338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.03, Y:5.32, Z:0.75 [[ 9.97133583e-01 -7.50827473e-02 -9.33801250e-03 2.47033518e+02] [ 7.50792062e-02 9.97177306e-01 -7.29675985e-04 5.32177723e+00] [ 9.36644023e-03 2.64938632e-05 9.99956134e-01 7.54607443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:5.32, Z:0.75 [[ 9.96965477e-01 -7.72828676e-02 -9.33791474e-03 2.47062696e+02] [ 7.72794113e-02 9.97009207e-01 -7.30925022e-04 5.32234443e+00] [ 9.36647494e-03 7.07845870e-06 9.99956134e-01 7.53388583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.09, Y:5.32, Z:0.75 [[ 9.96672361e-01 -8.09753720e-02 -9.33781663e-03 2.47091686e+02] [ 8.09720661e-02 9.96716102e-01 -7.32176255e-04 5.31987428e+00] [ 9.36644044e-03 -2.63624679e-05 9.99956134e-01 7.52334595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.12, Y:5.32, Z:0.75 [[ 9.96532249e-01 -8.26818222e-02 -9.33771974e-03 2.47120458e+02] [ 8.26785796e-02 9.96575995e-01 -7.33409744e-04 5.32125930e+00] [ 9.36638700e-03 -4.11629439e-05 9.99956134e-01 7.51952690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.15, Y:5.32, Z:0.75 [[ 9.96492226e-01 -8.31628018e-02 -9.33762295e-03 2.47148956e+02] [ 8.31595688e-02 9.96535973e-01 -7.34640115e-04 5.32322472e+00] [ 9.36637190e-03 -4.44495334e-05 9.99956134e-01 7.52330496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:247.18, Y:5.32, Z:0.75 [[ 9.96330177e-01 -8.50822517e-02 -9.33752713e-03 2.47178361e+02] [ 8.50790916e-02 9.96373929e-01 -7.35855892e-04 5.32284878e+00] [ 9.36627688e-03 -6.12728954e-05 9.99956134e-01 7.53618646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.21, Y:5.32, Z:0.75 [[ 9.96275252e-01 -8.57230083e-02 -9.33743098e-03 2.47207854e+02] [ 8.57198649e-02 9.96319006e-01 -7.37073977e-04 5.32053734e+00] [ 9.36624415e-03 -6.60747600e-05 9.99956134e-01 7.52737293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.24, Y:5.32, Z:0.75 [[ 9.96175997e-01 -8.68688458e-02 -9.33733435e-03 2.47236544e+02] [ 8.68657413e-02 9.96219754e-01 -7.38296033e-04 5.32060163e+00] [ 9.36617186e-03 -7.56216833e-05 9.99956134e-01 7.52820021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.27, Y:5.32, Z:0.75 [[ 9.96126782e-01 -8.74314071e-02 -9.33723822e-03 2.47265944e+02] [ 8.74283160e-02 9.96170539e-01 -7.39509910e-04 5.32060554e+00] [ 9.36613802e-03 -7.96933860e-05 9.99956134e-01 7.52426441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.29, Y:5.32, Z:0.75 [[ 9.96089220e-01 -8.78583199e-02 -9.33714095e-03 2.47294933e+02] [ 8.78552360e-02 9.96132977e-01 -7.40735952e-04 5.31835999e+00] [ 9.36611383e-03 -8.24776257e-05 9.99956134e-01 7.53284698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.32, Y:5.32, Z:0.75 [[ 9.96114453e-01 -8.75717784e-02 -9.33704442e-03 2.47323541e+02] [ 8.75686705e-02 9.96158209e-01 -7.41950734e-04 5.31864925e+00] [ 9.36614739e-03 -7.85647170e-05 9.99956134e-01 7.54388021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:247.35, Y:5.32, Z:0.75 [[ 9.96378491e-01 -8.45146333e-02 -9.33694747e-03 2.47352285e+02] [ 8.45113797e-02 9.96422237e-01 -7.43168756e-04 5.31937580e+00] [ 9.36635072e-03 -4.86009495e-05 9.99956134e-01 7.54912086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.38, Y:5.32, Z:0.76 [[ 9.96469511e-01 -8.34346285e-02 -9.33684923e-03 2.47380603e+02] [ 8.34313159e-02 9.96513252e-01 -7.44400939e-04 5.32153836e+00] [ 9.36640281e-03 -3.72127786e-05 9.99956134e-01 7.55744295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.41, Y:5.32, Z:0.75 [[ 9.96718136e-01 -8.04100870e-02 -9.33675116e-03 2.47409190e+02] [ 8.04066302e-02 9.96761866e-01 -7.45629059e-04 5.32338273e+00] [ 9.36647360e-03 -7.55469206e-06 9.99956134e-01 7.54198085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.44, Y:5.33, Z:0.76 [[ 9.96805507e-01 -7.93196569e-02 -9.33665250e-03 2.47437368e+02] [ 7.93161407e-02 9.96849232e-01 -7.46862406e-04 5.32510153e+00] [ 9.36647575e-03 3.92931652e-06 9.99956134e-01 7.55751892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.47, Y:5.33, Z:0.76 [[ 9.96894569e-01 -7.81923745e-02 -9.33650352e-03 2.47466063e+02] [ 7.81887916e-02 9.96938289e-01 -7.48720127e-04 5.32734325e+00] [ 9.36646205e-03 1.63851005e-05 9.99956134e-01 7.56794134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.49, Y:5.33, Z:0.76 [[ 9.97123212e-01 -7.52205480e-02 -9.33640380e-03 2.47494614e+02] [ 7.52168230e-02 9.97166920e-01 -7.49961639e-04 5.33194146e+00] [ 9.36636555e-03 4.55495266e-05 9.99956134e-01 7.56570120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.52, Y:5.34, Z:0.77 [[ 9.97207035e-01 -7.41010275e-02 -9.33630466e-03 2.47523536e+02] [ 7.40972420e-02 9.97250738e-01 -7.51193751e-04 5.33655105e+00] [ 9.36630094e-03 5.73012675e-05 9.99956134e-01 7.65607717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.55, Y:5.34, Z:0.76 [[ 9.97222698e-01 -7.38897952e-02 -9.33750928e-03 2.47552829e+02] [ 7.38861402e-02 9.97266412e-01 -7.36267212e-04 5.33899430e+00] [ 9.36638701e-03 4.43098561e-05 9.99956133e-01 7.55877340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.58, Y:5.34, Z:0.76 [[ 9.97249659e-01 -7.35251940e-02 -9.33615565e-03 2.47581086e+02] [ 7.35213659e-02 9.97293358e-01 -7.53049222e-04 5.34108909e+00] [ 9.36625411e-03 6.45711647e-05 9.99956134e-01 7.56335748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.61, Y:5.34, Z:0.76 [[ 9.97224975e-01 -7.38592438e-02 -9.33605517e-03 2.47609542e+02] [ 7.38554187e-02 9.97268674e-01 -7.54292873e-04 5.34275938e+00] [ 9.36626686e-03 6.26814273e-05 9.99956134e-01 7.56227125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.64, Y:5.35, Z:0.76 [[ 9.97280302e-01 -7.31084084e-02 -9.33595351e-03 2.47637271e+02] [ 7.31045386e-02 9.97323997e-01 -7.55549054e-04 5.34552603e+00] [ 9.36620746e-03 7.09936148e-05 9.99956134e-01 7.57169889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.67, Y:5.35, Z:0.76 [[ 9.97521768e-01 -6.97364007e-02 -9.33580227e-03 2.47665776e+02] [ 6.97323658e-02 9.97565448e-01 -7.57413165e-04 5.35146992e+00] [ 9.36589305e-03 1.04528540e-04 9.99956134e-01 7.56777954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.69, Y:5.36, Z:0.76 [[ 9.97647008e-01 -6.79212197e-02 -9.33570054e-03 2.47694460e+02] [ 6.79170936e-02 9.97690680e-01 -7.58665103e-04 5.35600054e+00] [ 9.36567087e-03 1.22826323e-04 9.99956134e-01 7.55834511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.72, Y:5.36, Z:0.76 [[ 9.97739911e-01 -6.65425923e-02 -9.33559889e-03 2.47722649e+02] [ 6.65383941e-02 9.97783576e-01 -7.59913830e-04 5.36063962e+00] [ 9.36547388e-03 1.37020598e-04 9.99956134e-01 7.56598689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.75, Y:5.37, Z:0.76 [[ 9.97843319e-01 -6.49735330e-02 -9.33549844e-03 2.47750760e+02] [ 6.49692546e-02 9.97886976e-01 -7.61145835e-04 5.36543406e+00] [ 9.36522664e-03 1.52983911e-04 9.99956134e-01 7.59031112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.78, Y:5.37, Z:0.76 [[ 9.97872991e-01 -6.45162379e-02 -9.33539924e-03 2.47778204e+02] [ 6.45119282e-02 9.97916645e-01 -7.62360628e-04 5.36807034e+00] [ 9.36513492e-03 1.58494474e-04 9.99956134e-01 7.60583045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.81, Y:5.37, Z:0.76 [[ 9.97834439e-01 -6.51097993e-02 -9.33524845e-03 2.47806628e+02] [ 6.51054983e-02 9.97878094e-01 -7.64202658e-04 5.37261197e+00] [ 9.36519701e-03 1.54771728e-04 9.99956134e-01 7.59582927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.83, Y:5.38, Z:0.76 [[ 9.97803854e-01 -6.55768602e-02 -9.33514784e-03 2.47834697e+02] [ 6.55725681e-02 9.97847510e-01 -7.65429616e-04 5.37725456e+00] [ 9.36524850e-03 1.51619002e-04 9.99956134e-01 7.58173168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.86, Y:5.38, Z:0.76 [[ 9.97781261e-01 -6.59197476e-02 -9.33502066e-03 2.47862950e+02] [ 6.59154561e-02 9.97824917e-01 -7.66977566e-04 5.38165982e+00] [ 9.36527518e-03 1.49953699e-04 9.99956134e-01 7.57043975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.89, Y:5.38, Z:0.76 [[ 9.97749849e-01 -6.63935038e-02 -9.33491910e-03 2.47891771e+02] [ 6.63892215e-02 9.97793506e-01 -7.68211646e-04 5.38455717e+00] [ 9.36532592e-03 1.46745042e-04 9.99956134e-01 7.57535270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.92, Y:5.39, Z:0.76 [[ 9.97747235e-01 -6.64327996e-02 -9.33481738e-03 2.47920570e+02] [ 6.64285074e-02 9.97790891e-01 -7.69445712e-04 5.38669287e+00] [ 9.36531218e-03 1.47614345e-04 9.99956134e-01 7.60566031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.95, Y:5.39, Z:0.76 [[ 9.97699054e-01 -6.71525162e-02 -9.33471577e-03 2.47948737e+02] [ 6.71482440e-02 9.97742712e-01 -7.70676425e-04 5.39131485e+00] [ 9.36539749e-03 1.42093368e-04 9.99956134e-01 7.61119379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.98, Y:5.39, Z:0.76 [[ 9.97606739e-01 -6.85102937e-02 -9.33456140e-03 2.47977097e+02] [ 6.85060635e-02 9.97650401e-01 -7.72541752e-04 5.39437725e+00] [ 9.36555598e-03 1.31218802e-04 9.99956134e-01 7.61225946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.01, Y:5.40, Z:0.76 [[ 9.97566606e-01 -6.90922139e-02 -9.33445834e-03 2.48005798e+02] [ 6.90879976e-02 9.97610270e-01 -7.73784953e-04 5.39576400e+00] [ 9.36561402e-03 1.27002994e-04 9.99956134e-01 7.58679907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.03, Y:5.40, Z:0.76 [[ 9.97591318e-01 -6.87345069e-02 -9.33435486e-03 2.48034450e+02] [ 6.87302633e-02 9.97634978e-01 -7.75031311e-04 5.39803738e+00] [ 9.36555030e-03 1.31611840e-04 9.99956134e-01 7.59695462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.06, Y:5.40, Z:0.76 [[ 9.97604934e-01 -6.85366138e-02 -9.33425153e-03 2.48062750e+02] [ 6.85323499e-02 9.97648593e-01 -7.76273745e-04 5.40075117e+00] [ 9.36550608e-03 1.34716327e-04 9.99956134e-01 7.59885014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.09, Y:5.40, Z:0.76 [[ 9.97657650e-01 -6.77649399e-02 -9.33414761e-03 2.48090972e+02] [ 6.77606305e-02 9.97701304e-01 -7.77521294e-04 5.40382079e+00] [ 9.36537993e-03 1.43212340e-04 9.99956134e-01 7.62168374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.12, Y:5.41, Z:0.76 [[ 9.97681705e-01 -6.74098791e-02 -9.33404468e-03 2.48120191e+02] [ 6.74055427e-02 9.97725356e-01 -7.78755026e-04 5.40571475e+00] [ 9.36530883e-03 1.47783294e-04 9.99956134e-01 7.61439406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.15, Y:5.41, Z:0.76 [[ 9.97716852e-01 -6.68876753e-02 -9.33394106e-03 2.48149140e+02] [ 6.68833044e-02 9.97760500e-01 -7.79995004e-04 5.40842384e+00] [ 9.36520975e-03 1.53929338e-04 9.99956134e-01 7.62074405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.18, Y:5.41, Z:0.76 [[ 9.97704401e-01 -6.70731458e-02 -9.33383754e-03 2.48178184e+02] [ 6.70687715e-02 9.97748049e-01 -7.81231830e-04 5.41164705e+00] [ 9.36521787e-03 1.53429418e-04 9.99956134e-01 7.63021967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.21, Y:5.42, Z:0.76 [[ 9.97628429e-01 -6.81938349e-02 -9.33373365e-03 2.48206560e+02] [ 6.81894980e-02 9.97672080e-01 -7.82471045e-04 5.41503967e+00] [ 9.36536517e-03 1.44152747e-04 9.99956134e-01 7.63020270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.24, Y:5.42, Z:0.76 [[ 9.97556848e-01 -6.92330741e-02 -9.33362917e-03 2.48235115e+02] [ 6.92287711e-02 9.97600503e-01 -7.83715348e-04 5.41685186e+00] [ 9.36549218e-03 1.35644935e-04 9.99956134e-01 7.63091614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.26, Y:5.42, Z:0.76 [[ 9.97512432e-01 -6.98701238e-02 -9.33352469e-03 2.48263395e+02] [ 6.98658370e-02 9.97556088e-01 -7.84957686e-04 5.41930511e+00] [ 9.36555947e-03 1.30910536e-04 9.99956134e-01 7.61987877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.29, Y:5.42, Z:0.76 [[ 9.97457067e-01 -7.06561202e-02 -9.33342057e-03 2.48292025e+02] [ 7.06518563e-02 9.97500725e-01 -7.86193725e-04 5.42375126e+00] [ 9.36564319e-03 1.24770998e-04 9.99956134e-01 7.61583791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.32, Y:5.43, Z:0.76 [[ 9.97316310e-01 -7.26158923e-02 -9.33331623e-03 2.48320758e+02] [ 7.26117026e-02 9.97359975e-01 -7.87430482e-04 5.42879867e+00] [ 9.36585601e-03 1.07609280e-04 9.99956134e-01 7.61859063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.35, Y:5.43, Z:0.76 [[ 9.97237535e-01 -7.36898256e-02 -9.33321146e-03 2.48349240e+02] [ 7.36856713e-02 9.97281204e-01 -7.88670363e-04 5.42977928e+00] [ 9.36595334e-03 9.87677370e-05 9.99956134e-01 7.61509722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.38, Y:5.43, Z:0.76 [[ 9.96989975e-01 -7.69667650e-02 -9.33310625e-03 2.48378341e+02] [ 7.69627425e-02 9.97033657e-01 -7.89913384e-04 5.42863947e+00] [ 9.36621813e-03 6.92342712e-05 9.99956134e-01 7.62780284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:5.43, Z:0.76 [[ 9.96809808e-01 -7.92660215e-02 -9.33300140e-03 2.48406723e+02] [ 7.92620883e-02 9.96853497e-01 -7.91150333e-04 5.43041398e+00] [ 9.36634643e-03 4.88732308e-05 9.99956134e-01 7.62745087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.44, Y:5.43, Z:0.76 [[ 9.96651414e-01 -8.12333402e-02 -9.33289717e-03 2.48435073e+02] [ 8.12294817e-02 9.96695111e-01 -7.92377946e-04 5.43178381e+00] [ 9.36642049e-03 3.16182010e-05 9.99956134e-01 7.62247992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.46, Y:5.43, Z:0.76 [[ 9.96323670e-01 -8.51589335e-02 -9.33279226e-03 2.48464248e+02] [ 8.51552356e-02 9.96367380e-01 -7.93611745e-04 5.42872990e+00] [ 9.36647290e-03 -4.04195816e-06 9.99956134e-01 7.62617248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.49, Y:5.43, Z:0.76 [[ 9.96269681e-01 -8.57882467e-02 -9.33268673e-03 2.48493019e+02] [ 8.57845648e-02 9.96313393e-01 -7.94850820e-04 5.42860512e+00] [ 9.36646964e-03 -8.71469619e-06 9.99956134e-01 7.63786551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.52, Y:5.43, Z:0.77 [[ 9.96375451e-01 -8.45509545e-02 -9.33258212e-03 2.48521947e+02] [ 8.45472069e-02 9.96419157e-01 -7.96077212e-04 5.42886451e+00] [ 9.36647269e-03 4.14804045e-06 9.99956134e-01 7.65558649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.55, Y:5.43, Z:0.77 [[ 9.96501902e-01 -8.30473636e-02 -9.33247565e-03 2.48550409e+02] [ 8.30435384e-02 9.96545601e-01 -7.97323319e-04 5.43150219e+00] [ 9.36645316e-03 1.95324036e-05 9.99956134e-01 7.67079543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.58, Y:5.43, Z:0.77 [[ 9.96856553e-01 -7.86760392e-02 -9.33237019e-03 2.48579117e+02] [ 7.86720107e-02 9.96900234e-01 -7.98555869e-04 5.43445856e+00] [ 9.36626924e-03 6.18493239e-05 9.99956134e-01 7.66906561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.61, Y:5.44, Z:0.77 [[ 9.96956088e-01 -7.74045641e-02 -9.33226365e-03 2.48608352e+02] [ 7.74004683e-02 9.96999763e-01 -7.99799014e-04 5.43653439e+00] [ 9.36617274e-03 7.50429200e-05 9.99956134e-01 7.67955165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.64, Y:5.44, Z:0.77 [[ 9.97103061e-01 -7.54877263e-02 -9.33215721e-03 2.48637176e+02] [ 7.54835349e-02 9.97146727e-01 -8.01038990e-04 5.43816541e+00] [ 9.36599863e-03 9.42942143e-05 9.99956134e-01 7.67724116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.67, Y:5.44, Z:0.77 [[ 9.97092989e-01 -7.56206591e-02 -9.33205150e-03 2.48666395e+02] [ 7.56164621e-02 9.97136654e-01 -8.02268628e-04 5.44064793e+00] [ 9.36599869e-03 9.42797056e-05 9.99956134e-01 7.67998791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:248.70, Y:5.44, Z:0.77 [[ 9.97181179e-01 -7.44487099e-02 -9.33194438e-03 2.48695165e+02] [ 7.44444500e-02 9.97224838e-01 -8.03512707e-04 5.44115716e+00] [ 9.36586721e-03 1.06536282e-04 9.99956134e-01 7.66818897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.72, Y:5.45, Z:0.77 [[ 9.97221496e-01 -7.39067313e-02 -9.33183693e-03 2.48723352e+02] [ 7.39024359e-02 9.97265151e-01 -8.04758728e-04 5.44574767e+00] [ 9.36579285e-03 1.12877223e-04 9.99956134e-01 7.67015206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.75, Y:5.45, Z:0.77 [[ 9.97292885e-01 -7.29370931e-02 -9.33173010e-03 2.48751679e+02] [ 7.29327437e-02 9.97336536e-01 -8.05995509e-04 5.44984346e+00] [ 9.36566234e-03 1.23224907e-04 9.99956134e-01 7.67305671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.78, Y:5.45, Z:0.77 [[ 9.97310924e-01 -7.26900413e-02 -9.33162330e-03 2.48779939e+02] [ 7.26856696e-02 9.97354572e-01 -8.07230115e-04 5.45252681e+00] [ 9.36561475e-03 1.26784123e-04 9.99956134e-01 7.67421652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.81, Y:5.45, Z:0.77 [[ 9.97424058e-01 -7.11208153e-02 -9.33151642e-03 2.48808339e+02] [ 7.11163634e-02 9.97467698e-01 -8.08463744e-04 5.45173398e+00] [ 9.36538481e-03 1.42757676e-04 9.99956134e-01 7.69020942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.84, Y:5.45, Z:0.77 [[ 9.97476243e-01 -7.03851568e-02 -9.33135641e-03 2.48837062e+02] [ 7.03806554e-02 9.97519878e-01 -8.10306435e-04 5.45394424e+00] [ 9.36524705e-03 1.51514439e-04 9.99956134e-01 7.70790245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.87, Y:5.46, Z:0.77 [[ 9.97471019e-01 -7.04591701e-02 -9.33124975e-03 2.48866139e+02] [ 7.04546605e-02 9.97514653e-01 -8.11532880e-04 5.45815686e+00] [ 9.36523828e-03 1.52050496e-04 9.99956134e-01 7.70190511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.90, Y:5.46, Z:0.77 [[ 9.97434305e-01 -7.09770156e-02 -9.33116907e-03 2.48895238e+02] [ 7.09725200e-02 9.97477940e-01 -8.12459460e-04 5.46041673e+00] [ 9.36530125e-03 1.48118353e-04 9.99956134e-01 7.70305530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.92, Y:5.46, Z:0.77 [[ 9.97406563e-01 -7.13658205e-02 -9.33106177e-03 2.48923621e+02] [ 7.13613304e-02 9.97450198e-01 -8.13689923e-04 5.46122504e+00] [ 9.36533907e-03 1.45702687e-04 9.99956134e-01 7.70782375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.95, Y:5.46, Z:0.77 [[ 9.97519911e-01 -6.97636003e-02 -9.33095341e-03 2.48952486e+02] [ 6.97590285e-02 9.97563539e-01 -8.14930711e-04 5.46317430e+00] [ 9.36507140e-03 1.61991366e-04 9.99956134e-01 7.71648029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.98, Y:5.47, Z:0.77 [[ 9.97554677e-01 -6.92647159e-02 -9.33084570e-03 2.48981003e+02] [ 6.92601108e-02 9.97598301e-01 -8.16162102e-04 5.46708279e+00] [ 9.36496705e-03 1.67910916e-04 9.99956134e-01 7.71284370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.01, Y:5.47, Z:0.77 [[ 9.97658288e-01 -6.77560129e-02 -9.33073738e-03 2.49009389e+02] [ 6.77513302e-02 9.97701904e-01 -8.17398517e-04 5.47094974e+00] [ 9.36467812e-03 1.83314536e-04 9.99956134e-01 7.70282628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.04, Y:5.47, Z:0.77 [[ 9.97713424e-01 -6.69392475e-02 -9.33063033e-03 2.49038380e+02] [ 6.69345177e-02 9.97757035e-01 -8.18618755e-04 5.47246176e+00] [ 9.36449977e-03 1.92205680e-04 9.99956134e-01 7.70298784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.07, Y:5.47, Z:0.77 [[ 9.97726193e-01 -6.67486678e-02 -9.33052401e-03 2.49067492e+02] [ 6.67439184e-02 9.97769802e-01 -8.19828755e-04 5.47406254e+00] [ 9.36443757e-03 1.95208890e-04 9.99956134e-01 7.72722669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.10, Y:5.48, Z:0.77 [[ 9.97632602e-01 -6.81332110e-02 -9.33041764e-03 2.49096708e+02] [ 6.81285108e-02 9.97676216e-01 -8.21037594e-04 5.47664552e+00] [ 9.36467569e-03 1.83426412e-04 9.99956134e-01 7.73802985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.13, Y:5.48, Z:0.77 [[ 9.97444592e-01 -7.08324199e-02 -9.33024799e-03 2.49125124e+02] [ 7.08278198e-02 9.97488217e-01 -8.22961003e-04 5.47812443e+00] [ 9.36510474e-03 1.60016880e-04 9.99956134e-01 7.73395577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.15, Y:5.48, Z:0.77 [[ 9.97096890e-01 -7.55694414e-02 -9.33014020e-03 2.49153665e+02] [ 7.55650371e-02 9.97140535e-01 -8.24181177e-04 5.47735781e+00] [ 9.36574390e-03 1.16756098e-04 9.99956134e-01 7.72294319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.18, Y:5.48, Z:0.77 [[ 9.96877838e-01 -7.84061613e-02 -9.33003033e-03 2.49182290e+02] [ 7.84018695e-02 9.96921494e-01 -8.25423049e-04 5.48281821e+00] [ 9.36602603e-03 9.13541241e-05 9.99956134e-01 7.73864286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.21, Y:5.49, Z:0.77 [[ 9.96761331e-01 -7.98736590e-02 -9.32992004e-03 2.49211181e+02] [ 7.98694199e-02 9.96804992e-01 -8.26667836e-04 5.48819998e+00] [ 9.36613986e-03 7.88152310e-05 9.99956134e-01 7.74893393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.24, Y:5.49, Z:0.78 [[ 9.96790151e-01 -7.95132092e-02 -9.32981061e-03 2.49240068e+02] [ 7.95089428e-02 9.96833809e-01 -8.27901008e-04 5.49192034e+00] [ 9.36609971e-03 8.34401918e-05 9.99956134e-01 7.75643686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.27, Y:5.49, Z:0.78 [[ 9.96637746e-01 -8.14012229e-02 -9.32970036e-03 2.49268873e+02] [ 8.13970275e-02 9.96681412e-01 -8.29141629e-04 5.49095510e+00] [ 9.36623206e-03 6.69439675e-05 9.99956134e-01 7.75184395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.30, Y:5.49, Z:0.77 [[ 9.96556429e-01 -8.23907901e-02 -9.32958862e-03 2.49297613e+02] [ 8.23866264e-02 9.96600097e-01 -8.30396954e-04 5.49195761e+00] [ 9.36628599e-03 5.89040906e-05 9.99956134e-01 7.74530839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.33, Y:5.49, Z:0.78 [[ 9.96326767e-01 -8.51230550e-02 -9.32947765e-03 2.49326518e+02] [ 8.51189994e-02 9.96370445e-01 -8.31641918e-04 5.49371707e+00] [ 9.36640770e-03 3.44713007e-05 9.99956134e-01 7.76045464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.35, Y:5.50, Z:0.78 [[ 9.96206757e-01 -8.65162396e-02 -9.32936700e-03 2.49354972e+02] [ 8.65122334e-02 9.96250440e-01 -8.32881288e-04 5.49626414e+00] [ 9.36644374e-03 2.26175911e-05 9.99956134e-01 7.76342761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.38, Y:5.50, Z:0.78 [[ 9.96156161e-01 -8.70968858e-02 -9.32925626e-03 2.49383412e+02] [ 8.70928935e-02 9.96199845e-01 -8.34119908e-04 5.49900595e+00] [ 9.36645289e-03 1.84017642e-05 9.99956134e-01 7.76446910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.41, Y:5.50, Z:0.79 [[ 9.95970783e-01 -8.91917422e-02 -9.32914563e-03 2.49411013e+02] [ 8.91878302e-02 9.96014474e-01 -8.35355381e-04 5.50157944e+00] [ 9.36647088e-03 -5.67034011e-08 9.99956134e-01 7.86810990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.44, Y:5.50, Z:0.79 [[ 9.95996936e-01 -8.89000158e-02 -9.32151093e-03 2.49439660e+02] [ 8.88952933e-02 9.96040551e-01 -9.20558081e-04 5.50363886e+00] [ 9.36644051e-03 8.82345803e-05 9.99956130e-01 7.89531622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.47, Y:5.50, Z:0.78 [[ 9.96022189e-01 -8.86164303e-02 -9.32347369e-03 2.49471126e+02] [ 8.86119013e-02 9.96065823e-01 -8.98560891e-04 5.50233407e+00] [ 9.36642075e-03 6.88158556e-05 9.99956132e-01 7.77464817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.50, Y:5.50, Z:0.78 [[ 9.96000632e-01 -8.88577663e-02 -9.32942733e-03 2.49500394e+02] [ 8.88538732e-02 9.96044325e-01 -8.31784137e-04 5.50255070e+00] [ 9.36643363e-03 -4.98225737e-07 9.99956134e-01 7.77745918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.53, Y:5.50, Z:0.78 [[ 9.95781976e-01 -9.12755162e-02 -9.32931684e-03 2.49528975e+02] [ 9.12717175e-02 9.95825677e-01 -8.33021565e-04 5.50068851e+00] [ 9.36640773e-03 -2.19949112e-05 9.99956134e-01 7.84809004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.56, Y:5.50, Z:0.78 [[ 9.95663492e-01 -9.25590818e-02 -9.32887186e-03 2.49558791e+02] [ 9.25552929e-02 9.95707194e-01 -8.37998450e-04 5.50144411e+00] [ 9.36638919e-03 -2.90720044e-05 9.99956134e-01 7.77106039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.59, Y:5.50, Z:0.78 [[ 9.95655909e-01 -9.26405823e-02 -9.32913800e-03 2.49587923e+02] [ 9.26368247e-02 9.95699614e-01 -8.35025114e-04 5.50229331e+00] [ 9.36637632e-03 -3.28240326e-05 9.99956134e-01 7.75098651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.62, Y:5.50, Z:0.78 [[ 9.95622158e-01 -9.30026189e-02 -9.32902811e-03 2.49617102e+02] [ 9.29988658e-02 9.95665863e-01 -8.36251038e-04 5.49977687e+00] [ 9.36636836e-03 -3.49989694e-05 9.99956134e-01 7.77079379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.65, Y:5.50, Z:0.78 [[ 9.95614996e-01 -9.30792680e-02 -9.32891769e-03 2.49645866e+02] [ 9.30755067e-02 9.95658701e-01 -8.37480987e-04 5.49921106e+00] [ 9.36637019e-03 -3.44851115e-05 9.99956134e-01 7.83678099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:249.68, Y:5.50, Z:0.79 [[ 9.95769394e-01 -9.14129742e-02 -9.32647167e-03 2.49676583e+02] [ 9.14088847e-02 9.95813069e-01 -8.64704668e-04 5.49573995e+00] [ 9.36646760e-03 8.52406890e-06 9.99956134e-01 7.90157986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.71, Y:5.49, Z:0.79 [[ 9.95767502e-01 -9.14329968e-02 -9.33212807e-03 2.49705265e+02] [ 9.14294975e-02 9.95811229e-01 -8.01809040e-04 5.49496285e+00] [ 9.36634972e-03 -5.48163945e-05 9.99956133e-01 7.90448029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.73, Y:5.49, Z:0.78 [[ 9.95588934e-01 -9.33571020e-02 -9.33410483e-03 2.49733245e+02] [ 9.33538927e-02 9.95632685e-01 -7.79890623e-04 5.49341645e+00] [ 9.36614818e-03 -9.49245469e-05 9.99956132e-01 7.78193251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.76, Y:5.49, Z:0.79 [[ 9.95675580e-01 -9.24290138e-02 -9.32831394e-03 2.49763919e+02] [ 9.24251638e-02 9.95719276e-01 -8.43902140e-04 5.48879290e+00] [ 9.36638304e-03 -2.19181913e-05 9.99956134e-01 7.87251906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:249.79, Y:5.48, Z:0.78 [[ 9.95565470e-01 -9.36067829e-02 -9.33620974e-03 2.49792250e+02] [ 9.36038016e-02 9.95609238e-01 -7.56741598e-04 5.48364193e+00] [ 9.36605282e-03 -1.20518920e-04 9.99956130e-01 7.76655391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.82, Y:5.48, Z:0.79 [[ 9.95729846e-01 -9.18426082e-02 -9.32786965e-03 2.49822542e+02] [ 9.18386900e-02 9.95773536e-01 -8.48434754e-04 5.48258568e+00] [ 9.36636820e-03 -1.18475225e-05 9.99956135e-01 7.86663241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.85, Y:5.48, Z:0.78 [[ 9.95792469e-01 -9.11606335e-02 -9.33260825e-03 2.49850448e+02] [ 9.11571725e-02 9.95836199e-01 -7.96437434e-04 5.48238325e+00] [ 9.36635287e-03 -5.76477818e-05 9.99956133e-01 7.78523528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.88, Y:5.48, Z:0.78 [[ 9.96173680e-01 -8.68964812e-02 -9.32744237e-03 2.49879869e+02] [ 8.68923040e-02 9.96217346e-01 -8.52930482e-04 5.48147428e+00] [ 9.36627653e-03 3.91839403e-05 9.99956135e-01 7.79814080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.91, Y:5.48, Z:0.79 [[ 9.96383224e-01 -8.44598811e-02 -9.32732800e-03 2.49909895e+02] [ 8.44555854e-02 9.96426879e-01 -8.54179325e-04 5.48187905e+00] [ 9.36614421e-03 6.33450027e-05 9.99956135e-01 7.86304842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.94, Y:5.48, Z:0.78 [[ 9.96542171e-01 -8.25632115e-02 -9.32835054e-03 2.49939968e+02] [ 8.25589369e-02 9.96585827e-01 -8.43045749e-04 5.47848103e+00] [ 9.36610651e-03 6.99919371e-05 9.99956135e-01 7.79130903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.97, Y:5.48, Z:0.78 [[ 9.96564167e-01 -8.22974539e-02 -9.32687821e-03 2.49969418e+02] [ 8.22930181e-02 9.96607807e-01 -8.59031455e-04 5.47842426e+00] [ 9.36593575e-03 8.85430087e-05 9.99956135e-01 7.78710688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.00, Y:5.48, Z:0.78 [[ 9.96693507e-01 -8.07159526e-02 -9.32676610e-03 2.49998034e+02] [ 8.07114361e-02 9.96737139e-01 -8.60246989e-04 5.47916194e+00] [ 9.36576981e-03 1.04625902e-04 9.99956135e-01 7.79467646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.03, Y:5.48, Z:0.78 [[ 9.96901277e-01 -7.81079808e-02 -9.32665456e-03 2.50027150e+02] [ 7.81033389e-02 9.96944896e-01 -8.61454641e-04 5.47963532e+00] [ 9.36544714e-03 1.30342371e-04 9.99956135e-01 7.79221064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.06, Y:5.48, Z:0.78 [[ 9.97177710e-01 -7.44958355e-02 -9.32654260e-03 2.50056098e+02] [ 7.44910243e-02 9.97221311e-01 -8.62665050e-04 5.48168413e+00] [ 9.36489199e-03 1.65486647e-04 9.99956135e-01 7.78796747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.09, Y:5.48, Z:0.78 [[ 9.97358448e-01 -7.20357151e-02 -9.32643159e-03 2.50085073e+02] [ 7.20307852e-02 9.97402035e-01 -8.63863561e-04 5.48432265e+00] [ 9.36443087e-03 1.89791430e-04 9.99956135e-01 7.78838198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:250.11, Y:5.49, Z:0.78 [[ 9.97510738e-01 -6.98952530e-02 -9.32632094e-03 2.50114091e+02] [ 6.98902184e-02 9.97554314e-01 -8.65056419e-04 5.48583617e+00] [ 9.36397503e-03 2.11084460e-04 9.99956135e-01 7.79271028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.14, Y:5.49, Z:0.78 [[ 9.97687444e-01 -6.73259707e-02 -9.32621193e-03 2.50143454e+02] [ 6.73208129e-02 9.97731005e-01 -8.66230080e-04 5.48687287e+00] [ 9.36337058e-03 2.36378705e-04 9.99956135e-01 7.79188531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.17, Y:5.49, Z:0.78 [[ 9.97737414e-01 -6.65813420e-02 -9.32612991e-03 2.50171621e+02] [ 6.65761435e-02 9.97780971e-01 -8.67112234e-04 5.49039856e+00] [ 9.36316845e-03 2.44252555e-04 9.99956135e-01 7.79998919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.20, Y:5.50, Z:0.78 [[ 9.97700797e-01 -6.71278238e-02 -9.32602082e-03 2.50199795e+02] [ 6.71226382e-02 9.97744355e-01 -8.68283923e-04 5.49724134e+00] [ 9.36327064e-03 2.40300441e-04 9.99956135e-01 7.80042272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.23, Y:5.50, Z:0.78 [[ 9.97743128e-01 -6.64956958e-02 -9.32591193e-03 2.50228559e+02] [ 6.64904717e-02 9.97786681e-01 -8.69451931e-04 5.50152040e+00] [ 9.36308553e-03 2.47405407e-04 9.99956135e-01 7.78759746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.26, Y:5.50, Z:0.78 [[ 9.97710121e-01 -6.69891346e-02 -9.32580247e-03 2.50256182e+02] [ 6.69839210e-02 9.97753675e-01 -8.70624461e-04 5.50476259e+00] [ 9.36317607e-03 2.43952020e-04 9.99956135e-01 7.79692109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.29, Y:5.51, Z:0.78 [[ 9.97596337e-01 -6.86628086e-02 -9.32563962e-03 2.50285075e+02] [ 6.86576519e-02 9.97639898e-01 -8.72365346e-04 5.51073533e+00] [ 9.36352921e-03 2.29991955e-04 9.99956135e-01 7.81123373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.32, Y:5.52, Z:0.79 [[ 9.97496594e-01 -7.00969226e-02 -9.32555787e-03 2.50315193e+02] [ 7.00918204e-02 9.97540162e-01 -8.73238385e-04 5.51632306e+00] [ 9.36382983e-03 2.17406988e-04 9.99956135e-01 7.92474160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.34, Y:5.52, Z:0.78 [[ 9.97264481e-01 -7.33246785e-02 -9.32982768e-03 2.50343616e+02] [ 7.33201420e-02 9.97308113e-01 -8.27810842e-04 5.52367412e+00] [ 9.36541179e-03 1.41482060e-04 9.99956134e-01 7.79083132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.37, Y:5.53, Z:0.78 [[ 9.97130533e-01 -7.51248617e-02 -9.32500602e-03 2.50371915e+02] [ 7.51199256e-02 9.97174119e-01 -8.78964370e-04 5.52709245e+00] [ 9.36468674e-03 1.75948452e-04 9.99956135e-01 7.78785095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.40, Y:5.53, Z:0.78 [[ 9.96792800e-01 -7.94805589e-02 -9.32489409e-03 2.50400294e+02] [ 7.94758022e-02 9.96836407e-01 -8.80150144e-04 5.53355151e+00] [ 9.36534875e-03 1.36223889e-04 9.99956135e-01 7.80425320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.43, Y:5.54, Z:0.78 [[ 9.96611477e-01 -8.17227762e-02 -9.32478103e-03 2.50427723e+02] [ 8.17181064e-02 9.96655093e-01 -8.81346412e-04 5.53823203e+00] [ 9.36561658e-03 1.16356502e-04 9.99956135e-01 7.81121243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.46, Y:5.54, Z:0.78 [[ 9.96091533e-01 -8.78334146e-02 -9.32460981e-03 2.50456669e+02] [ 8.78289955e-02 9.96135175e-01 -8.83154210e-04 5.54036490e+00] [ 9.36614227e-03 6.07313192e-05 9.99956135e-01 7.81001815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.49, Y:5.54, Z:0.78 [[ 9.96074187e-01 -8.80299275e-02 -9.32449437e-03 2.50485043e+02] [ 8.80255056e-02 9.96117828e-01 -8.84371317e-04 5.54300893e+00] [ 9.36614623e-03 6.01061088e-05 9.99956135e-01 7.81268669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.51, Y:5.54, Z:0.78 [[ 9.95753889e-01 -9.15819298e-02 -9.32431954e-03 2.50512902e+02] [ 9.15776464e-02 9.95797544e-01 -8.86210846e-04 5.54409898e+00] [ 9.36629540e-03 2.85486587e-05 9.99956135e-01 7.80117392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.54, Y:5.55, Z:0.79 [[ 9.95494011e-01 -9.43648995e-02 -9.32414403e-03 2.50542038e+02] [ 9.43607208e-02 9.95537677e-01 -8.88053542e-04 5.54661608e+00] [ 9.36633777e-03 4.21902998e-06 9.99956135e-01 7.90313226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.57, Y:5.55, Z:0.78 [[ 9.95229486e-01 -9.71150446e-02 -9.32410629e-03 2.50572612e+02] [ 9.71109829e-02 9.95273162e-01 -8.88449490e-04 5.54879732e+00] [ 9.36631456e-03 -2.12619971e-05 9.99956135e-01 7.79545218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.60, Y:5.55, Z:0.78 [[ 9.94611064e-01 -1.03256446e-01 -9.32405769e-03 2.50601770e+02] [ 1.03252650e-01 9.94654764e-01 -8.88959233e-04 5.54743097e+00] [ 9.36600917e-03 -7.85649737e-05 9.99956135e-01 7.79988731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.63, Y:5.54, Z:0.79 [[ 9.94300979e-01 -1.06200880e-01 -9.32393961e-03 2.50631549e+02] [ 1.06197201e-01 9.94344690e-01 -8.90195947e-04 5.54491250e+00] [ 9.36574943e-03 -1.05053591e-04 9.99956135e-01 7.91046237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.66, Y:5.54, Z:0.79 [[ 9.94215926e-01 -1.06994091e-01 -9.32506892e-03 2.50660460e+02] [ 1.06990558e-01 9.94259649e-01 -8.78400341e-04 5.54435647e+00] [ 9.36552340e-03 -1.24374715e-04 9.99956135e-01 7.89362645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:250.69, Y:5.54, Z:0.78 [[ 9.94119909e-01 -1.07882514e-01 -9.32572704e-03 2.50689599e+02] [ 1.07879084e-01 9.94163640e-01 -8.71549112e-04 5.54377165e+00] [ 9.36532365e-03 -1.39626568e-04 9.99956135e-01 7.79923589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.72, Y:5.54, Z:0.78 [[ 9.94097309e-01 -1.08090780e-01 -9.32325628e-03 2.50718398e+02] [ 1.08087118e-01 9.94141021e-01 -8.97223308e-04 5.54304691e+00] [ 9.36561309e-03 -1.15796626e-04 9.99956135e-01 7.80683433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.75, Y:5.54, Z:0.78 [[ 9.94350243e-01 -1.05738699e-01 -9.32313861e-03 2.50747229e+02] [ 1.05734923e-01 9.94393946e-01 -8.98444448e-04 5.54196686e+00] [ 9.36587293e-03 -9.24128839e-05 9.99956135e-01 7.81576250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.78, Y:5.54, Z:0.78 [[ 9.94460503e-01 -1.04696653e-01 -9.32302047e-03 2.50775893e+02] [ 1.04692819e-01 9.94504200e-01 -8.99668635e-04 5.54309712e+00] [ 9.36597531e-03 -8.13683683e-05 9.99956135e-01 7.81033789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.80, Y:5.54, Z:0.78 [[ 9.94976566e-01 -9.96730486e-02 -9.32290158e-03 2.50804675e+02] [ 9.96689825e-02 9.95020242e-01 -9.00898978e-04 5.54085389e+00] [ 9.36627114e-03 -3.28307427e-05 9.99956135e-01 7.80318062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.83, Y:5.54, Z:0.78 [[ 9.95219820e-01 -9.72141766e-02 -9.32278152e-03 2.50833631e+02] [ 9.72099910e-02 9.95263485e-01 -9.02139651e-04 5.54080952e+00] [ 9.36632479e-03 -8.44024708e-06 9.99956135e-01 7.80389255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:250.86, Y:5.54, Z:0.78 [[ 9.95442425e-01 -9.49076713e-02 -9.32266038e-03 2.50862058e+02] [ 9.49033728e-02 9.95486079e-01 -9.03389841e-04 5.54248383e+00] [ 9.36631725e-03 1.45206608e-05 9.99956135e-01 7.80113618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.89, Y:5.54, Z:0.78 [[ 9.96030116e-01 -8.85273859e-02 -9.32253894e-03 2.50890864e+02] [ 8.85227960e-02 9.96073740e-01 -9.04641242e-04 5.54479933e+00] [ 9.36602176e-03 7.57927074e-05 9.99956135e-01 7.79326797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.802320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:250.92, Y:5.55, Z:0.78 [[ 9.96334507e-01 -8.50331911e-02 -9.32241981e-03 2.50920005e+02] [ 8.50284368e-02 9.96378113e-01 -9.05867246e-04 5.54702863e+00] [ 9.36568384e-03 1.09876012e-04 9.99956135e-01 7.78621342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.95, Y:5.55, Z:0.78 [[ 9.96884884e-01 -7.83174539e-02 -9.32230247e-03 2.50948988e+02] [ 7.83123946e-02 9.96928456e-01 -9.07073193e-04 5.54825467e+00] [ 9.36470827e-03 1.74195725e-04 9.99956135e-01 7.78018421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.98, Y:5.55, Z:0.78 [[ 9.97165491e-01 -7.46597704e-02 -9.32218632e-03 2.50977768e+02] [ 7.46545401e-02 9.97209043e-01 -9.08265307e-04 5.55129457e+00] [ 9.36397938e-03 2.09747287e-04 9.99956135e-01 7.78290548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.892320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.01, Y:5.56, Z:0.79 [[ 9.97357148e-01 -7.20542792e-02 -9.32207115e-03 2.51007463e+02] [ 7.20489241e-02 9.97400685e-01 -9.09445872e-04 5.55500070e+00] [ 9.36336961e-03 2.35397144e-04 9.99956135e-01 7.92003962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.922320588 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:251.04, Y:5.56, Z:0.79 [[ 9.97686288e-01 -6.73428006e-02 -9.32833986e-03 2.51035701e+02] [ 6.73378389e-02 9.97729874e-01 -8.45314669e-04 5.56074326e+00] [ 9.36408921e-03 2.15208607e-04 9.99956133e-01 7.92353890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.952320588 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:251.07, Y:5.56, Z:0.79 [[ 9.97821508e-01 -6.53085932e-02 -9.32876260e-03 2.51065175e+02] [ 6.53035829e-02 9.97865088e-01 -8.41012174e-04 5.56468802e+00] [ 9.36377184e-03 2.29978414e-04 9.99956132e-01 7.93499017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.982320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.09, Y:5.57, Z:0.78 [[ 9.97833326e-01 -6.51272843e-02 -9.33218181e-03 2.51092580e+02] [ 6.51225899e-02 9.97876945e-01 -8.06357321e-04 5.56848075e+00] [ 9.36488494e-03 1.96874360e-04 9.99956129e-01 7.77711307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:251.12, Y:5.57, Z:0.78 [[ 9.97894951e-01 -6.41778380e-02 -9.32048962e-03 2.51120865e+02] [ 6.41720012e-02 9.97938425e-01 -9.24264554e-04 5.57170502e+00] [ 9.36059204e-03 3.24204461e-04 9.99956136e-01 7.76716285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:251.15, Y:5.58, Z:0.78 [[ 9.97918995e-01 -6.38028934e-02 -9.32037688e-03 2.51148201e+02] [ 6.37970297e-02 9.97962466e-01 -9.25400111e-04 5.57575505e+00] [ 9.36042949e-03 3.28861989e-04 9.99956136e-01 7.76517755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.072320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:251.18, Y:5.59, Z:0.78 [[ 9.98195040e-01 -5.93278746e-02 -9.32020783e-03 2.51176154e+02] [ 5.93218002e-02 9.98238481e-01 -9.27099587e-04 5.58543600e+00] [ 9.35879295e-03 3.72534703e-04 9.99956136e-01 7.76423045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102320588 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:251.21, Y:5.60, Z:0.79 [[ 9.98415296e-01 -5.54980427e-02 -9.32009568e-03 2.51206191e+02] [ 5.54917912e-02 9.98458712e-01 -9.28225632e-04 5.59648063e+00] [ 9.35724543e-03 4.09565866e-04 9.99956136e-01 7.92041507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.23, Y:5.60, Z:0.78 [[ 9.98473529e-01 -5.44387088e-02 -9.32942071e-03 2.51233382e+02] [ 5.44332821e-02 9.98517061e-01 -8.34801356e-04 5.60089825e+00] [ 9.36103126e-03 3.25696067e-04 9.99956132e-01 7.77042711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:251.26, Y:5.61, Z:0.79 [[ 9.98455417e-01 -5.47716142e-02 -9.31939855e-03 2.51263203e+02] [ 5.47652705e-02 9.98498819e-01 -9.34724822e-04 5.60611821e+00] [ 9.35660483e-03 4.22901679e-04 9.99956137e-01 7.90849442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.29, Y:5.61, Z:0.78 [[ 9.98495665e-01 -5.40328190e-02 -9.31993792e-03 2.51292445e+02] [ 5.40264932e-02 9.98539070e-01 -9.29351819e-04 5.61298331e+00] [ 9.35653764e-03 4.24430200e-04 9.99956137e-01 7.75727287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.32, Y:5.62, Z:0.78 [[ 9.98451429e-01 -5.48442677e-02 -9.31933673e-03 2.51321400e+02] [ 5.48379214e-02 9.98494831e-01 -9.35341772e-04 5.61779636e+00] [ 9.35660769e-03 4.22840273e-04 9.99956137e-01 7.75235173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:251.35, Y:5.62, Z:0.78 [[ 9.98217959e-01 -5.89411380e-02 -9.31922429e-03 2.51350017e+02] [ 5.89349595e-02 9.98261385e-01 -9.36460763e-04 5.62330856e+00] [ 9.35821781e-03 3.85563845e-04 9.99956137e-01 7.76567696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.38, Y:5.63, Z:0.78 [[ 9.98073870e-01 -6.13327329e-02 -9.31911155e-03 2.51378372e+02] [ 6.13266480e-02 9.98117309e-01 -9.37581325e-04 5.62715615e+00] [ 9.35907097e-03 3.64265548e-04 9.99956137e-01 7.76791076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:251.41, Y:5.63, Z:0.78 [[ 9.97912195e-01 -6.39093643e-02 -9.31899771e-03 2.51406998e+02] [ 6.39033811e-02 9.97955649e-01 -9.38711455e-04 5.63207719e+00] [ 9.35993886e-03 3.41236147e-04 9.99956137e-01 7.75652749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.44, Y:5.64, Z:0.78 [[ 9.97810403e-01 -6.54794417e-02 -9.31891200e-03 2.51435594e+02] [ 6.54735188e-02 9.97853865e-01 -9.39561578e-04 5.63551452e+00] [ 9.36043432e-03 3.27362356e-04 9.99956137e-01 7.76045340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.46, Y:5.64, Z:0.78 [[ 9.97701859e-01 -6.71130461e-02 -9.31879566e-03 2.51464167e+02] [ 6.71071837e-02 9.97745329e-01 -9.40714059e-04 5.63874511e+00] [ 9.36091902e-03 3.13194034e-04 9.99956137e-01 7.75126562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.49, Y:5.64, Z:0.78 [[ 9.97321244e-01 -7.25499737e-02 -9.31867947e-03 2.51493019e+02] [ 7.25443376e-02 9.97364744e-01 -9.41863610e-04 5.64122789e+00] [ 9.36245454e-03 2.63323158e-04 9.99956137e-01 7.75098928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:5.64, Z:0.78 [[ 9.97076922e-01 -7.58338716e-02 -9.31856229e-03 2.51521958e+02] [ 7.58283679e-02 9.97120439e-01 -9.43021533e-04 5.64406934e+00] [ 9.36324189e-03 2.33653638e-04 9.99956137e-01 7.75472774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46232058799998 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:251.55, Y:5.65, Z:0.79 [[ 9.96317597e-01 -8.52315192e-02 -9.31844415e-03 2.51547502e+02] [ 8.52264152e-02 9.96361163e-01 -9.44187538e-04 5.64723425e+00] [ 9.36501038e-03 1.46533069e-04 9.99956137e-01 7.89566472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49232058799998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:251.58, Y:5.65, Z:0.79 [[ 9.96244333e-01 -8.60855710e-02 -9.30075580e-03 2.51577916e+02] [ 8.60788816e-02 9.96287698e-01 -1.11790684e-03 5.65070004e+00] [ 9.36246423e-03 3.13109693e-04 9.99956122e-01 7.88354635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52232058799999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:251.61, Y:5.65, Z:0.78 [[ 9.95905963e-01 -8.99149726e-02 -9.30645727e-03 2.51611004e+02] [ 8.99089750e-02 9.95949421e-01 -1.06168316e-03 5.65272452e+00] [ 9.36422194e-03 2.20602558e-04 9.99956130e-01 7.77987316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:251.64, Y:5.65, Z:0.78 [[ 9.95564565e-01 -9.36181602e-02 -9.31859515e-03 2.51640303e+02] [ 9.36134478e-02 9.95608174e-01 -9.41554852e-04 5.65353520e+00] [ 9.36581614e-03 6.50328261e-05 9.99956138e-01 7.79622046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.582320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:251.67, Y:5.65, Z:0.78 [[ 9.95341276e-01 -9.59630709e-02 -9.31847061e-03 2.51669707e+02] [ 9.59584497e-02 9.95384894e-01 -9.42785798e-04 5.65394220e+00] [ 9.36593750e-03 4.42076249e-05 9.99956138e-01 7.78925754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.612320588 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:251.70, Y:5.65, Z:0.79 [[ 9.94618859e-01 -1.03181852e-01 -9.31834498e-03 2.51695839e+02] [ 1.03177535e-01 9.94662508e-01 -9.44025881e-04 5.65188027e+00] [ 9.36601473e-03 -2.24979254e-05 9.99956138e-01 7.89233774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.73, Y:5.65, Z:0.78 [[ 9.94867143e-01 -1.00761236e-01 -9.30277921e-03 2.51728890e+02] [ 1.00755376e-01 9.94910624e-01 -1.09759631e-03 5.65466342e+00] [ 9.36602903e-03 1.54657482e-04 9.99956126e-01 7.78028378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:251.76, Y:5.66, Z:0.78 [[ 9.94649121e-01 -1.02889704e-01 -9.31856644e-03 2.51757633e+02] [ 1.02885400e-01 9.94692771e-01 -9.41310777e-04 5.65587955e+00] [ 9.36596186e-03 -2.24705013e-05 9.99956138e-01 7.78682350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.702320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.79, Y:5.66, Z:0.78 [[ 9.94563447e-01 -1.03714596e-01 -9.31844142e-03 2.51786997e+02] [ 1.03710317e-01 9.94607099e-01 -9.42546762e-04 5.65574614e+00] [ 9.36594385e-03 -2.89959574e-05 9.99956138e-01 7.79484777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.732320588 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:251.81, Y:5.65, Z:0.79 [[ 9.93969980e-01 -1.09255883e-01 -9.31831612e-03 2.51811459e+02] [ 1.09251836e-01 9.94013655e-01 -9.43783930e-04 5.65068626e+00] [ 9.36564740e-03 -7.99502509e-05 9.99956138e-01 7.93437012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.762320588 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:251.84, Y:5.65, Z:0.80 [[ 9.94235641e-01 -1.06813357e-01 -9.29503249e-03 2.51842325e+02] [ 1.06807037e-01 9.94279073e-01 -1.17514245e-03 5.65210221e+00] [ 9.36737720e-03 1.75593629e-04 9.99956110e-01 7.95842069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.792320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:251.88, Y:5.65, Z:0.78 [[ 9.94716907e-01 -1.02234143e-01 -9.29815206e-03 2.51876119e+02] [ 1.02227913e-01 9.94760345e-01 -1.14414686e-03 5.65470647e+00] [ 9.36640382e-03 1.87571549e-04 9.99956117e-01 7.82154384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.90, Y:5.66, Z:0.78 [[ 9.94894204e-01 -1.00492143e-01 -9.31940340e-03 2.51904974e+02] [ 1.00487825e-01 9.94937852e-01 -9.31545417e-04 5.65537340e+00] [ 9.36584020e-03 -9.69744637e-06 9.99956140e-01 7.82889619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.852320588 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:251.93, Y:5.66, Z:0.80 [[ 9.94445740e-01 -1.04837114e-01 -9.31927851e-03 2.51928405e+02] [ 1.04832976e-01 9.94489405e-01 -9.32793181e-04 5.65586987e+00] [ 9.36571509e-03 -4.93554936e-05 9.99956140e-01 7.95151746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882320588 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:251.96, Y:5.63, Z:0.78 [[ 9.87803013e-01 -1.55431061e-01 -9.29480164e-03 2.51957100e+02] [ 1.55426854e-01 9.87846702e-01 -1.17773239e-03 5.63402046e+00] [ 9.36489534e-03 -2.81294178e-04 9.99956109e-01 7.81888745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.912320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:251.99, Y:5.66, Z:0.78 [[ 9.95405359e-01 -9.52992018e-02 -9.28614374e-03 2.51991080e+02] [ 9.52915438e-02 9.95448604e-01 -1.26467287e-03 5.65676284e+00] [ 9.36440113e-03 3.73971175e-04 9.99956083e-01 7.83915875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942320588 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:252.02, Y:5.66, Z:0.78 [[ 9.95612155e-01 -9.31105229e-02 -9.32030277e-03 2.52019066e+02] [ 9.31060109e-02 9.95655778e-01 -9.17787241e-04 5.65744280e+00] [ 9.36526896e-03 4.59839219e-05 9.99956144e-01 7.84438573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.972320588 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:252.05, Y:5.66, Z:0.79 [[ 9.95683649e-01 -9.23428776e-02 -9.32012039e-03 2.52047353e+02] [ 9.23383146e-02 9.95727267e-01 -9.19635574e-04 5.65933430e+00] [ 9.36521980e-03 5.50618952e-05 9.99956144e-01 7.85968670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002320588 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:252.08, Y:5.66, Z:0.79 [[ 9.95784167e-01 -9.12525731e-02 -9.31993842e-03 2.52075694e+02] [ 9.12479451e-02 9.95827778e-01 -9.21476010e-04 5.66214563e+00] [ 9.36514063e-03 6.71659913e-05 9.99956144e-01 7.86733187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.032320588 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:252.10, Y:5.67, Z:0.79 [[ 9.96016896e-01 -8.86762908e-02 -9.31981677e-03 2.52104251e+02] [ 8.86715385e-02 9.96060494e-01 -9.22704759e-04 5.66639015e+00] [ 9.36492333e-03 9.26270379e-05 9.99956144e-01 7.89450550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:252.13, Y:5.67, Z:0.79 [[ 9.96099304e-01 -8.77457716e-02 -9.31969636e-03 2.52132585e+02] [ 8.77409672e-02 9.96142896e-01 -9.23919371e-04 5.66903545e+00] [ 9.36481934e-03 1.02596270e-04 9.99956144e-01 7.88299332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.092320588 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:252.16, Y:5.67, Z:0.79 [[ 9.96091415e-01 -8.78352884e-02 -9.31957597e-03 2.52161365e+02] [ 8.78304766e-02 9.96135007e-01 -9.25132105e-04 5.66960717e+00] [ 9.36481512e-03 1.02973349e-04 9.99956144e-01 7.89052256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122320588 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:252.19, Y:5.67, Z:0.79 [[ 9.95982562e-01 -8.90611272e-02 -9.31945543e-03 2.52189982e+02] [ 8.90563577e-02 9.96026158e-01 -9.26344823e-04 5.67180288e+00] [ 9.36492270e-03 9.26665336e-05 9.99956144e-01 7.89682518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15232058799998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:252.22, Y:5.67, Z:0.79 [[ 9.95747453e-01 -9.16523845e-02 -9.31933485e-03 2.52218973e+02] [ 9.16477172e-02 9.95791060e-01 -9.27556373e-04 5.67388269e+00] [ 9.36512308e-03 6.95161318e-05 9.99956144e-01 7.91658037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18232058799998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:252.25, Y:5.67, Z:0.79 [[ 9.95293113e-01 -9.64612400e-02 -9.31921362e-03 2.52248021e+02] [ 9.64567720e-02 9.95336741e-01 -9.28772790e-04 5.67464425e+00] [ 9.36534629e-03 2.54998991e-05 9.99956144e-01 7.92826195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21232058799998 meters Centerline goodness : 0.867773 Centerline is valid? [True, False] Translation: X:252.24, Y:5.68, Z:0.79 [[ 9.96479364e-01 -8.37629419e-02 3.55627249e-03 2.52236107e+02] [ 8.37705148e-02 9.96482992e-01 -2.03647727e-03 5.67685922e+00] [-3.37318372e-03 2.32721835e-03 9.99991603e-01 7.92080535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:252.22, Y:5.68, Z:0.79 [[ 9.97353872e-01 -7.06969100e-02 1.69470213e-02 2.52224649e+02] [ 7.07412125e-02 9.97492640e-01 -2.02836907e-03 5.67951325e+00] [-1.67611296e-02 3.22185458e-03 9.99854331e-01 7.90610072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27232058799999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:252.26, Y:5.68, Z:0.79 [[ 9.97391520e-01 -7.02164239e-02 1.67274972e-02 2.52258213e+02] [ 7.02069401e-02 9.97531781e-01 1.15424605e-03 5.67915298e+00] [-1.67672570e-02 2.31511717e-05 9.99859419e-01 7.90369026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.29, Y:5.68, Z:0.79 [[ 9.97379085e-01 -7.03926909e-02 1.67281107e-02 2.52290532e+02] [ 7.03833821e-02 9.97519357e-01 1.14528509e-03 5.68259070e+00] [-1.67672339e-02 3.50976116e-05 9.99859419e-01 7.89414227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.32, Y:5.69, Z:0.79 [[ 9.97383890e-01 -7.03244279e-02 1.67287194e-02 2.52322642e+02] [ 7.03152599e-02 9.97524172e-01 1.13632380e-03 5.68547103e+00] [-1.67672133e-02 4.29331937e-05 9.99859419e-01 7.89122416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.362320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:252.35, Y:5.69, Z:0.80 [[ 9.96798678e-01 -7.81826590e-02 1.67292448e-02 2.52348572e+02] [ 7.81747275e-02 9.96939034e-01 1.12853432e-03 5.68603765e+00] [-1.67662690e-02 1.82882640e-04 9.99859420e-01 7.97232416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.392320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:252.38, Y:5.69, Z:0.80 [[ 9.96951368e-01 -7.62168468e-02 1.67021512e-02 2.52381888e+02] [ 7.62018348e-02 9.97091233e-01 1.53431013e-03 5.68890441e+00] [-1.67705089e-02 -2.56898017e-04 9.99859332e-01 8.02882504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.42, Y:5.69, Z:0.79 [[ 9.96696799e-01 -7.94756819e-02 1.67065117e-02 2.52416786e+02] [ 7.94622311e-02 9.96836796e-01 1.46845415e-03 5.68936653e+00] [-1.67703720e-02 -1.36066857e-04 9.99859358e-01 7.90800077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.45, Y:5.69, Z:0.79 [[ 9.96433561e-01 -8.27056647e-02 1.67311824e-02 2.52449409e+02] [ 8.26990225e-02 9.96573973e-01 1.08967107e-03 5.69125217e+00] [-1.67639829e-02 2.97867603e-04 9.99859430e-01 7.89103320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.482320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:252.48, Y:5.69, Z:0.80 [[ 9.95972830e-01 -8.80804730e-02 1.67317420e-02 2.52478069e+02] [ 8.80747338e-02 9.96113283e-01 1.08101018e-03 5.69246187e+00] [-1.67619263e-02 3.96986954e-04 9.99859430e-01 7.98481824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.51, Y:5.69, Z:0.80 [[ 9.95352078e-01 -9.48405525e-02 1.67185476e-02 2.52511223e+02] [ 9.48323210e-02 9.95492429e-01 1.28624322e-03 5.69133800e+00] [-1.67651756e-02 3.05193809e-04 9.99859408e-01 7.96102514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.54, Y:5.69, Z:0.79 [[ 9.95183950e-01 -9.65879416e-02 1.67234783e-02 2.52544231e+02] [ 9.65812557e-02 9.95324369e-01 1.20886396e-03 5.69190606e+00] [-1.67620472e-02 4.12132522e-04 9.99859422e-01 7.87041655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.58, Y:5.69, Z:0.79 [[ 9.94653082e-01 -1.01908028e-01 1.67331813e-02 2.52576577e+02] [ 1.01904678e-01 9.94793609e-01 1.05496467e-03 5.68936166e+00] [-1.67535712e-02 6.55865583e-04 9.99859434e-01 7.87602744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.61, Y:5.69, Z:0.80 [[ 9.94452403e-01 -1.03847980e-01 1.67336323e-02 2.52606257e+02] [ 1.03845025e-01 9.94592938e-01 1.04776176e-03 5.68806175e+00] [-1.67519604e-02 6.95755254e-04 9.99859434e-01 7.97831825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.632320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:252.64, Y:5.68, Z:0.80 [[ 9.94120284e-01 -1.06981978e-01 1.67247776e-02 2.52637608e+02] [ 1.06977082e-01 9.94260775e-01 1.18971252e-03 5.68306119e+00] [-1.67560681e-02 6.06450556e-04 9.99859423e-01 7.98857614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.67, Y:5.68, Z:0.78 [[ 9.93919602e-01 -1.08831464e-01 1.67193948e-02 2.52672777e+02] [ 1.08825366e-01 9.94060063e-01 1.27683183e-03 5.68096318e+00] [-1.67590422e-02 5.50426077e-04 9.99859406e-01 7.82984126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.70, Y:5.68, Z:0.79 [[ 9.93834868e-01 -1.09600157e-01 1.67350205e-02 2.52701128e+02] [ 1.09598471e-01 9.93975419e-01 1.02063186e-03 5.67932815e+00] [-1.67460604e-02 8.19793129e-04 9.99859439e-01 7.93768965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.74, Y:5.67, Z:0.78 [[ 9.93800068e-01 -1.09917597e-01 1.67196438e-02 2.52735324e+02] [ 1.09911713e-01 9.93940539e-01 1.27324328e-03 5.67458910e+00] [-1.67582836e-02 5.72335436e-04 9.99859406e-01 7.82658676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.752320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:252.77, Y:5.67, Z:0.79 [[ 9.94041500e-01 -1.07709872e-01 1.67355963e-02 2.52766947e+02] [ 1.07708121e-01 9.94182047e-01 1.00853907e-03 5.67452142e+00] [-1.67468590e-02 8.00029945e-04 9.99859441e-01 7.94468508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.80, Y:5.67, Z:0.78 [[ 9.94330300e-01 -1.05010244e-01 1.67362676e-02 2.52798418e+02] [ 1.05008299e-01 9.94470845e-01 9.97383883e-04 5.67143475e+00] [-1.67484657e-02 7.65717974e-04 9.99859441e-01 7.83184478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.83, Y:5.67, Z:0.79 [[ 9.94673469e-01 -1.01708422e-01 1.67358267e-02 2.52829474e+02] [ 1.01705887e-01 9.94814004e-01 1.00472793e-03 5.67100826e+00] [-1.67512241e-02 7.02755895e-04 9.99859441e-01 7.90126640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.86, Y:5.67, Z:0.78 [[ 9.94863222e-01 -9.98351353e-02 1.67366244e-02 2.52859895e+02] [ 9.98325589e-02 9.95003757e-01 9.91446969e-04 5.67135644e+00] [-1.67519854e-02 6.84505918e-04 9.99859441e-01 7.80018796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.872320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:252.89, Y:5.67, Z:0.79 [[ 9.95386514e-01 -9.44753845e-02 1.67359024e-02 2.52891920e+02] [ 9.44718490e-02 9.95527028e-01 1.00348874e-03 5.67340288e+00] [-1.67558482e-02 5.82212489e-04 9.99859441e-01 7.87861910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.93, Y:5.67, Z:0.79 [[ 9.95440578e-01 -9.39039743e-02 1.67361921e-02 2.52925489e+02] [ 9.39004399e-02 9.95581092e-01 9.98620693e-04 5.67175651e+00] [-1.67560109e-02 5.77468246e-04 9.99859441e-01 7.88509615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.96, Y:5.67, Z:0.78 [[ 9.95272065e-01 -9.56725913e-02 1.67413032e-02 2.52956437e+02] [ 9.56707556e-02 9.95412615e-01 9.12339148e-04 5.67105350e+00] [-1.67517903e-02 6.93627461e-04 9.99859438e-01 7.79525929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.99, Y:5.67, Z:0.78 [[ 9.95296062e-01 -9.54234217e-02 1.67367545e-02 2.52988593e+02] [ 9.54202584e-02 9.95436585e-01 9.89295238e-04 5.67170905e+00] [-1.67547796e-02 6.12383780e-04 9.99859441e-01 7.78435878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.02, Y:5.67, Z:0.78 [[ 9.95541934e-01 -9.28230789e-02 1.67371904e-02 2.53021086e+02] [ 9.28196733e-02 9.95682451e-01 9.81863898e-04 5.67283822e+00] [-1.67560664e-02 5.76053862e-04 9.99859441e-01 7.76330254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.05, Y:5.67, Z:0.78 [[ 9.95626711e-01 -9.19092161e-02 1.67376210e-02 2.53053596e+02] [ 9.19058058e-02 9.95767228e-01 9.74468200e-04 5.67351271e+00] [-1.67563371e-02 5.68077974e-04 9.99859441e-01 7.75295950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.09, Y:5.67, Z:0.78 [[ 9.95865143e-01 -8.92886002e-02 1.67380500e-02 2.53085724e+02] [ 8.92849447e-02 9.96005654e-01 9.67042435e-04 5.67170948e+00] [-1.67575383e-02 5.31412016e-04 9.99859441e-01 7.75107648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.12, Y:5.67, Z:0.78 [[ 9.96109248e-01 -8.65227719e-02 1.67384778e-02 2.53116556e+02] [ 8.65188515e-02 9.96249752e-01 9.59580354e-04 5.67231841e+00] [-1.67587299e-02 4.92347010e-04 9.99859441e-01 7.83353488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.15, Y:5.67, Z:0.78 [[ 9.96182057e-01 -8.56801967e-02 1.67395972e-02 2.53147952e+02] [ 8.56764866e-02 9.96322566e-01 9.39975501e-04 5.67322302e+00] [-1.67585758e-02 4.97803151e-04 9.99859441e-01 7.81799992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.18, Y:5.67, Z:0.77 [[ 9.96524746e-01 -8.15985866e-02 1.67362001e-02 2.53180501e+02] [ 8.15932991e-02 9.96665207e-01 9.99659113e-04 5.67444595e+00] [-1.67619591e-02 3.69376733e-04 9.99859440e-01 7.73774683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.21, Y:5.68, Z:0.78 [[ 9.96738418e-01 -7.89450470e-02 1.67393615e-02 2.53213004e+02] [ 7.89403269e-02 9.96878897e-01 9.43574684e-04 5.67643726e+00] [-1.67616068e-02 3.80913531e-04 9.99859442e-01 7.83729320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.25, Y:5.68, Z:0.78 [[ 9.96958147e-01 -7.61195218e-02 1.67412947e-02 2.53245162e+02] [ 7.61149815e-02 9.97098633e-01 9.09138016e-04 5.67664768e+00] [-1.67619252e-02 3.67890786e-04 9.99859441e-01 7.82752692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.28, Y:5.68, Z:0.77 [[ 9.97052084e-01 -7.48794121e-02 1.67396219e-02 2.53277174e+02] [ 7.48741940e-02 9.97192546e-01 9.39113032e-04 5.67728180e+00] [-1.67629464e-02 3.17021092e-04 9.99859442e-01 7.72014160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.262320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:253.31, Y:5.68, Z:0.78 [[ 9.97183620e-01 -7.31066964e-02 1.67403115e-02 2.53308906e+02] [ 7.31014377e-02 9.97324080e-01 9.26654643e-04 5.67911408e+00] [-1.67632605e-02 2.99696008e-04 9.99859442e-01 7.81512928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:253.34, Y:5.68, Z:0.78 [[ 9.97329562e-01 -7.10875571e-02 1.67422532e-02 2.53341124e+02] [ 7.10826054e-02 9.97470034e-01 8.91409674e-04 5.68072384e+00] [-1.67632640e-02 3.01053760e-04 9.99859441e-01 7.81273377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.37, Y:5.68, Z:0.78 [[ 9.97410008e-01 -6.99502558e-02 1.67403180e-02 2.53374154e+02] [ 6.99445503e-02 9.97550450e-01 9.26787212e-04 5.68190034e+00] [-1.67641408e-02 2.46507173e-04 9.99859442e-01 7.81561942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.41, Y:5.68, Z:0.78 [[ 9.97470442e-01 -6.90827714e-02 1.67418040e-02 2.53405774e+02] [ 6.90774030e-02 9.97610898e-01 8.99420791e-04 5.68347228e+00] [-1.67639406e-02 2.59334687e-04 9.99859442e-01 7.82004303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:253.44, Y:5.69, Z:0.78 [[ 9.97610390e-01 -6.70316512e-02 1.67411642e-02 2.53437601e+02] [ 6.70257956e-02 9.97750827e-01 9.11246945e-04 5.68724886e+00] [-1.67645928e-02 2.13020426e-04 9.99859442e-01 7.82289073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.47, Y:5.69, Z:0.78 [[ 9.97785246e-01 -6.43765589e-02 1.67410027e-02 2.53470464e+02] [ 6.43702793e-02 9.97925664e-01 9.14241749e-04 5.69023928e+00] [-1.67651320e-02 1.65406091e-04 9.99859442e-01 7.81892359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.50, Y:5.69, Z:0.77 [[ 9.97869273e-01 -6.30603093e-02 1.67425083e-02 2.53502017e+02] [ 6.30543165e-02 9.98009703e-01 8.86104596e-04 5.69185584e+00] [-1.67650638e-02 1.71470869e-04 9.99859442e-01 7.69027952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:253.53, Y:5.69, Z:0.78 [[ 9.97901946e-01 -6.25412434e-02 1.67421127e-02 2.53532708e+02] [ 6.25350533e-02 9.98042368e-01 8.93516428e-04 5.69395466e+00] [-1.67652195e-02 1.55327130e-04 9.99859442e-01 7.78873474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.56, Y:5.70, Z:0.77 [[ 9.97936231e-01 -6.19918074e-02 1.67420014e-02 2.53564289e+02] [ 6.19855049e-02 9.98076648e-01 8.95604635e-04 5.69672000e+00] [-1.67653208e-02 1.44005095e-04 9.99859442e-01 7.68273335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.60, Y:5.70, Z:0.77 [[ 9.98019936e-01 -6.06291537e-02 1.67425575e-02 2.53597488e+02] [ 6.06228359e-02 9.98160352e-01 8.85084285e-04 5.70012590e+00] [-1.67654190e-02 1.31649557e-04 9.99859442e-01 7.68496502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.63, Y:5.70, Z:0.77 [[ 9.98007232e-01 -6.08377857e-02 1.67430218e-02 2.53630545e+02] [ 6.08316461e-02 9.98147656e-01 8.76212217e-04 5.70385299e+00] [-1.67653148e-02 1.44039449e-04 9.99859442e-01 7.68335780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.66, Y:5.71, Z:0.77 [[ 9.97879251e-01 -6.29019637e-02 1.67434797e-02 2.53662175e+02] [ 6.28962628e-02 9.98019693e-01 8.67374512e-04 5.70723445e+00] [-1.67648820e-02 1.87567269e-04 9.99859442e-01 7.67423585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.69, Y:5.71, Z:0.77 [[ 9.97805781e-01 -6.40567378e-02 1.67438767e-02 2.53694349e+02] [ 6.40513293e-02 9.97946235e-01 8.59640414e-04 5.71064292e+00] [-1.67645545e-02 2.14713387e-04 9.99859442e-01 7.65926058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.73, Y:5.71, Z:0.78 [[ 9.97700441e-01 -6.56769284e-02 1.67442714e-02 2.53725781e+02] [ 6.56718781e-02 9.97840909e-01 8.51883347e-04 5.71354527e+00] [-1.67640680e-02 2.49703358e-04 9.99859442e-01 7.77224712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.76, Y:5.71, Z:0.77 [[ 9.97325209e-01 -7.11478417e-02 1.67455310e-02 2.53757259e+02] [ 7.11439796e-02 9.97465714e-01 8.26988078e-04 5.71437183e+00] [-1.67619315e-02 3.66567663e-04 9.99859442e-01 7.65111945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.79, Y:5.72, Z:0.77 [[ 9.97216812e-01 -7.26515329e-02 1.67446930e-02 2.53788402e+02] [ 7.26476035e-02 9.97357315e-01 8.43621568e-04 5.71514358e+00] [-1.67617325e-02 3.75188209e-04 9.99859442e-01 7.74317025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:253.82, Y:5.72, Z:0.78 [[ 9.97062455e-01 -7.47398455e-02 1.67456389e-02 2.53819870e+02] [ 7.47365272e-02 9.97202974e-01 8.24746865e-04 5.71626696e+00] [-1.67604424e-02 4.29186765e-04 9.99859442e-01 7.75087634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.85, Y:5.72, Z:0.76 [[ 9.96790811e-01 -7.82798208e-02 1.67436357e-02 2.53851922e+02] [ 7.82763257e-02 9.96931326e-01 8.65008309e-04 5.71546366e+00] [-1.67599676e-02 4.48397946e-04 9.99859441e-01 7.63584511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:253.88, Y:5.72, Z:0.77 [[ 9.96711463e-01 -7.92833517e-02 1.67454587e-02 2.53882085e+02] [ 7.92806168e-02 9.96851994e-01 8.28146628e-04 5.71542749e+00] [-1.67584021e-02 5.02167057e-04 9.99859442e-01 7.70961584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.92, Y:5.71, Z:0.77 [[ 9.96823520e-01 -7.78624799e-02 1.67422860e-02 2.53915207e+02] [ 7.78584624e-02 9.96964023e-01 8.92627588e-04 5.71415163e+00] [-1.67609590e-02 4.13736473e-04 9.99859440e-01 7.70954605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.95, Y:5.72, Z:0.77 [[ 9.97024958e-01 -7.52383976e-02 1.67456483e-02 2.53948229e+02] [ 7.52351695e-02 9.97165478e-01 8.23557596e-04 5.71537775e+00] [-1.67601455e-02 4.38754207e-04 9.99859443e-01 7.69668619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.98, Y:5.72, Z:0.77 [[ 9.97150701e-01 -7.35511755e-02 1.67542516e-02 2.53979462e+02] [ 7.35507011e-02 9.97291270e-01 6.45332379e-04 5.71697892e+00] [-1.67563338e-02 5.88793317e-04 9.99859429e-01 7.71636791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.01, Y:5.72, Z:0.76 [[ 9.97279192e-01 -7.17894213e-02 1.67478748e-02 2.54010251e+02] [ 7.17864793e-02 9.97419719e-01 7.77554574e-04 5.71814295e+00] [-1.67604807e-02 4.26831967e-04 9.99859442e-01 7.59271212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.952320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:254.04, Y:5.72, Z:0.77 [[ 9.97404479e-01 -7.00275327e-02 1.67466259e-02 2.54041825e+02] [ 7.00239057e-02 9.97544990e-01 8.03581015e-04 5.71973569e+00] [-1.67617856e-02 3.71168848e-04 9.99859443e-01 7.68911815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.07, Y:5.72, Z:0.77 [[ 9.97483071e-01 -6.88988747e-02 1.67471776e-02 2.54073493e+02] [ 6.88952828e-02 9.97623583e-01 7.92006466e-04 5.72010258e+00] [-1.67619476e-02 3.63788492e-04 9.99859443e-01 7.67471021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.11, Y:5.72, Z:0.77 [[ 9.97623764e-01 -6.68312764e-02 1.67453310e-02 2.54106647e+02] [ 6.68267368e-02 9.97764249e-01 8.31135202e-04 5.72149918e+00] [-1.67634384e-02 2.89875598e-04 9.99859442e-01 7.66707379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.14, Y:5.72, Z:0.76 [[ 9.97600442e-01 -6.71779804e-02 1.67474699e-02 2.54139102e+02] [ 6.71742551e-02 9.97740950e-01 7.85515286e-04 5.72322571e+00] [-1.67624059e-02 3.41368422e-04 9.99859443e-01 7.64838542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.17, Y:5.73, Z:0.77 [[ 9.97703187e-01 -6.56345342e-02 1.67468678e-02 2.54171652e+02] [ 6.56303748e-02 9.97843683e-01 7.98432405e-04 5.72576314e+00] [-1.67631610e-02 3.02504657e-04 9.99859443e-01 7.65431454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.20, Y:5.73, Z:0.76 [[ 9.97718419e-01 -6.54018857e-02 1.67496114e-02 2.54202943e+02] [ 6.53986916e-02 9.97858940e-01 7.38948789e-04 5.72706737e+00] [-1.67620781e-02 3.58139853e-04 9.99859442e-01 7.56253895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.23, Y:5.73, Z:0.77 [[ 9.97881877e-01 -6.28590029e-02 1.67482761e-02 2.54234119e+02] [ 6.28549622e-02 9.98022376e-01 7.68066202e-04 5.72799397e+00] [-1.67634342e-02 2.86272917e-04 9.99859443e-01 7.67712213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.27, Y:5.73, Z:0.77 [[ 9.97912995e-01 -6.23633889e-02 1.67469863e-02 2.54265663e+02] [ 6.23588039e-02 9.98053478e-01 7.96348171e-04 5.72967432e+00] [-1.67640508e-02 2.49635843e-04 9.99859442e-01 7.67187490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.30, Y:5.73, Z:0.76 [[ 9.97984200e-01 -6.12132499e-02 1.67473630e-02 2.54296853e+02] [ 6.12086431e-02 9.98124682e-01 7.87995791e-04 5.73200528e+00] [-1.67641922e-02 2.38676016e-04 9.99859443e-01 7.57214099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.33, Y:5.73, Z:0.75 [[ 9.98110270e-01 -5.91215746e-02 1.67490094e-02 2.54329887e+02] [ 5.91172892e-02 9.98250761e-01 7.51290933e-04 5.73468598e+00] [-1.67641289e-02 2.40284839e-04 9.99859443e-01 7.54982517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.36, Y:5.74, Z:0.76 [[ 9.98290278e-01 -5.59998017e-02 1.67494051e-02 2.54361176e+02] [ 5.59952267e-02 9.98430760e-01 7.42364228e-04 5.73556099e+00] [-1.67646935e-02 1.96791744e-04 9.99859443e-01 7.62271479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.39, Y:5.74, Z:0.76 [[ 9.98364654e-01 -5.46575388e-02 1.67502513e-02 2.54392784e+02] [ 5.46530971e-02 9.98505141e-01 7.23159005e-04 5.73658741e+00] [-1.67647382e-02 1.93476723e-04 9.99859443e-01 7.61221099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.42, Y:5.74, Z:0.75 [[ 9.98364078e-01 -5.46681823e-02 1.67498682e-02 2.54423969e+02] [ 5.46635957e-02 9.98504560e-01 7.31884797e-04 5.73789665e+00] [-1.67648306e-02 1.84920532e-04 9.99859443e-01 7.51547474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.45, Y:5.74, Z:0.76 [[ 9.98335734e-01 -5.51833937e-02 1.67497939e-02 2.54454624e+02] [ 5.51788511e-02 9.98476217e-01 7.33582239e-04 5.74142958e+00] [-1.67647524e-02 1.91873019e-04 9.99859443e-01 7.60840086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.49, Y:5.74, Z:0.75 [[ 9.98317384e-01 -5.55141670e-02 1.67504826e-02 2.54486299e+02] [ 5.55099366e-02 9.98457877e-01 7.17750480e-04 5.74296673e+00] [-1.67644966e-02 2.13275445e-04 9.99859443e-01 7.53865445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.52, Y:5.74, Z:0.76 [[ 9.98166774e-01 -5.81594721e-02 1.67501170e-02 2.54517924e+02] [ 5.81554725e-02 9.98307274e-01 7.26183640e-04 5.74415479e+00] [-1.67639981e-02 2.49258586e-04 9.99859443e-01 7.60668211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.55, Y:5.75, Z:0.76 [[ 9.98073648e-01 -5.97361327e-02 1.67507603e-02 2.54548672e+02] [ 5.97326062e-02 9.98214160e-01 7.11213433e-04 5.74591420e+00] [-1.67633313e-02 2.90723185e-04 9.99859443e-01 7.62121771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46232058799998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:254.58, Y:5.75, Z:0.76 [[ 9.97898122e-01 -6.25997518e-02 1.67513771e-02 2.54580248e+02] [ 6.25968710e-02 9.98038650e-01 6.96766329e-04 5.74696768e+00] [-1.67621391e-02 3.53281976e-04 9.99859443e-01 7.59302609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.61, Y:5.74, Z:0.75 [[ 9.97512548e-01 -6.84700306e-02 1.67502928e-02 2.54612473e+02] [ 6.84675475e-02 9.97653083e-01 7.22337195e-04 5.74117581e+00] [-1.67604397e-02 4.26311055e-04 9.99859443e-01 7.54268222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.64, Y:5.74, Z:0.76 [[ 9.97331736e-01 -7.10547060e-02 1.67522131e-02 2.54643775e+02] [ 7.10533493e-02 9.97472287e-01 6.76912481e-04 5.73771743e+00] [-1.67579662e-02 5.15194553e-04 9.99859443e-01 7.56529134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.68, Y:5.73, Z:0.76 [[ 9.97164271e-01 -7.33681350e-02 1.67491249e-02 2.54676845e+02] [ 7.33658712e-02 9.97304811e-01 7.50397547e-04 5.73320865e+00] [-1.67590381e-02 4.80544518e-04 9.99859442e-01 7.59933682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.71, Y:5.73, Z:0.75 [[ 9.97028377e-01 -7.51916390e-02 1.67521029e-02 2.54707663e+02] [ 7.51908350e-02 9.97168931e-01 6.78727503e-04 5.73323442e+00] [-1.67557112e-02 5.82894026e-04 9.99859443e-01 7.51806274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.74, Y:5.73, Z:0.76 [[ 9.97106582e-01 -7.41475016e-02 1.67514559e-02 2.54739130e+02] [ 7.41462885e-02 9.97247134e-01 6.94338241e-04 5.73329889e+00] [-1.67568248e-02 5.49729049e-04 9.99859443e-01 7.60305798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.77, Y:5.73, Z:0.75 [[ 9.97038060e-01 -7.50636034e-02 1.67500061e-02 2.54771093e+02] [ 7.50619276e-02 9.97178607e-01 7.29596568e-04 5.73276156e+00] [-1.67575139e-02 5.29852201e-04 9.99859443e-01 7.50486875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.80, Y:5.73, Z:0.75 [[ 9.97093848e-01 -7.43184722e-02 1.67518204e-02 2.54802723e+02] [ 7.43174358e-02 9.97234400e-01 6.85245094e-04 5.72734774e+00] [-1.67564179e-02 5.61698666e-04 9.99859444e-01 7.48747202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.83, Y:5.72, Z:0.75 [[ 9.97241826e-01 -7.23057033e-02 1.67518643e-02 2.54834745e+02] [ 7.23044012e-02 9.97382377e-01 6.84168386e-04 5.71878843e+00] [-1.67574835e-02 5.28952189e-04 9.99859444e-01 7.47018611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.87, Y:5.72, Z:0.75 [[ 9.97212231e-01 -7.27127256e-02 1.67519081e-02 2.54866666e+02] [ 7.27114989e-02 9.97352782e-01 6.83095318e-04 5.71633241e+00] [-1.67572319e-02 5.36865341e-04 9.99859444e-01 7.45482594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.90, Y:5.72, Z:0.75 [[ 9.97278083e-01 -7.18038816e-02 1.67519522e-02 2.54898497e+02] [ 7.18025450e-02 9.97418633e-01 6.82013291e-04 5.71510691e+00] [-1.67576804e-02 5.22675890e-04 9.99859444e-01 7.54921516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.93, Y:5.71, Z:0.75 [[ 9.97164236e-01 -7.33680429e-02 1.67516015e-02 2.54930117e+02] [ 7.33667817e-02 9.97304787e-01 6.90654094e-04 5.71078548e+00] [-1.67571243e-02 5.40315526e-04 9.99859444e-01 7.45493025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.96, Y:5.71, Z:0.75 [[ 9.97096962e-01 -7.42765794e-02 1.67522647e-02 2.54960095e+02] [ 7.42757228e-02 9.97237516e-01 6.74174547e-04 5.70766856e+00] [-1.67560622e-02 5.72069175e-04 9.99859444e-01 7.53523777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.99, Y:5.70, Z:0.75 [[ 9.97281468e-01 -7.17583577e-02 1.67455156e-02 2.54991722e+02] [ 7.17542997e-02 9.97421981e-01 8.43812514e-04 5.70480565e+00] [-1.67628960e-02 3.60044165e-04 9.99859428e-01 7.45133442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.02, Y:5.70, Z:0.74 [[ 9.97454761e-01 -6.93061576e-02 1.67527764e-02 2.55022131e+02] [ 6.93048495e-02 9.97595310e-01 6.59335330e-04 5.69811647e+00] [-1.67581871e-02 5.03391479e-04 9.99859445e-01 7.43911057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.05, Y:5.70, Z:0.74 [[ 9.97608668e-01 -6.70543909e-02 1.67527333e-02 2.55052406e+02] [ 6.70527472e-02 9.97749213e-01 6.60427860e-04 5.69524674e+00] [-1.67593110e-02 4.64468231e-04 9.99859445e-01 7.43390336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.08, Y:5.69, Z:0.75 [[ 9.97848767e-01 -6.33812689e-02 1.67526899e-02 2.55081704e+02] [ 6.33790894e-02 9.97989305e-01 6.61526061e-04 5.69054206e+00] [-1.67609337e-02 4.01667267e-04 9.99859445e-01 7.54474922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.11, Y:5.69, Z:0.74 [[ 9.98111602e-01 -5.91000896e-02 1.67454086e-02 2.55113667e+02] [ 5.90941821e-02 9.98252052e-01 8.47810018e-04 5.68940614e+00] [-1.67662441e-02 1.43347207e-04 9.99859426e-01 7.42197800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:255.14, Y:5.69, Z:0.75 [[ 9.98156528e-01 -5.83341991e-02 1.67531163e-02 2.55143090e+02] [ 5.83315225e-02 9.98297056e-01 6.48787847e-04 5.68842537e+00] [-1.67624332e-02 3.29642957e-04 9.99859446e-01 7.54260045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.18, Y:5.68, Z:0.74 [[ 9.98491870e-01 -5.22835022e-02 1.67457942e-02 2.55175417e+02] [ 5.22768115e-02 9.98632282e-01 8.37338344e-04 5.68249858e+00] [-1.67666696e-02 3.93411961e-05 9.99859429e-01 7.41684527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.21, Y:5.68, Z:0.74 [[ 9.98580459e-01 -5.05608250e-02 1.67532297e-02 2.55208021e+02] [ 5.05571367e-02 9.98720963e-01 6.43878852e-04 5.68132768e+00] [-1.67643568e-02 2.04030486e-04 9.99859447e-01 7.42036059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.092320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:255.24, Y:5.68, Z:0.74 [[ 9.98740943e-01 -4.72847579e-02 1.67535195e-02 2.55240358e+02] [ 4.72807367e-02 9.98881438e-01 6.36249306e-04 5.67891800e+00] [-1.67648645e-02 1.56670512e-04 9.99859448e-01 7.41989211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.27, Y:5.68, Z:0.74 [[ 9.98876790e-01 -4.43223321e-02 1.67538103e-02 2.55272897e+02] [ 4.43180242e-02 9.99017276e-01 6.28497552e-04 5.67822759e+00] [-1.67652024e-02 1.14704153e-04 9.99859448e-01 7.40867606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.30, Y:5.68, Z:0.75 [[ 9.98820210e-01 -4.55794805e-02 1.67540968e-02 2.55301375e+02] [ 4.55754791e-02 9.98960705e-01 6.20765186e-04 5.67812428e+00] [-1.67649785e-02 1.43543175e-04 9.99859448e-01 7.51792501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18232058799998 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:255.33, Y:5.68, Z:0.74 [[ 9.99033496e-01 -4.06404069e-02 1.67461031e-02 2.55334611e+02] [ 4.06320975e-02 9.99173825e-01 8.36283153e-04 5.67778506e+00] [-1.67662548e-02 -1.55045589e-04 9.99859424e-01 7.39493234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.37, Y:5.68, Z:0.74 [[ 9.99122054e-01 -3.83980739e-02 1.67543621e-02 2.55367289e+02] [ 3.83932578e-02 9.99262521e-01 6.09127177e-04 5.67635638e+00] [-1.67653954e-02 3.46621461e-05 9.99859450e-01 7.38236590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24232058799998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:255.40, Y:5.67, Z:0.74 [[ 9.99118124e-01 -3.85000647e-02 1.67546743e-02 2.55400363e+02] [ 3.84954091e-02 9.99258597e-01 6.00415284e-04 5.67213471e+00] [-1.67653683e-02 4.50922480e-05 9.99859450e-01 7.38148130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.43, Y:5.67, Z:0.74 [[ 9.99115165e-01 -3.85766353e-02 1.67549798e-02 2.55433353e+02] [ 3.85721355e-02 9.99255643e-01 5.91763740e-04 5.67117718e+00] [-1.67653364e-02 5.50352252e-05 9.99859450e-01 7.38457303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.47, Y:5.67, Z:0.74 [[ 9.99092626e-01 -3.91559162e-02 1.67552817e-02 2.55466115e+02] [ 3.91516433e-02 9.99233110e-01 5.83090659e-04 5.67137907e+00] [-1.67652637e-02 7.34352330e-05 9.99859450e-01 7.38168981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.332320588 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:255.49, Y:5.67, Z:0.75 [[ 9.98837217e-01 -4.52046932e-02 1.67555760e-02 2.55493093e+02] [ 4.52014150e-02 9.98977728e-01 5.74506159e-04 5.67054112e+00] [-1.67644176e-02 1.83537611e-04 9.99859450e-01 7.47769736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.362320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:255.52, Y:5.67, Z:0.75 [[ 9.98874913e-01 -4.43676096e-02 1.67458714e-02 2.55524128e+02] [ 4.43594981e-02 9.99015266e-01 8.55707883e-04 5.67114128e+00] [-1.67673469e-02 -1.11906686e-04 9.99859412e-01 7.49018740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.56, Y:5.67, Z:0.74 [[ 9.99018560e-01 -4.10057427e-02 1.67465166e-02 2.55557595e+02] [ 4.09974776e-02 9.99158900e-01 8.36691489e-04 5.67063128e+00] [-1.67667403e-02 -1.49305385e-04 9.99859417e-01 7.36334457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.59, Y:5.67, Z:0.73 [[ 9.99040379e-01 -4.04667997e-02 1.67558424e-02 2.55589617e+02] [ 4.04631768e-02 9.99180876e-01 5.55322678e-04 5.67056164e+00] [-1.67645895e-02 1.23204835e-04 9.99859457e-01 7.34412007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.452320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:255.62, Y:5.67, Z:0.73 [[ 9.99099299e-01 -3.89849326e-02 1.67560886e-02 2.55622772e+02] [ 3.89812275e-02 9.99239793e-01 5.47791724e-04 5.67055895e+00] [-1.67647062e-02 1.05874577e-04 9.99859457e-01 7.33673853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.482320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:255.66, Y:5.67, Z:0.74 [[ 9.99202338e-01 -3.62479217e-02 1.67563669e-02 2.55655220e+02] [ 3.62439769e-02 9.99342826e-01 5.39143357e-04 5.66814753e+00] [-1.67648979e-02 6.86040715e-05 9.99859457e-01 7.35036353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.512320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:255.69, Y:5.67, Z:0.74 [[ 9.99259923e-01 -3.46240027e-02 1.67566088e-02 2.55688093e+02] [ 3.46199574e-02 9.99400408e-01 5.31518678e-04 5.66899736e+00] [-1.67649649e-02 4.89877690e-05 9.99859457e-01 7.35111289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542320588 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:255.72, Y:5.67, Z:0.75 [[ 9.99198615e-01 -3.63501678e-02 1.67568780e-02 2.55716518e+02] [ 3.63465098e-02 9.99339111e-01 5.22891305e-04 5.67144615e+00] [-1.67648107e-02 8.65817620e-05 9.99859457e-01 7.47153498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.75, Y:5.68, Z:0.73 [[ 9.99350676e-01 -3.19006690e-02 1.67503595e-02 2.55749816e+02] [ 3.18929041e-02 9.99491025e-01 7.30557815e-04 5.67512063e+00] [-1.67651393e-02 -1.95865837e-04 9.99859436e-01 7.31007240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:255.78, Y:5.68, Z:0.74 [[ 9.99344376e-01 -3.20939227e-02 1.67570146e-02 2.55780202e+02] [ 3.20898269e-02 9.99484857e-01 5.13316628e-04 5.67558325e+00] [-1.67648567e-02 2.47496135e-05 9.99859460e-01 7.40223399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.632320588 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:255.81, Y:5.67, Z:0.73 [[ 9.99415427e-01 -2.98005591e-02 1.67550258e-02 2.55812047e+02] [ 2.97950467e-02 9.99555862e-01 5.78585998e-04 5.67232266e+00] [-1.67648264e-02 -7.90309952e-05 9.99859457e-01 7.31322894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662320588 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:255.84, Y:5.67, Z:0.73 [[ 9.99444582e-01 -2.88049162e-02 1.67571930e-02 2.55844932e+02] [ 2.88004649e-02 9.99585052e-01 5.06949411e-04 5.67259949e+00] [-1.67648423e-02 -2.40528920e-05 9.99859460e-01 7.32176972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.692320588 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:255.87, Y:5.67, Z:0.74 [[ 9.99414824e-01 -2.98194270e-02 1.67574518e-02 2.55874145e+02] [ 2.98152642e-02 9.99555302e-01 4.98245843e-04 5.67311880e+00] [-1.67648572e-02 1.67357264e-06 9.99859460e-01 7.42458678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.91, Y:5.67, Z:0.73 [[ 9.99499625e-01 -2.68288768e-02 1.67544230e-02 2.55906223e+02] [ 2.68225792e-02 9.99640030e-01 6.00520065e-04 5.67488688e+00] [-1.67645032e-02 -1.50822741e-04 9.99859454e-01 7.32524673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.752320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:255.94, Y:5.68, Z:0.73 [[ 9.99541672e-01 -2.52116096e-02 1.67577083e-02 2.55938522e+02] [ 2.52069774e-02 9.99682135e-01 4.87620845e-04 5.67854015e+00] [-1.67646753e-02 -6.49861798e-05 9.99859461e-01 7.31306156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782320588 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:255.97, Y:5.68, Z:0.74 [[ 9.99566785e-01 -2.41953345e-02 1.67579534e-02 2.55969218e+02] [ 2.41907031e-02 9.99707247e-01 4.79048435e-04 5.67965546e+00] [-1.67646382e-02 -7.34542293e-05 9.99859461e-01 7.40884016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.812320588 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:256.00, Y:5.68, Z:0.74 [[ 9.99606189e-01 -2.25084154e-02 1.67582348e-02 2.56003394e+02] [ 2.25037138e-02 9.99746649e-01 4.69094689e-04 5.67834387e+00] [-1.67645477e-02 -9.17874328e-05 9.99859461e-01 7.41388989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:256.03, Y:5.68, Z:0.74 [[ 9.99547358e-01 -2.49822270e-02 1.67620850e-02 2.56033896e+02] [ 2.49801754e-02 9.99687892e-01 3.31794495e-04 5.67560565e+00] [-1.67651424e-02 8.70755119e-05 9.99859451e-01 7.41539272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:5.67, Z:0.73 [[ 9.99500616e-01 -2.67883157e-02 1.67602385e-02 2.56063378e+02] [ 2.67854237e-02 9.99641127e-01 3.97045832e-04 5.67360735e+00] [-1.67648599e-02 5.20825374e-05 9.99859459e-01 7.28181397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:256.10, Y:5.67, Z:0.73 [[ 9.99506573e-01 -2.65665424e-02 1.67579843e-02 2.56095840e+02] [ 2.65622895e-02 9.99647047e-01 4.76349305e-04 5.67477085e+00] [-1.67647245e-02 -3.09838293e-05 9.99859462e-01 7.26590877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93232058799998 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:256.11, Y:5.64, Z:0.73 [[ 9.95410112e-01 -9.42224576e-02 1.67581915e-02 2.56109746e+02] [ 9.42278557e-02 9.95550547e-01 4.68947473e-04 5.64403406e+00] [-1.67278121e-02 1.11229339e-03 9.99859462e-01 7.25415729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.15, Y:5.68, Z:0.73 [[ 9.99664232e-01 -1.97925621e-02 1.67235391e-02 2.56153154e+02] [ 1.97673485e-02 9.99803209e-01 1.67164517e-03 5.67722066e+00] [-1.67533342e-02 -1.34050386e-03 9.99858754e-01 7.25451614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.19, Y:5.68, Z:0.72 [[ 9.99709215e-01 -1.73416475e-02 1.67556623e-02 2.56185298e+02] [ 1.73367902e-02 9.99849612e-01 4.35112543e-04 5.67997305e+00] [-1.67606880e-02 -1.44496617e-04 9.99859519e-01 7.24967852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.22, Y:5.68, Z:0.73 [[ 9.99745552e-01 -1.51022363e-02 1.67557305e-02 2.56217873e+02] [ 1.50971088e-02 9.99885939e-01 4.32469754e-04 5.68215237e+00] [-1.67603506e-02 -1.79396626e-04 9.99859519e-01 7.25052712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:256.25, Y:5.69, Z:0.73 [[ 9.99812241e-01 -9.73273172e-03 1.67557991e-02 2.56249763e+02] [ 9.72689511e-03 9.99952600e-01 4.29796721e-04 5.68626357e+00] [-1.67591880e-02 -2.66734123e-04 9.99859519e-01 7.25110701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:256.28, Y:5.69, Z:0.72 [[ 9.99816892e-01 -9.24224888e-03 1.67559820e-02 2.56283107e+02] [ 9.23646493e-03 9.99957254e-01 4.22544483e-04 5.68742524e+00] [-1.67591710e-02 -2.67701072e-04 9.99859519e-01 7.24549232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.112320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:256.32, Y:5.69, Z:0.72 [[ 9.99838221e-01 -6.53927243e-03 1.67561852e-02 2.56316009e+02] [ 6.53324674e-03 9.99978572e-01 4.14325219e-04 5.69179979e+00] [-1.67585355e-02 -3.04785897e-04 9.99859519e-01 7.23347615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:256.35, Y:5.70, Z:0.72 [[ 9.99843806e-01 -5.62030930e-03 1.67563840e-02 2.56348693e+02] [ 5.61429205e-03 9.99984157e-01 4.06121560e-04 5.69506815e+00] [-1.67584011e-02 -3.11982892e-04 9.99859519e-01 7.22244255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.38, Y:5.70, Z:0.72 [[ 9.99839265e-01 -6.37664025e-03 1.67565792e-02 2.56380391e+02] [ 6.37086688e-03 9.99979627e-01 3.97902103e-04 5.69765821e+00] [-1.67587751e-02 -2.91084211e-04 9.99859519e-01 7.21913559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.41, Y:5.70, Z:0.72 [[ 9.99839502e-01 -6.33921262e-03 1.67566408e-02 2.56412709e+02] [ 6.33347775e-03 9.99979865e-01 3.95290634e-04 5.70042184e+00] [-1.67588093e-02 -2.89099378e-04 9.99859519e-01 7.21222992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.45, Y:5.71, Z:0.72 [[ 9.99836411e-01 -6.80886182e-03 1.67568248e-02 2.56445076e+02] [ 6.80332621e-03 9.99976782e-01 3.87333337e-04 5.70700359e+00] [-1.67590730e-02 -2.73267829e-04 9.99859520e-01 7.21572554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.48, Y:5.71, Z:0.72 [[ 9.99832008e-01 -7.42697237e-03 1.67569884e-02 2.56478100e+02] [ 7.42164444e-03 9.99972387e-01 3.80117566e-04 5.71208290e+00] [-1.67593488e-02 -2.55689299e-04 9.99859520e-01 7.21415586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29232058799994 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:256.49, Y:5.68, Z:0.72 [[ 9.96761613e-01 -7.86478515e-02 1.67571736e-02 2.56492800e+02] [ 7.86526793e-02 9.96902010e-01 3.71769810e-04 5.67817879e+00] [-1.67344990e-02 9.47430728e-04 9.99859520e-01 7.22461941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.54, Y:5.71, Z:0.72 [[ 9.99840805e-01 -6.19495707e-03 1.67327930e-02 2.56535526e+02] [ 6.17100530e-03 9.99979860e-01 1.48268072e-03 5.71335400e+00] [-1.67416412e-02 -1.37918653e-03 9.99858898e-01 7.20980587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35232058799994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:256.57, Y:5.72, Z:0.73 [[ 9.99829606e-01 -7.74741842e-03 1.67552139e-02 2.56569386e+02] [ 7.74307514e-03 9.99969969e-01 3.24078048e-04 5.71860680e+00] [-1.67572215e-02 -1.94285947e-04 9.99859569e-01 7.32783246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:5.72, Z:0.72 [[ 9.99798059e-01 -1.10882899e-02 1.67598125e-02 2.56597205e+02] [ 1.10884866e-02 9.99938518e-01 8.11965059e-05 5.72056084e+00] [-1.67596824e-02 1.04660847e-04 9.99859541e-01 7.19507103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:256.63, Y:5.72, Z:0.72 [[ 9.99775194e-01 -1.29933171e-02 1.67551538e-02 2.56630411e+02] [ 1.29897295e-02 9.99915578e-01 3.22934411e-04 5.72222991e+00] [-1.67579353e-02 -1.05216898e-04 9.99859570e-01 7.19933214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:256.66, Y:5.72, Z:0.73 [[ 9.99753816e-01 -1.45453299e-02 1.67553128e-02 2.56664870e+02] [ 1.45421023e-02 9.99894209e-01 3.14463018e-04 5.72280986e+00] [-1.67581142e-02 -7.07281302e-05 9.99859570e-01 7.32726611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47232058799995 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:256.70, Y:5.72, Z:0.73 [[ 9.99725222e-01 -1.63887677e-02 1.67597537e-02 2.56696557e+02] [ 1.63898214e-02 9.99865675e-01 7.44898713e-05 5.72281675e+00] [-1.67587232e-02 2.00219967e-04 9.99859543e-01 7.30789519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.502320588 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:256.73, Y:5.72, Z:0.73 [[ 9.99619295e-01 -2.19172863e-02 1.67600256e-02 2.56727205e+02] [ 2.19193589e-02 9.99759740e-01 6.00454619e-05 5.71982213e+00] [-1.67573149e-02 3.07346415e-04 9.99859539e-01 7.32312359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53232058799995 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:256.76, Y:5.72, Z:0.73 [[ 9.99635611e-01 -2.11624249e-02 1.67569895e-02 2.56760026e+02] [ 2.11617277e-02 9.99776042e-01 2.18938697e-04 5.71823661e+00] [-1.67578699e-02 1.35747931e-04 9.99859568e-01 7.30608672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:256.79, Y:5.72, Z:0.73 [[ 9.99579286e-01 -2.36721334e-02 1.67595313e-02 2.56791638e+02] [ 2.36740324e-02 9.99719727e-01 8.51025875e-05 5.71791892e+00] [-1.67568486e-02 3.11698903e-04 9.99859546e-01 7.31136430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.82, Y:5.72, Z:0.72 [[ 9.99439282e-01 -2.89873053e-02 1.67588024e-02 2.56820122e+02] [ 2.89893063e-02 9.99579714e-01 1.23573875e-04 5.71697134e+00] [-1.67553410e-02 3.62321470e-04 9.99859554e-01 7.16630185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:256.85, Y:5.72, Z:0.71 [[ 9.99393810e-01 -3.05169419e-02 1.67549469e-02 2.56851693e+02] [ 3.05158085e-02 9.99534232e-01 3.23362105e-04 5.71634277e+00] [-1.67570110e-02 1.88124665e-04 9.99859574e-01 7.14319831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.88, Y:5.71, Z:0.71 [[ 9.99317630e-01 -3.29171836e-02 1.67550905e-02 2.56884774e+02] [ 3.29165152e-02 9.99458055e-01 3.15741251e-04 5.71297638e+00] [-1.67564035e-02 2.35993394e-04 9.99859574e-01 7.14069185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.92, Y:5.71, Z:0.71 [[ 9.99309597e-01 -3.31600926e-02 1.67552492e-02 2.56918074e+02] [ 3.31596035e-02 9.99450022e-01 3.07085672e-04 5.71210395e+00] [-1.67562171e-02 2.48723760e-04 9.99859574e-01 7.13984816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71232058799995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:256.95, Y:5.71, Z:0.71 [[ 9.99310200e-01 -3.31418185e-02 1.67554048e-02 2.56950540e+02] [ 3.31414734e-02 9.99450626e-01 2.98343773e-04 5.71103909e+00] [-1.67560875e-02 2.57160827e-04 9.99859574e-01 7.14148071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.98, Y:5.71, Z:0.71 [[ 9.99203369e-01 -3.62198687e-02 1.67555359e-02 2.56983242e+02] [ 3.62200828e-02 9.99343795e-01 2.90788404e-04 5.70824891e+00] [-1.67550732e-02 3.16330146e-04 9.99859574e-01 7.11417813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77232058799996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:257.01, Y:5.71, Z:0.72 [[ 9.99117083e-01 -3.85266227e-02 1.67556811e-02 2.57013296e+02] [ 3.85273054e-02 9.99257508e-01 2.82171225e-04 5.70627598e+00] [-1.67541112e-02 3.63629150e-04 9.99859574e-01 7.20679781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.05, Y:5.70, Z:0.71 [[ 9.98991316e-01 -4.16611903e-02 1.67539551e-02 2.57046181e+02] [ 4.16605991e-02 9.99131746e-01 3.84454588e-04 5.69996123e+00] [-1.67554253e-02 3.13913014e-04 9.99859569e-01 7.08795381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.08, Y:5.70, Z:0.72 [[ 9.98975242e-01 -4.20441523e-02 1.67557696e-02 2.57077249e+02] [ 4.20454805e-02 9.99115660e-01 2.73157819e-04 5.69716967e+00] [-1.67524365e-02 4.31626487e-04 9.99859575e-01 7.19580433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.11, Y:5.69, Z:0.71 [[ 9.98877249e-01 -4.43110051e-02 1.67563503e-02 2.57107647e+02] [ 4.43132536e-02 9.99017657e-01 2.37258888e-04 5.69455823e+00] [-1.67504030e-02 5.05535896e-04 9.99859574e-01 7.07032769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.14, Y:5.69, Z:0.71 [[ 9.98801701e-01 -4.59826537e-02 1.67558121e-02 2.57139393e+02] [ 4.59845786e-02 9.98942113e-01 2.70587706e-04 5.68791769e+00] [-1.67505287e-02 5.00245497e-04 9.99859575e-01 7.06519022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.922320588 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:257.17, Y:5.68, Z:0.72 [[ 9.98796903e-01 -4.60867264e-02 1.67559295e-02 2.57170264e+02] [ 4.60887912e-02 9.98937312e-01 2.63114836e-04 5.68349662e+00] [-1.67502492e-02 5.09462251e-04 9.99859575e-01 7.17251523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95232058799996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:257.20, Y:5.68, Z:0.72 [[ 9.98787832e-01 -4.62824403e-02 1.67571565e-02 2.57201246e+02] [ 4.62858461e-02 9.98928219e-01 1.84742124e-04 5.67525736e+00] [-1.67477468e-02 5.91100982e-04 9.99859572e-01 7.19234382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.982320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:257.23, Y:5.67, Z:0.72 [[ 9.98723257e-01 -4.76552314e-02 1.67581299e-02 2.57231541e+02] [ 4.76598612e-02 9.98863616e-01 1.23223714e-04 5.67235185e+00] [-1.67449585e-02 6.75623754e-04 9.99859565e-01 7.16193223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01232058799997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:257.26, Y:5.67, Z:0.71 [[ 9.98769314e-01 -4.66805784e-02 1.67565142e-02 2.57263242e+02] [ 4.66833765e-02 9.98909712e-01 2.24344917e-04 5.66874739e+00] [-1.67487173e-02 5.58181843e-04 9.99859575e-01 7.14342851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.29, Y:5.66, Z:0.70 [[ 9.98696607e-01 -4.82102841e-02 1.67587411e-02 2.57292347e+02] [ 4.82155925e-02 9.98836948e-01 8.73841667e-05 5.66019751e+00] [-1.67434626e-02 7.20762361e-04 9.99859559e-01 7.00979833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.32, Y:5.66, Z:0.70 [[ 9.98800424e-01 -4.60104185e-02 1.67557139e-02 2.57322112e+02] [ 4.60123048e-02 9.98940836e-01 2.73119775e-04 5.65590470e+00] [-1.67505332e-02 4.98176869e-04 9.99859576e-01 7.00972270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.35, Y:5.65, Z:0.70 [[ 9.98993971e-01 -4.15967863e-02 1.67556963e-02 2.57351965e+02] [ 4.15980341e-02 9.99134390e-01 2.74197222e-04 5.65061781e+00] [-1.67525981e-02 4.23082653e-04 9.99859576e-01 7.02941406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.38, Y:5.65, Z:0.70 [[ 9.99125940e-01 -3.82962580e-02 1.67556786e-02 2.57383158e+02] [ 3.82970239e-02 9.99266362e-01 2.75271218e-04 5.64861677e+00] [-1.67539279e-02 3.66662011e-04 9.99859576e-01 7.02746864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.42, Y:5.65, Z:0.70 [[ 9.99269829e-01 -3.43373694e-02 1.67556961e-02 2.57415376e+02] [ 3.43375969e-02 9.99410253e-01 2.74204736e-04 5.64700970e+00] [-1.67552299e-02 3.01345818e-04 9.99859576e-01 7.01568126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.192320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:257.45, Y:5.64, Z:0.71 [[ 9.99589599e-01 -2.32352450e-02 1.67558148e-02 2.57448635e+02] [ 2.32340376e-02 9.99730018e-01 2.66747060e-04 5.64468834e+00] [-1.67574890e-02 1.22667645e-04 9.99859576e-01 7.12570541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.48, Y:5.64, Z:0.71 [[ 9.99665036e-01 -1.97223264e-02 1.67584212e-02 2.57478761e+02] [ 1.97234055e-02 9.99805470e-01 1.00902844e-04 5.64454390e+00] [-1.67571513e-02 2.29664092e-04 9.99859563e-01 7.11317601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.51, Y:5.65, Z:0.71 [[ 9.99715717e-01 -1.69605735e-02 1.67578361e-02 2.57506915e+02] [ 1.69606461e-02 9.99856148e-01 1.37796934e-04 5.64700338e+00] [-1.67577626e-02 1.46465967e-04 9.99859568e-01 7.08931565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.54, Y:5.65, Z:0.70 [[ 9.99779359e-01 -1.26701296e-02 1.67541324e-02 2.57539428e+02] [ 1.26656372e-02 9.99919718e-01 3.74226995e-04 5.64891941e+00] [-1.67575289e-02 -1.61942664e-04 9.99859570e-01 6.97056354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.57, Y:5.65, Z:0.70 [[ 9.99809085e-01 -1.00514389e-02 1.67559572e-02 2.57571083e+02] [ 1.00485982e-02 9.99949479e-01 2.53722998e-04 5.65012786e+00] [-1.67576610e-02 -8.53006777e-05 9.99859577e-01 6.95801451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34232058799995 meters Centerline goodness : 0.984645 Centerline is valid? [True, True] Translation: X:257.58, Y:5.61, Z:0.69 [[ 9.95101088e-01 -9.74323303e-02 1.67560651e-02 2.57583679e+02] [ 9.74418986e-02 9.95241185e-01 2.46389871e-04 5.60840297e+00] [-1.67003324e-02 1.38755996e-03 9.99859577e-01 6.91861061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:5.65, Z:0.70 [[ 9.99850175e-01 -4.41767672e-03 1.67365261e-02 2.57628063e+02] [ 4.39307047e-03 9.99989215e-01 1.50669234e-03 5.64914328e+00] [-1.67430017e-02 -1.43294186e-03 9.99858799e-01 6.95323943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.66, Y:5.65, Z:0.69 [[ 9.99853044e-01 -3.63813867e-03 1.67527688e-02 2.57660966e+02] [ 3.63513733e-03 9.99993371e-01 2.09603510e-04 5.65030486e+00] [-1.67534203e-02 -1.48674092e-04 9.99859641e-01 6.94823029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.69, Y:5.65, Z:0.69 [[ 9.99849605e-01 -4.48422756e-03 1.67528690e-02 2.57693249e+02] [ 4.48148472e-03 9.99989938e-01 2.01261524e-04 5.65083340e+00] [-1.67536030e-02 -1.26153528e-04 9.99859641e-01 6.93465114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.72, Y:5.65, Z:0.70 [[ 9.99833603e-01 -7.21830985e-03 1.67529544e-02 2.57724763e+02] [ 7.21607440e-03 9.99973945e-01 1.93882733e-04 5.64979698e+00] [-1.67539174e-02 -7.29599065e-05 9.99859641e-01 7.03214632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.76, Y:5.65, Z:0.69 [[ 9.99817713e-01 -9.15738492e-03 1.67535919e-02 2.57755230e+02] [ 9.15634888e-03 9.99958070e-01 1.38546599e-04 5.64846622e+00] [-1.67541581e-02 1.48803880e-05 9.99859639e-01 6.92372577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.79, Y:5.64, Z:0.70 [[ 9.99832678e-01 -7.34534919e-03 1.67529550e-02 2.57792358e+02] [ 7.34313550e-03 9.99973020e-01 1.93648354e-04 5.64291080e+00] [-1.67539254e-02 -7.05967344e-05 9.99859641e-01 7.00847039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.82, Y:5.64, Z:0.69 [[ 9.99722103e-01 -1.65798784e-02 1.67577960e-02 2.57817226e+02] [ 1.65865484e-02 9.99862400e-01 -2.59104180e-04 5.63819036e+00] [-1.67511942e-02 5.36986170e-04 9.99859545e-01 6.88730083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.85, Y:5.63, Z:0.69 [[ 9.99692967e-01 -1.82571645e-02 1.67525550e-02 2.57848996e+02] [ 1.82564786e-02 9.99833318e-01 1.93887519e-04 5.63360639e+00] [-1.67533025e-02 1.12014672e-04 9.99859647e-01 6.88248467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.88, Y:5.63, Z:0.69 [[ 9.99677264e-01 -1.90976309e-02 1.67525856e-02 2.57881218e+02] [ 1.90971079e-02 9.99817615e-01 1.91203920e-04 5.62657017e+00] [-1.67531818e-02 1.28783725e-04 9.99859647e-01 6.88452475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.91, Y:5.62, Z:0.69 [[ 9.99700676e-01 -1.78299409e-02 1.67526684e-02 2.57914396e+02] [ 1.78293666e-02 9.99841027e-01 1.83649844e-04 5.62398991e+00] [-1.67532797e-02 1.15094594e-04 9.99859647e-01 6.87454080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.95, Y:5.62, Z:0.69 [[ 9.99755985e-01 -1.43984746e-02 1.67527586e-02 2.57947718e+02] [ 1.43975630e-02 9.99896334e-01 1.75024594e-04 5.61957397e+00] [-1.67535420e-02 6.62170118e-05 9.99859647e-01 6.87235620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.98, Y:5.62, Z:0.69 [[ 9.99782523e-01 -1.24197094e-02 1.67528446e-02 2.57980356e+02] [ 1.24186653e-02 9.99922872e-01 1.66356689e-04 5.61751993e+00] [-1.67536186e-02 4.17274609e-05 9.99859647e-01 6.87194439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.01, Y:5.62, Z:0.70 [[ 9.99826774e-01 -8.10940844e-03 1.67529245e-02 2.58014390e+02] [ 8.10790132e-03 9.99967118e-01 1.57880992e-04 5.61523465e+00] [-1.67536540e-02 -2.20225837e-05 9.99859647e-01 6.97769588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:258.04, Y:5.61, Z:0.69 [[ 9.99825454e-01 -8.26665733e-03 1.67548455e-02 2.58043399e+02] [ 8.26872884e-03 9.99965812e-01 -5.43635172e-05 5.60688077e+00] [-1.67538233e-02 1.92895302e-04 9.99859626e-01 6.89327319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.08, Y:5.60, Z:0.69 [[ 9.99836252e-01 -6.84173788e-03 1.67528807e-02 2.58075825e+02] [ 6.84007956e-03 9.99976594e-01 1.56285866e-04 5.60435780e+00] [-1.67535579e-02 -4.16692372e-05 9.99859648e-01 6.88397667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.11, Y:5.60, Z:0.68 [[ 9.99855062e-01 -3.03218088e-03 1.67529553e-02 2.58108495e+02] [ 3.03012951e-03 9.99995398e-01 1.47830576e-04 5.60428110e+00] [-1.67533265e-02 -9.70455251e-05 9.99859648e-01 6.84674360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.14, Y:5.61, Z:0.68 [[ 9.99858930e-01 -1.20662783e-03 1.67530259e-02 2.58140930e+02] [ 1.20446231e-03 9.99999265e-01 1.39351087e-04 5.60570050e+00] [-1.67531817e-02 -1.19153041e-04 9.99859649e-01 6.84087015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.17, Y:5.61, Z:0.69 [[ 9.99858086e-01 1.77247888e-03 1.67530906e-02 2.58173470e+02] [-1.77492396e-03 9.99998416e-01 1.31080453e-04 5.60577187e+00] [-1.67528317e-02 -1.60797313e-04 9.99859649e-01 6.85976852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91232058799994 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:258.21, Y:5.60, Z:0.69 [[ 9.99835845e-01 6.90033860e-03 1.67531515e-02 2.58206771e+02] [-6.90336405e-03 9.99976164e-01 1.22765314e-04 5.60416590e+00] [-1.67519051e-02 -2.38398266e-04 9.99859649e-01 6.87570305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.24, Y:5.60, Z:0.69 [[ 9.99815654e-01 9.38018090e-03 1.67532079e-02 2.58239940e+02] [-9.38341621e-03 9.99955968e-01 1.14517612e-04 5.60376381e+00] [-1.67513960e-02 -2.71698824e-04 9.99859649e-01 6.86739038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.27, Y:5.60, Z:0.69 [[ 9.99810920e-01 9.87182905e-03 1.67532596e-02 2.58273240e+02] [-9.87499691e-03 9.99951235e-01 1.06372598e-04 5.60429927e+00] [-1.67513926e-02 -2.71790872e-04 9.99859649e-01 6.86177529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.31, Y:5.60, Z:0.68 [[ 9.99782686e-01 1.24059319e-02 1.67533079e-02 2.58305689e+02] [-1.24093174e-02 9.99922997e-01 9.81354565e-05 5.60376763e+00] [-1.67508003e-02 -3.06011246e-04 9.99859649e-01 6.84075229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.34, Y:5.60, Z:0.68 [[ 9.99761094e-01 1.40385333e-02 1.67533520e-02 2.58338070e+02] [-1.40420103e-02 9.99901402e-01 8.99140666e-05 5.60386768e+00] [-1.67504379e-02 -3.25143326e-04 9.99859649e-01 6.83321424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.37, Y:5.61, Z:0.69 [[ 9.99732509e-01 1.59447046e-02 1.67533920e-02 2.58369882e+02] [-1.59483116e-02 9.99872814e-01 8.17048629e-05 5.60559085e+00] [-1.67499585e-02 -3.48871323e-04 9.99859649e-01 6.85150402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:258.40, Y:5.61, Z:0.68 [[ 9.99710753e-01 1.72549394e-02 1.67534232e-02 2.58402905e+02] [-1.72586132e-02 9.99851056e-01 7.47177430e-05 5.60737408e+00] [-1.67496386e-02 -3.63836982e-04 9.99859649e-01 6.84229698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.44, Y:5.61, Z:0.68 [[ 9.99673179e-01 1.93095027e-02 1.67534554e-02 2.58435262e+02] [-1.93133294e-02 9.99813478e-01 6.66323624e-05 5.60866019e+00] [-1.67490438e-02 -3.90175587e-04 9.99859649e-01 6.83587441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.47, Y:5.61, Z:0.68 [[ 9.99570300e-01 2.40527847e-02 1.67534835e-02 2.58467710e+02] [-2.40571421e-02 9.99710583e-01 5.85739260e-05 5.60902818e+00] [-1.67472259e-02 -4.61589691e-04 9.99859649e-01 6.82808746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.50, Y:5.61, Z:0.68 [[ 9.99517265e-01 2.61640483e-02 1.67535079e-02 2.58500250e+02] [-2.61685664e-02 9.99657543e-01 5.04782966e-05 5.60930604e+00] [-1.67464498e-02 -4.88869213e-04 9.99859649e-01 6.82258485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:258.53, Y:5.61, Z:0.68 [[ 9.99410384e-01 2.99700579e-02 1.67535279e-02 2.58532300e+02] [-2.99749785e-02 9.99550648e-01 4.26183815e-05 5.61296475e+00] [-1.67447224e-02 -5.44779892e-04 9.99859649e-01 6.81685971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:5.62, Z:0.68 [[ 9.99343604e-01 3.21197675e-02 1.67535427e-02 2.58565634e+02] [-3.21248739e-02 9.99483862e-01 3.56942381e-05 5.61539230e+00] [-1.67437490e-02 -5.73876255e-04 9.99859649e-01 6.81892468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:258.60, Y:5.62, Z:0.68 [[ 9.99276024e-01 3.41576754e-02 1.67535493e-02 2.58598881e+02] [-3.41630106e-02 9.99416273e-01 3.22757078e-05 5.61746151e+00] [-1.67426673e-02 -6.04604021e-04 9.99859649e-01 6.81283993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.63, Y:5.62, Z:0.68 [[ 9.99269099e-01 3.43596648e-02 1.67535607e-02 2.58631700e+02] [-3.43648965e-02 9.99409352e-01 2.44013632e-05 5.61731940e+00] [-1.67428268e-02 -6.00117909e-04 9.99859649e-01 6.81031270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.66, Y:5.62, Z:0.68 [[ 9.99258893e-01 3.46551930e-02 1.67535685e-02 2.58663304e+02] [-3.46603346e-02 9.99399150e-01 1.65414291e-05 5.61668669e+00] [-1.67429289e-02 -5.97213459e-04 9.99859649e-01 6.80624581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:258.70, Y:5.62, Z:0.68 [[ 9.99284291e-01 3.39149391e-02 1.67535713e-02 2.58696041e+02] [-3.39199148e-02 9.99424554e-01 1.28406884e-05 5.61808368e+00] [-1.67434951e-02 -5.81111210e-04 9.99859649e-01 6.79208349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.73, Y:5.62, Z:0.68 [[ 9.99273587e-01 3.42288783e-02 1.67535736e-02 2.58728802e+02] [-3.42337657e-02 9.99413853e-01 4.93734982e-06 5.61956048e+00] [-1.67435846e-02 -5.78471678e-04 9.99859649e-01 6.77601400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.76, Y:5.62, Z:0.68 [[ 9.99286670e-01 3.38447867e-02 1.67535722e-02 2.58761077e+02] [-3.38494864e-02 9.99426942e-01 -3.05600066e-06 5.62092939e+00] [-1.67440749e-02 -5.64045993e-04 9.99859649e-01 6.76038942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.79, Y:5.62, Z:0.69 [[ 9.99282226e-01 3.39757296e-02 1.67535681e-02 2.58791901e+02] [-3.39803328e-02 9.99422502e-01 -9.91064315e-06 5.62180699e+00] [-1.67442297e-02 -5.59388292e-04 9.99859649e-01 6.85269081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:258.82, Y:5.62, Z:0.68 [[ 9.99279692e-01 3.40501921e-02 1.67535493e-02 2.58822329e+02] [-3.40543259e-02 9.99419982e-01 -3.85616661e-05 5.62232794e+00] [-1.67451450e-02 -5.31996939e-04 9.99859649e-01 6.75470434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:258.86, Y:5.62, Z:0.67 [[ 9.99336957e-01 3.23259159e-02 1.67535674e-02 2.58855445e+02] [-3.23302702e-02 9.99477240e-01 -1.09486219e-05 5.62267604e+00] [-1.67451632e-02 -5.30705997e-04 9.99859649e-01 6.74368889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.89, Y:5.62, Z:0.67 [[ 9.99334260e-01 3.24091879e-02 1.67535585e-02 2.58888493e+02] [-3.24134213e-02 9.99474547e-01 -1.88617226e-05 5.62144210e+00] [-1.67453665e-02 -5.24190983e-04 9.99859649e-01 6.74321900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57232058799997 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:258.92, Y:5.62, Z:0.67 [[ 9.99373796e-01 3.11662326e-02 1.67535457e-02 2.58921209e+02] [-3.11701579e-02 9.99514092e-01 -2.68368943e-05 5.62005205e+00] [-1.67462414e-02 -4.95390575e-04 9.99859649e-01 6.73916732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.95, Y:5.62, Z:0.67 [[ 9.99407716e-01 3.00588771e-02 1.67535291e-02 2.58953545e+02] [-3.00625136e-02 9.99548020e-01 -3.48005731e-05 5.62037192e+00] [-1.67470029e-02 -4.68873237e-04 9.99859649e-01 6.73932471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:258.99, Y:5.62, Z:0.67 [[ 9.99432019e-01 2.92396901e-02 1.67535120e-02 2.58986479e+02] [-2.92430962e-02 9.99572328e-01 -4.16884930e-05 5.62226735e+00] [-1.67475660e-02 -4.48259748e-04 9.99859649e-01 6.72693610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.02, Y:5.62, Z:0.67 [[ 9.99465875e-01 2.80586159e-02 1.67534886e-02 2.59019305e+02] [-2.80617236e-02 9.99606191e-01 -4.96015608e-05 5.62214982e+00] [-1.67482827e-02 -4.20556699e-04 9.99859649e-01 6.71197053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.05, Y:5.62, Z:0.67 [[ 9.99444330e-01 2.88158463e-02 1.67534611e-02 2.59052182e+02] [-2.88189264e-02 9.99584647e-01 -5.75981862e-05 5.62055887e+00] [-1.67481622e-02 -4.25250581e-04 9.99859649e-01 6.70540836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72232058799995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:259.09, Y:5.62, Z:0.67 [[ 9.99400365e-01 3.03023655e-02 1.67534301e-02 2.59085167e+02] [-3.03055214e-02 9.99540680e-01 -6.55291101e-05 5.61909887e+00] [-1.67477206e-02 -4.42231617e-04 9.99859649e-01 6.69334685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.12, Y:5.62, Z:0.67 [[ 9.99354061e-01 3.17928472e-02 1.67533948e-02 2.59118053e+02] [-3.17960779e-02 9.99494374e-01 -7.35589574e-05 5.61861328e+00] [-1.67472625e-02 -4.59180804e-04 9.99859649e-01 6.68617827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.15, Y:5.62, Z:0.67 [[ 9.99298513e-01 3.34933975e-02 1.67533564e-02 2.59150596e+02] [-3.34967346e-02 9.99438824e-01 -8.14621934e-05 5.61747961e+00] [-1.67466832e-02 -4.79777683e-04 9.99859649e-01 6.69564400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.18, Y:5.62, Z:0.67 [[ 9.99245261e-01 3.50461793e-02 1.67533140e-02 2.59183100e+02] [-3.50496014e-02 9.99385570e-01 -8.94011697e-05 5.61665715e+00] [-1.67461534e-02 -4.97863284e-04 9.99859649e-01 6.71406267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.22, Y:5.62, Z:0.67 [[ 9.99218729e-01 3.57946881e-02 1.67532681e-02 2.59215914e+02] [-3.57980830e-02 9.99359038e-01 -9.72995774e-05 5.61867053e+00] [-1.67460127e-02 -5.02511324e-04 9.99859649e-01 6.70083541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:5.62, Z:0.67 [[ 9.99214896e-01 3.59015452e-02 1.67532186e-02 2.59248309e+02] [-3.59048230e-02 9.99355208e-01 -1.05184989e-04 5.62189584e+00] [-1.67461926e-02 -4.96418941e-04 9.99859649e-01 6.67078182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.28, Y:5.62, Z:0.67 [[ 9.99216856e-01 3.58469882e-02 1.67531655e-02 2.59281185e+02] [-3.58501265e-02 9.99357171e-01 -1.13055921e-04 5.62121508e+00] [-1.67464488e-02 -4.87635722e-04 9.99859649e-01 6.65200613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.932320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:259.32, Y:5.62, Z:0.68 [[ 9.99128776e-01 3.82233188e-02 1.67531083e-02 2.59316069e+02] [-3.82266580e-02 9.99269087e-01 -1.20983418e-04 5.62135395e+00] [-1.67454876e-02 -5.19537326e-04 9.99859650e-01 6.77597777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.35, Y:5.62, Z:0.68 [[ 9.99124070e-01 3.83468574e-02 1.67514765e-02 2.59349024e+02] [-3.83464658e-02 9.99264444e-01 -3.44694541e-04 5.62220430e+00] [-1.67523728e-02 -2.97967306e-04 9.99859625e-01 6.77986145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.992320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.38, Y:5.62, Z:0.68 [[ 9.99166381e-01 3.72285022e-02 1.67505519e-02 2.59380847e+02] [-3.72258114e-02 9.99306768e-01 -4.72512384e-04 5.62370295e+00] [-1.67565308e-02 -1.51434398e-04 9.99859588e-01 6.77971797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.41, Y:5.62, Z:0.67 [[ 9.99373705e-01 3.11705779e-02 1.67508792e-02 2.59408138e+02] [-3.11678536e-02 9.99514075e-01 -4.23736754e-04 5.61994752e+00] [-1.67559477e-02 -9.86175819e-05 9.99859604e-01 6.66063125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.45, Y:5.62, Z:0.68 [[ 9.99278496e-01 3.40856161e-02 1.67528616e-02 2.59445051e+02] [-3.40886631e-02 9.99418807e-01 -1.03733931e-04 5.61921405e+00] [-1.67466607e-02 -4.67423567e-04 9.99859656e-01 6.75924752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.47, Y:5.62, Z:0.66 [[ 9.99449745e-01 2.86294083e-02 1.67500626e-02 2.59469960e+02] [-2.86246774e-02 9.99590094e-01 -5.22171861e-04 5.61581449e+00] [-1.67581461e-02 4.24193949e-05 9.99859572e-01 6.63789343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.50, Y:5.62, Z:0.66 [[ 9.99411136e-01 2.99455163e-02 1.67525136e-02 2.59503055e+02] [-2.99481051e-02 9.99551450e-01 -9.63732560e-05 5.61567498e+00] [-1.67478852e-02 -4.05389533e-04 9.99859662e-01 6.64695685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.54, Y:5.62, Z:0.68 [[ 9.99175006e-01 3.69954351e-02 1.67524637e-02 2.59540340e+02] [-3.69988796e-02 9.99315302e-01 -1.04384325e-04 5.61766278e+00] [-1.67448551e-02 -5.15524179e-04 9.99859662e-01 6.78187778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.57, Y:5.62, Z:0.66 [[ 9.99324593e-01 3.27079281e-02 1.67495835e-02 2.59565239e+02] [-3.27032439e-02 9.99464953e-01 -5.53562919e-04 5.61638229e+00] [-1.67587276e-02 5.42332438e-06 9.99859563e-01 6.63444501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.60, Y:5.62, Z:0.66 [[ 9.99270215e-01 3.43278562e-02 1.67522108e-02 2.59598233e+02] [-3.43310637e-02 9.99410511e-01 -9.61594085e-05 5.61653391e+00] [-1.67456365e-02 -4.79031983e-04 9.99859667e-01 6.61451589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.63, Y:5.62, Z:0.66 [[ 9.99155582e-01 3.75165166e-02 1.67521611e-02 2.59630653e+02] [-3.75200379e-02 9.99295870e-01 -1.04152086e-04 5.61808995e+00] [-1.67442728e-02 -5.24477582e-04 9.99859667e-01 6.60381125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.66, Y:5.62, Z:0.66 [[ 9.99086464e-01 3.93141668e-02 1.67521087e-02 2.59663060e+02] [-3.93178092e-02 9.99226750e-01 -1.11993771e-04 5.61863332e+00] [-1.67435581e-02 -5.46764753e-04 9.99859667e-01 6.59666671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.70, Y:5.62, Z:0.67 [[ 9.98759950e-01 4.68820873e-02 1.67520523e-02 2.59700395e+02] [-4.68866605e-02 9.98900209e-01 -1.19870636e-04 5.62070228e+00] [-1.67392483e-02 -6.65725799e-04 9.99859667e-01 6.73548169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:5.62, Z:0.66 [[ 9.98962757e-01 4.23425031e-02 1.67488019e-02 2.59725760e+02] [-4.23391335e-02 9.99103142e-01 -5.55883009e-04 5.62019170e+00] [-1.67573180e-02 -1.53823334e-04 9.99859574e-01 6.61335798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:5.62, Z:0.66 [[ 9.98882362e-01 4.41973253e-02 1.67518103e-02 2.59758220e+02] [-4.42016199e-02 9.99022624e-01 -1.13983204e-04 5.62110330e+00] [-1.67404752e-02 -6.26601339e-04 9.99859672e-01 6.61605543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.79, Y:5.62, Z:0.66 [[ 9.98722790e-01 4.76672679e-02 1.67517539e-02 2.59791291e+02] [-4.76719199e-02 9.98863040e-01 -1.21738070e-04 5.62451940e+00] [-1.67385108e-02 -6.77005686e-04 9.99859672e-01 6.58843761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:5.63, Z:0.66 [[ 9.98642090e-01 4.93290618e-02 1.67516952e-02 2.59824385e+02] [-4.93338198e-02 9.98782337e-01 -1.29344680e-04 5.62613718e+00] [-1.67376777e-02 -6.97256070e-04 9.99859672e-01 6.58667255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.86, Y:5.63, Z:0.66 [[ 9.98440083e-01 5.32614698e-02 1.67516326e-02 2.59856935e+02] [-5.32666520e-02 9.98580315e-01 -1.36994952e-04 5.62995459e+00] [-1.67351471e-02 -7.55522134e-04 9.99859672e-01 6.58304765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.89, Y:5.63, Z:0.66 [[ 9.98327459e-01 5.53323514e-02 1.67515664e-02 2.59889740e+02] [-5.53376960e-02 9.98467685e-01 -1.44668040e-04 5.63255549e+00] [-1.67339025e-02 -7.82567010e-04 9.99859672e-01 6.57508072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:5.64, Z:0.66 [[ 9.98270993e-01 5.63419267e-02 1.67514972e-02 2.59922357e+02] [-5.63472856e-02 9.98411218e-01 -1.52278996e-04 5.63530764e+00] [-1.67334624e-02 -7.91885691e-04 9.99859672e-01 6.57205950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.95, Y:5.64, Z:0.66 [[ 9.98272056e-01 5.63231106e-02 1.67514248e-02 2.59954028e+02] [-5.63283399e-02 9.98412286e-01 -1.59863032e-04 5.63857848e+00] [-1.67338323e-02 -7.83993153e-04 9.99859672e-01 6.55828555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:259.99, Y:5.64, Z:0.67 [[ 9.97815349e-01 6.39055612e-02 1.67513593e-02 2.59994649e+02] [-6.39117454e-02 9.97955541e-01 -1.66452000e-04 5.63944156e+00] [-1.67277491e-02 -9.04520252e-04 9.99859672e-01 6.65295022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:260.02, Y:5.64, Z:0.65 [[ 9.98512263e-01 5.18929736e-02 1.67445429e-02 2.60016542e+02] [-5.18868399e-02 9.98652650e-01 -8.00839601e-04 5.63879758e+00] [-1.67635401e-02 -6.91732559e-05 9.99859480e-01 6.54495489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.05, Y:5.64, Z:0.65 [[ 9.98588381e-01 5.04049667e-02 1.67506339e-02 2.60049207e+02] [-5.04093815e-02 9.98728626e-01 -1.58829962e-04 5.63974186e+00] [-1.67373434e-02 -6.85783341e-04 9.99859686e-01 6.53015344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:5.64, Z:0.65 [[ 9.98848253e-01 4.49620533e-02 1.67505579e-02 2.60082477e+02] [-4.49655756e-02 9.98988523e-01 -1.66476697e-04 5.64163332e+00] [-1.67411003e-02 -5.86913522e-04 9.99859686e-01 6.53188137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.682320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:260.12, Y:5.64, Z:0.66 [[ 9.98548116e-01 5.11965047e-02 1.67504771e-02 2.60121817e+02] [-5.12007725e-02 9.98688365e-01 -1.74248148e-04 5.64116500e+00] [-1.67374275e-02 -6.83642207e-04 9.99859686e-01 6.63304015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.14, Y:5.64, Z:0.65 [[ 9.99035777e-01 4.05854166e-02 1.67433376e-02 2.60144215e+02] [-4.05777694e-02 9.99176066e-01 -7.96347664e-04 5.63933430e+00] [-1.67618623e-02 1.16172514e-04 9.99859503e-01 6.50713091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:5.64, Z:0.65 [[ 9.99132573e-01 3.81254342e-02 1.67497219e-02 2.60176735e+02] [-3.81279224e-02 9.99272852e-01 -1.70879642e-04 5.63928543e+00] [-1.67440572e-02 -4.67900680e-04 9.99859699e-01 6.50172833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:260.21, Y:5.64, Z:0.65 [[ 9.99184481e-01 3.67399327e-02 1.67496356e-02 2.60209360e+02] [-3.67420911e-02 9.99324765e-01 -1.78958168e-04 5.63907391e+00] [-1.67449006e-02 -4.36604411e-04 9.99859699e-01 6.50732215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:5.63, Z:0.65 [[ 9.99270276e-01 3.43273543e-02 1.67495471e-02 2.60241267e+02] [-3.43290411e-02 9.99410567e-01 -1.86887254e-04 5.63494755e+00] [-1.67460897e-02 -3.88245013e-04 9.99859699e-01 6.51228793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:260.27, Y:5.63, Z:0.65 [[ 9.99312911e-01 3.30629633e-02 1.67495187e-02 2.60274127e+02] [-3.30644304e-02 9.99453204e-01 -1.89402289e-04 5.63241184e+00] [-1.67466223e-02 -3.64541142e-04 9.99859699e-01 6.51031344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:5.63, Z:0.65 [[ 9.99375097e-01 3.11267016e-02 1.67494223e-02 2.60307243e+02] [-3.11277599e-02 9.99515394e-01 -1.97574803e-04 5.62993342e+00] [-1.67474553e-02 -3.23920657e-04 9.99859699e-01 6.49335588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:5.63, Z:0.65 [[ 9.99359790e-01 3.16143876e-02 1.67493233e-02 2.60340558e+02] [-3.16153794e-02 9.99500088e-01 -2.05634620e-04 5.62984731e+00] [-1.67474511e-02 -3.24033241e-04 9.99859699e-01 6.48774209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:5.62, Z:0.65 [[ 9.99506147e-01 2.65880617e-02 1.67492190e-02 2.60372108e+02] [-2.65882110e-02 9.99646448e-01 -2.13807035e-04 5.62173665e+00] [-1.67489820e-02 -2.31630323e-04 9.99859699e-01 6.46731016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.40, Y:5.62, Z:0.65 [[ 9.99577166e-01 2.37687834e-02 1.67491246e-02 2.60404753e+02] [-2.37684171e-02 9.99717467e-01 -2.20963406e-04 5.61712364e+00] [-1.67496444e-02 -1.77230203e-04 9.99859699e-01 6.46549476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.44, Y:5.61, Z:0.65 [[ 9.99652112e-01 2.03746083e-02 1.67490129e-02 2.60436340e+02] [-2.03736289e-02 9.99792410e-01 -2.29125300e-04 5.61341458e+00] [-1.67502043e-02 -1.12192583e-04 9.99859699e-01 6.46074789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.47, Y:5.61, Z:0.64 [[ 9.99738747e-01 1.55534693e-02 1.67489771e-02 2.60468905e+02] [-1.55517698e-02 9.99879037e-01 -2.31717062e-04 5.60570397e+00] [-1.67505551e-02 -2.88197105e-05 9.99859699e-01 6.44237286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.50, Y:5.60, Z:0.64 [[ 9.99755671e-01 1.44248084e-02 1.67488559e-02 2.60501347e+02] [-1.44228090e-02 9.99895957e-01 -2.40164799e-04 5.60051123e+00] [-1.67505777e-02 -1.45943161e-06 9.99859699e-01 6.43118649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.53, Y:5.59, Z:0.64 [[ 9.99743725e-01 1.52303387e-02 1.67487700e-02 2.60533967e+02] [-1.52283543e-02 9.99884012e-01 -2.46017034e-04 5.58974181e+00] [-1.67505742e-02 -9.10221743e-06 9.99859699e-01 6.44447133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.57, Y:5.59, Z:0.64 [[ 9.99709181e-01 1.73504254e-02 1.67486401e-02 2.60566617e+02] [-1.73485954e-02 9.99849469e-01 -2.54563804e-04 5.58552996e+00] [-1.67505357e-02 -3.60756079e-05 9.99859699e-01 6.44080964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.60, Y:5.58, Z:0.64 [[ 9.99671957e-01 1.93769508e-02 1.67485095e-02 2.60599060e+02] [-1.93752657e-02 9.99812247e-01 -2.62883840e-04 5.58111428e+00] [-1.67504588e-02 -6.17092186e-05 9.99859699e-01 6.42958460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:260.63, Y:5.57, Z:0.64 [[ 9.99570153e-01 2.40623817e-02 1.67484683e-02 2.60630794e+02] [-2.40613107e-02 9.99710450e-01 -2.65482166e-04 5.57167224e+00] [-1.67500069e-02 -1.37622050e-04 9.99859699e-01 6.43476217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.66, Y:5.57, Z:0.64 [[ 9.99490164e-01 2.71828214e-02 1.67483487e-02 2.60662822e+02] [-2.71820653e-02 9.99630462e-01 -2.72826550e-04 5.56792725e+00] [-1.67495757e-02 -1.82567255e-04 9.99859699e-01 6.42083551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.70, Y:5.56, Z:0.64 [[ 9.99300687e-01 3.34310259e-02 1.67482290e-02 2.60695112e+02] [-3.34310271e-02 9.99440988e-01 -2.79982538e-04 5.56311277e+00] [-1.67482267e-02 -2.80123756e-04 9.99859699e-01 6.42196559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.73, Y:5.56, Z:0.64 [[ 9.99199195e-01 3.63382787e-02 1.67480910e-02 2.60728277e+02] [-3.63385536e-02 9.99339495e-01 -2.88009843e-04 5.56084482e+00] [-1.67474946e-02 -3.20822199e-04 9.99859699e-01 6.41974737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.76, Y:5.56, Z:0.64 [[ 9.98916765e-01 4.34143249e-02 1.67479503e-02 2.60761456e+02] [-4.34154601e-02 9.99057061e-01 -2.95970869e-04 5.55694416e+00] [-1.67450074e-02 -4.31469705e-04 9.99859699e-01 6.41560348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.79, Y:5.56, Z:0.64 [[ 9.98743639e-01 4.72298094e-02 1.67478070e-02 2.60794394e+02] [-4.72313481e-02 9.98883931e-01 -3.03871487e-04 5.55576348e+00] [-1.67434670e-02 -4.87531786e-04 9.99859699e-01 6.41800367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.83, Y:5.55, Z:0.64 [[ 9.98364237e-01 5.46659412e-02 1.67476622e-02 2.60827101e+02] [-5.46683943e-02 9.98504517e-01 -3.11652568e-04 5.55442690e+00] [-1.67396531e-02 -6.04425020e-04 9.99859700e-01 6.41324605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.86, Y:5.55, Z:0.64 [[ 9.98181324e-01 5.79099697e-02 1.67475143e-02 2.60859858e+02] [-5.79127487e-02 9.98321597e-01 -3.19405471e-04 5.55407121e+00] [-1.67379020e-02 -6.51070011e-04 9.99859700e-01 6.41575629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.89, Y:5.55, Z:0.64 [[ 9.98011393e-01 6.07682838e-02 1.67473641e-02 2.60892861e+02] [-6.07713357e-02 9.98151661e-01 -3.27093446e-04 5.55401435e+00] [-1.67362862e-02 -6.91316704e-04 9.99859700e-01 6.40540348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.93, Y:5.56, Z:0.64 [[ 9.97557006e-01 6.78199842e-02 1.67472114e-02 2.60926137e+02] [-6.78238993e-02 9.97697252e-01 -3.34735609e-04 5.55619326e+00] [-1.67313486e-02 -8.01943328e-04 9.99859700e-01 6.38325253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.96, Y:5.56, Z:0.64 [[ 9.97393467e-01 7.01840984e-02 1.67470561e-02 2.60959327e+02] [-7.01882188e-02 9.97533707e-01 -3.42331083e-04 5.55784926e+00] [-1.67297792e-02 -8.34007254e-04 9.99859700e-01 6.38049307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.99, Y:5.56, Z:0.64 [[ 9.97065532e-01 7.46985035e-02 1.67468993e-02 2.60991900e+02] [-7.47031329e-02 9.97205756e-01 -3.49837873e-04 5.56135232e+00] [-1.67262368e-02 -9.02234561e-04 9.99859700e-01 6.38267129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.02, Y:5.56, Z:0.64 [[ 9.97015631e-01 7.53616556e-02 1.67467411e-02 2.61023886e+02] [-7.53662541e-02 9.97155855e-01 -3.57253638e-04 5.56182609e+00] [-1.67260342e-02 -9.05951686e-04 9.99859700e-01 6.36892138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.06, Y:5.56, Z:0.64 [[ 9.97041705e-01 7.50159148e-02 1.67466924e-02 2.61056016e+02] [-7.50204266e-02 9.97181932e-01 -3.59523135e-04 5.56273739e+00] [-1.67264690e-02 -8.97884449e-04 9.99859700e-01 6.37211857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.09, Y:5.56, Z:0.64 [[ 9.97071030e-01 7.46251493e-02 1.67466172e-02 2.61089216e+02] [-7.46295481e-02 9.97211261e-01 -3.62993958e-04 5.56325686e+00] [-1.67270037e-02 -8.87861712e-04 9.99859700e-01 6.37024347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.12, Y:5.56, Z:0.64 [[ 9.97129369e-01 7.38415715e-02 1.67464519e-02 2.61120915e+02] [-7.38457350e-02 9.97269608e-01 -3.70462737e-04 5.56482377e+00] [-1.67280831e-02 -8.67254778e-04 9.99859700e-01 6.35506376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.15, Y:5.57, Z:0.63 [[ 9.97179074e-01 7.31673071e-02 1.67463066e-02 2.61153342e+02] [-7.31712675e-02 9.97319319e-01 -3.76922642e-04 5.56519975e+00] [-1.67289935e-02 -8.49489105e-04 9.99859700e-01 6.34419241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.19, Y:5.57, Z:0.63 [[ 9.97213222e-01 7.27004570e-02 1.67461567e-02 2.61185951e+02] [-7.27042422e-02 9.97353471e-01 -3.83467425e-04 5.56568689e+00] [-1.67297158e-02 -8.35117845e-04 9.99859700e-01 6.33999495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.22, Y:5.57, Z:0.63 [[ 9.97187964e-01 7.30461319e-02 1.67459828e-02 2.61218970e+02] [-7.30498409e-02 9.97328215e-01 -3.90914341e-04 5.56842063e+00] [-1.67297960e-02 -8.33476306e-04 9.99859700e-01 6.32482616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.26, Y:5.57, Z:0.64 [[ 9.96984957e-01 7.57665695e-02 1.67458062e-02 2.61255054e+02] [-7.57705367e-02 9.97125201e-01 -3.98338300e-04 5.57184557e+00] [-1.67278462e-02 -8.71701435e-04 9.99859700e-01 6.41127910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.28, Y:5.57, Z:0.63 [[ 9.97434040e-01 6.96073071e-02 1.67379201e-02 2.61280927e+02] [-6.96049697e-02 9.97574371e-01 -7.22872495e-04 5.56957055e+00] [-1.67476374e-02 -4.44024791e-04 9.99859650e-01 6.31901724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.31, Y:5.57, Z:0.63 [[ 9.97552833e-01 6.78817239e-02 1.67456435e-02 2.61313683e+02] [-6.78845921e-02 9.97693101e-01 -3.97742071e-04 5.56767947e+00] [-1.67340124e-02 -7.40002448e-04 9.99859703e-01 6.32093720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:261.35, Y:5.57, Z:0.63 [[ 9.97802100e-01 6.41136376e-02 1.67454609e-02 2.61346361e+02] [-6.41158496e-02 9.97942380e-01 -4.05287805e-04 5.56546466e+00] [-1.67369896e-02 -6.69252428e-04 9.99859703e-01 6.33034453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.38, Y:5.57, Z:0.63 [[ 9.97963919e-01 6.15435750e-02 1.67452740e-02 2.61379425e+02] [-6.15452987e-02 9.98104206e-01 -4.12866062e-04 5.56535692e+00] [-1.67389377e-02 -6.18567459e-04 9.99859703e-01 6.31927099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.41, Y:5.57, Z:0.63 [[ 9.98192944e-01 5.77100374e-02 1.67450813e-02 2.61412311e+02] [-5.77110937e-02 9.98333237e-01 -4.20540693e-04 5.56722491e+00] [-1.67414406e-02 -5.46596203e-04 9.99859703e-01 6.28928210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.45, Y:5.57, Z:0.63 [[ 9.98282350e-01 5.61423023e-02 1.67448849e-02 2.61445452e+02] [-5.61430095e-02 9.98422646e-01 -4.28221376e-04 5.56600523e+00] [-1.67425136e-02 -5.12622389e-04 9.99859703e-01 6.29187707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:261.48, Y:5.56, Z:0.64 [[ 9.98042516e-01 6.02557241e-02 1.67446819e-02 2.61482839e+02] [-6.02568789e-02 9.98182808e-01 -4.36015201e-04 5.56318274e+00] [-1.67405260e-02 -5.73820563e-04 9.99859703e-01 6.39173393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.51, Y:5.55, Z:0.63 [[ 9.98606254e-01 5.00554813e-02 1.67331566e-02 2.61507663e+02] [-5.00479776e-02 9.98746438e-01 -8.67150593e-04 5.55476957e+00] [-1.67555862e-02 2.84813598e-05 9.99859615e-01 6.30055166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.54, Y:5.55, Z:0.63 [[ 9.98695088e-01 4.82467303e-02 1.67443850e-02 2.61540112e+02] [-4.82462327e-02 9.98835378e-01 -4.33906363e-04 5.55149153e+00] [-1.67458187e-02 -3.74513344e-04 9.99859709e-01 6.29854716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.57, Y:5.55, Z:0.63 [[ 9.98813727e-01 4.57249595e-02 1.67441772e-02 2.61571597e+02] [-4.57239757e-02 9.98954014e-01 -4.41782756e-04 5.54754937e+00] [-1.67468635e-02 -3.24351671e-04 9.99859709e-01 6.27798320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:261.60, Y:5.54, Z:0.63 [[ 9.98888561e-01 4.40599687e-02 1.67439918e-02 2.61604282e+02] [-4.40586351e-02 9.99028846e-01 -4.48702952e-04 5.54402751e+00] [-1.67475006e-02 -2.89513178e-04 9.99859709e-01 6.26101797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:261.64, Y:5.54, Z:0.64 [[ 9.98920525e-01 4.33293388e-02 1.67437736e-02 2.61637637e+02] [-4.33277685e-02 9.99060807e-01 -4.56701613e-04 5.53578584e+00] [-1.67478365e-02 -2.69261732e-04 9.99859709e-01 6.36880073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.66, Y:5.53, Z:0.64 [[ 9.99212987e-01 3.59611489e-02 1.67392376e-02 2.61663507e+02] [-3.59557830e-02 9.99353189e-01 -6.21498455e-04 5.53047482e+00] [-1.67507603e-02 1.91369316e-05 9.99859696e-01 6.36844269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.70, Y:5.52, Z:0.63 [[ 9.99069125e-01 3.97534642e-02 1.67495022e-02 2.61697581e+02] [-3.97548826e-02 9.99209431e-01 -2.48401723e-04 5.52313050e+00] [-1.67461354e-02 -4.17703999e-04 9.99859686e-01 6.26022027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.73, Y:5.52, Z:0.63 [[ 9.99057821e-01 4.00391492e-02 1.67432599e-02 2.61730616e+02] [-4.00368850e-02 9.99198092e-01 -4.70535484e-04 5.51901621e+00] [-1.67486732e-02 -2.00255818e-04 9.99859711e-01 6.25900000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.76, Y:5.51, Z:0.63 [[ 9.99041457e-01 4.04454874e-02 1.67430286e-02 2.61763689e+02] [-4.04431447e-02 9.99181727e-01 -4.78629461e-04 5.51419701e+00] [-1.67486866e-02 -1.98970053e-04 9.99859711e-01 6.25492095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.80, Y:5.51, Z:0.63 [[ 9.98960903e-01 4.23885867e-02 1.67427930e-02 2.61796006e+02] [-4.23863811e-02 9.99101175e-01 -4.86731774e-04 5.50665601e+00] [-1.67483761e-02 -2.23440393e-04 9.99859711e-01 6.25586588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.83, Y:5.50, Z:0.62 [[ 9.98887905e-01 4.40753793e-02 1.67425562e-02 2.61828557e+02] [-4.40732763e-02 9.99028179e-01 -4.94744790e-04 5.50298158e+00] [-1.67480915e-02 -2.43704720e-04 9.99859711e-01 6.24202419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:5.50, Z:0.62 [[ 9.98789568e-01 4.62503382e-02 1.67423146e-02 2.61860908e+02] [-4.62484058e-02 9.98929843e-01 -5.02791102e-04 5.49598593e+00] [-1.67476520e-02 -2.72122851e-04 9.99859711e-01 6.24526948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:261.89, Y:5.49, Z:0.63 [[ 9.98693146e-01 4.82877218e-02 1.67420716e-02 2.61894000e+02] [-4.82859421e-02 9.98833423e-01 -5.10755940e-04 5.49148742e+00] [-1.67472039e-02 -2.98318244e-04 9.99859711e-01 6.25529428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.93, Y:5.49, Z:0.63 [[ 9.98751596e-01 4.70633688e-02 1.67418241e-02 2.61926042e+02] [-4.70612832e-02 9.98891869e-01 -5.18743684e-04 5.48721690e+00] [-1.67476858e-02 -2.69795643e-04 9.99859711e-01 6.33156881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.96, Y:5.48, Z:0.63 [[ 9.98618507e-01 4.98080759e-02 1.67401717e-02 2.61957017e+02] [-4.98054841e-02 9.98758773e-01 -5.71955299e-04 5.48189864e+00] [-1.67478813e-02 -2.62587208e-04 9.99859710e-01 6.34417400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.99, Y:5.48, Z:0.62 [[ 9.98580816e-01 5.05584391e-02 1.67391258e-02 2.61985957e+02] [-5.05553897e-02 9.98721075e-01 -6.05550397e-04 5.47917825e+00] [-1.67483334e-02 -2.41562016e-04 9.99859708e-01 6.23805043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.02, Y:5.47, Z:0.63 [[ 9.98558352e-01 5.09993362e-02 1.67417036e-02 2.62018419e+02] [-5.09977315e-02 9.98698632e-01 -5.23040217e-04 5.47326333e+00] [-1.67465912e-02 -3.31502727e-04 9.99859711e-01 6.33506696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.05, Y:5.47, Z:0.62 [[ 9.98504514e-01 5.20437367e-02 1.67387401e-02 2.62046093e+02] [-5.20406993e-02 9.98644774e-01 -6.17283324e-04 5.46857068e+00] [-1.67481811e-02 -2.54735555e-04 9.99859707e-01 6.21511392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.07, Y:5.47, Z:0.63 [[ 9.98647772e-01 4.92173326e-02 1.67416357e-02 2.62074907e+02] [-4.92154457e-02 9.98788048e-01 -5.24939214e-04 5.46526898e+00] [-1.67471817e-02 -2.99717685e-04 9.99859711e-01 6.30521968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.11, Y:5.46, Z:0.62 [[ 9.98489666e-01 5.23254748e-02 1.67460894e-02 2.62108004e+02] [-5.23264262e-02 9.98629961e-01 -3.81645190e-04 5.46151571e+00] [-1.67431164e-02 -4.95194234e-04 9.99859702e-01 6.20479695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.14, Y:5.46, Z:0.63 [[ 9.98684005e-01 4.84765802e-02 1.67415299e-02 2.62136838e+02] [-4.84745614e-02 9.98824279e-01 -5.26604262e-04 5.46010027e+00] [-1.67473745e-02 -2.85627068e-04 9.99859712e-01 6.33248745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.17, Y:5.45, Z:0.62 [[ 9.98668834e-01 4.87866003e-02 1.67459768e-02 2.62169106e+02] [-4.87869965e-02 9.98809131e-01 -3.85100547e-04 5.45024157e+00] [-1.67448223e-02 -4.32398001e-04 9.99859702e-01 6.20846857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:262.20, Y:5.45, Z:0.62 [[ 9.98646503e-01 4.92432371e-02 1.67411359e-02 2.62202236e+02] [-4.92411644e-02 9.98786774e-01 -5.36237867e-04 5.44668446e+00] [-1.67472312e-02 -2.88840957e-04 9.99859714e-01 6.20951793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66232058799994 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:262.23, Y:5.44, Z:0.63 [[ 9.98707333e-01 4.79938041e-02 1.67408764e-02 2.62232405e+02] [-4.79914222e-02 9.98847600e-01 -5.44220266e-04 5.44252266e+00] [-1.67477035e-02 -2.59901699e-04 9.99859714e-01 6.32736507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.26, Y:5.44, Z:0.62 [[ 9.98748576e-01 4.71268462e-02 1.67434055e-02 2.62263829e+02] [-4.71256469e-02 9.98888861e-01 -4.66390996e-04 5.43704681e+00] [-1.67467808e-02 -3.23236473e-04 9.99859711e-01 6.18622901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72232058799995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:262.31, Y:5.44, Z:0.63 [[ 9.97936765e-01 6.19835620e-02 1.67406959e-02 2.62308646e+02] [-6.19830654e-02 9.98077050e-01 -5.49014761e-04 5.43731984e+00] [-1.67425343e-02 -4.89757635e-04 9.99859714e-01 6.32938499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.33, Y:5.43, Z:0.62 [[ 9.98646237e-01 4.92592240e-02 1.67099491e-02 2.62326549e+02] [-4.92434063e-02 9.98785886e-01 -1.35699371e-03 5.42751763e+00] [-1.67565058e-02 5.32301850e-04 9.99859458e-01 6.19216404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.36, Y:5.43, Z:0.62 [[ 9.98622912e-01 4.97206830e-02 1.67371851e-02 2.62359762e+02] [-4.97174274e-02 9.98763137e-01 -6.10808105e-04 5.42594004e+00] [-1.67468533e-02 -2.22162819e-04 9.99859737e-01 6.19088975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.812320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:262.39, Y:5.42, Z:0.64 [[ 9.98761207e-01 4.68607285e-02 1.67368914e-02 2.62389892e+02] [-4.68569382e-02 9.98901419e-01 -6.18752434e-04 5.42027935e+00] [-1.67474998e-02 -1.66253560e-04 9.99859737e-01 6.42075329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.42, Y:5.42, Z:0.64 [[ 9.98531543e-01 5.15225410e-02 1.67387270e-02 2.62423985e+02] [-5.15202267e-02 9.98671789e-01 -5.69739317e-04 5.41584544e+00] [-1.67458488e-02 -2.93480330e-04 9.99859735e-01 6.35115143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.872320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:262.46, Y:5.41, Z:0.63 [[ 9.98487005e-01 5.23805417e-02 1.67325707e-02 2.62457309e+02] [-5.23756149e-02 9.98627187e-01 -7.32823749e-04 5.41220286e+00] [-1.67479857e-02 -1.44663691e-04 9.99859732e-01 6.34208703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.49, Y:5.41, Z:0.62 [[ 9.98641027e-01 4.93576388e-02 1.67308691e-02 2.62486087e+02] [-4.93515554e-02 9.98781168e-01 -7.76535089e-04 5.40663476e+00] [-1.67488049e-02 -5.02146126e-05 9.99859728e-01 6.15949018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.52, Y:5.40, Z:0.61 [[ 9.98655033e-01 4.90718095e-02 1.67356913e-02 2.62518952e+02] [-4.90677568e-02 9.98795239e-01 -6.52939370e-04 5.40162662e+00] [-1.67475697e-02 -1.69121640e-04 9.99859735e-01 6.12827022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.55, Y:5.40, Z:0.63 [[ 9.98470741e-01 5.26887638e-02 1.67353727e-02 2.62551915e+02] [-5.26850839e-02 9.98610958e-01 -6.61004231e-04 5.39706974e+00] [-1.67469541e-02 -2.21711130e-04 9.99859735e-01 6.31282102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.992320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:262.59, Y:5.39, Z:0.63 [[ 9.98110505e-01 5.91226327e-02 1.67312353e-02 2.62588358e+02] [-5.91181022e-02 9.98250702e-01 -7.65679234e-04 5.39193301e+00] [-1.67472363e-02 -2.24886390e-04 9.99859730e-01 6.31611784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.61, Y:5.39, Z:0.61 [[ 9.98554023e-01 5.10925276e-02 1.67157887e-02 2.62610089e+02] [-5.10804362e-02 9.98693881e-01 -1.14979219e-03 5.38695901e+00] [-1.67527017e-02 2.94279832e-04 9.99859620e-01 6.12436075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.052320588 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:262.67, Y:5.39, Z:0.62 [[ 9.96383167e-01 8.33097816e-02 1.67351386e-02 2.62667451e+02] [-8.33104763e-02 9.96523423e-01 -6.56849632e-04 5.38910350e+00] [-1.67316796e-02 -7.39738454e-04 9.99859742e-01 6.22613673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08232058799996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:262.70, Y:5.39, Z:0.62 [[ 9.96776631e-01 7.84773897e-02 1.66627623e-02 2.62697815e+02] [-7.84494264e-02 9.96915381e-01 -2.32626050e-03 5.38907975e+00] [-1.67939229e-02 1.01157795e-03 9.99858460e-01 6.22351450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.70, Y:5.38, Z:0.61 [[ 9.98270056e-01 5.63819725e-02 1.66724089e-02 2.62700825e+02] [-5.63548523e-02 9.98408610e-01 -2.09239801e-03 5.38233008e+00] [-1.67638501e-02 1.14920714e-03 9.99858816e-01 6.09674030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.73, Y:5.38, Z:0.61 [[ 9.98172775e-01 5.80629416e-02 1.67274222e-02 2.62733494e+02] [-5.80605607e-02 9.98312865e-01 -6.28344950e-04 5.37962294e+00] [-1.67356844e-02 -3.44006693e-04 9.99859889e-01 6.10458958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.172320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:262.77, Y:5.38, Z:0.61 [[ 9.98093136e-01 5.94162839e-02 1.67271562e-02 2.62765858e+02] [-5.94139757e-02 9.98233227e-01 -6.35348305e-04 5.37860285e+00] [-1.67353532e-02 -3.59690071e-04 9.99859889e-01 6.10445238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.80, Y:5.38, Z:0.61 [[ 9.97984890e-01 6.12076063e-02 1.67268884e-02 2.62798873e+02] [-6.12054327e-02 9.98124983e-01 -6.42323663e-04 5.37640170e+00] [-1.67348403e-02 -3.82747131e-04 9.99859889e-01 6.11878895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.232320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:262.86, Y:5.38, Z:0.62 [[ 9.95598450e-01 9.22168416e-02 1.67266171e-02 2.62856817e+02] [-9.22189090e-02 9.95738546e-01 -6.49312822e-04 5.37755532e+00] [-1.67152149e-02 -8.96055537e-04 9.99859890e-01 6.21339712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.86, Y:5.37, Z:0.61 [[ 9.97966741e-01 6.15237127e-02 1.66498403e-02 2.62858204e+02] [-6.14916917e-02 9.98104640e-01 -2.42884707e-03 5.37464202e+00] [-1.67677145e-02 1.40008175e-03 9.99858432e-01 6.09405318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.89, Y:5.37, Z:0.61 [[ 9.97959213e-01 6.16269031e-02 1.67192486e-02 2.62891206e+02] [-6.16246009e-02 9.98099184e-01 -6.53342240e-04 5.37232782e+00] [-1.67277318e-02 -3.78308112e-04 9.99860010e-01 6.07906807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.92, Y:5.37, Z:0.61 [[ 9.98006095e-01 6.08630485e-02 1.67189745e-02 2.62923961e+02] [-6.08605231e-02 9.98146062e-01 -6.60281612e-04 5.36902630e+00] [-1.67281653e-02 -3.58560460e-04 9.99860010e-01 6.09011518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.96, Y:5.37, Z:0.61 [[ 9.98012439e-01 6.07589599e-02 1.67188536e-02 2.62956549e+02] [-6.07563688e-02 9.98152405e-01 -6.63328764e-04 5.36619468e+00] [-1.67282671e-02 -3.53766478e-04 9.99860010e-01 6.08949135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.01, Y:5.37, Z:0.62 [[ 9.96463054e-01 8.23521218e-02 1.67185724e-02 2.63005399e+02] [-8.23524442e-02 9.96603043e-01 -6.70342544e-04 5.36690281e+00] [-1.67169842e-02 -7.08843720e-04 9.99860010e-01 6.21221942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.02, Y:5.36, Z:0.61 [[ 9.98024528e-01 6.05735483e-02 1.66699633e-02 2.63018545e+02] [-6.05516003e-02 9.98163412e-01 -1.81868239e-03 5.36058568e+00] [-1.67495115e-02 8.05696680e-04 9.99859392e-01 6.07544955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.05, Y:5.36, Z:0.61 [[ 9.97853822e-01 6.33113670e-02 1.67158886e-02 2.63051439e+02] [-6.33090946e-02 9.97993745e-01 -6.65610290e-04 5.35759533e+00] [-1.67244930e-02 -3.94086003e-04 9.99860058e-01 6.05272704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:263.08, Y:5.36, Z:0.60 [[ 9.97767102e-01 6.46637354e-02 1.67156073e-02 2.63083851e+02] [-6.46615356e-02 9.97907026e-01 -6.72601143e-04 5.35669115e+00] [-1.67241149e-02 -4.09757545e-04 9.99860058e-01 6.04267302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:263.13, Y:5.36, Z:0.62 [[ 9.95781099e-01 9.02252766e-02 1.67153269e-02 2.63133814e+02] [-9.02265497e-02 9.95921035e-01 -6.79500486e-04 5.35782740e+00] [-1.67084537e-02 -8.31532528e-04 9.99860058e-01 6.16493904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.14, Y:5.35, Z:0.61 [[ 9.97369738e-01 7.05409120e-02 1.66609039e-02 2.63142596e+02] [-7.05186215e-02 9.97508611e-01 -1.92235216e-03 5.35139003e+00] [-1.67549995e-02 7.42391894e-04 9.99859350e-01 6.06174189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.18, Y:5.35, Z:0.61 [[ 9.97198420e-01 7.29111262e-02 1.67116565e-02 2.63175407e+02] [-7.29098630e-02 9.97338299e-01 -6.85654243e-04 5.34758912e+00] [-1.67171669e-02 -5.34711261e-04 9.99860115e-01 6.07369399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.21, Y:5.35, Z:0.61 [[ 9.96908248e-01 7.67767910e-02 1.67113706e-02 2.63208287e+02] [-7.67759546e-02 9.97048130e-01 -6.92554440e-04 5.34690615e+00] [-1.67152129e-02 -5.92618196e-04 9.99860115e-01 6.05269227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:263.26, Y:5.35, Z:0.61 [[ 9.94252430e-01 1.05748974e-01 1.67110827e-02 2.63261957e+02] [-1.05752093e-01 9.94392280e-01 -6.99433517e-04 5.34802803e+00] [-1.66913360e-02 -1.07181849e-03 9.99860115e-01 6.12963696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:263.27, Y:5.35, Z:0.60 [[ 9.96471409e-01 8.22661931e-02 1.66434530e-02 2.63267044e+02] [-8.22411811e-02 9.96610066e-01 -2.18287674e-03 5.34510582e+00] [-1.67666098e-02 8.06397030e-04 9.99859105e-01 6.03714285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.30, Y:5.34, Z:0.61 [[ 9.95846842e-01 8.94984981e-02 1.67058911e-02 2.63300241e+02] [-8.94992165e-02 9.95986642e-01 -7.06134337e-04 5.34239991e+00] [-1.67020424e-02 -7.91962515e-04 9.99860198e-01 6.07240559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:263.35, Y:5.34, Z:0.61 [[ 9.92167975e-01 1.23788657e-01 1.67055989e-02 2.63349056e+02] [-1.23794081e-01 9.92307673e-01 -7.12981781e-04 5.34217044e+00] [-1.66653530e-02 -1.36065658e-03 9.99860198e-01 6.12222207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.36, Y:5.34, Z:0.60 [[ 9.94855785e-01 9.99232515e-02 1.66526267e-02 2.63359966e+02] [-9.99058015e-02 9.94995126e-01 -1.87859706e-03 5.34324741e+00] [-1.67569979e-02 2.05239135e-04 9.99859571e-01 6.03499366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.39, Y:5.34, Z:0.60 [[ 9.94462981e-01 1.03751660e-01 1.67024664e-02 2.63393101e+02] [-1.03754219e-01 9.94602710e-01 -7.15635527e-04 5.34107216e+00] [-1.66865667e-02 -1.02127831e-03 9.99860248e-01 6.04778488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.802320588 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:263.44, Y:5.34, Z:0.61 [[ 9.90604657e-01 1.35733015e-01 1.67021711e-02 2.63438084e+02] [-1.35739959e-01 9.90744236e-01 -7.22462177e-04 5.34191675e+00] [-1.66456417e-02 -1.55147762e-03 9.99860248e-01 6.09698538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83232058799996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:263.45, Y:5.35, Z:0.60 [[ 9.93399663e-01 1.13487657e-01 1.66631490e-02 2.63454676e+02] [-1.13476921e-01 9.93539358e-01 -1.59148063e-03 5.34547194e+00] [-1.67361078e-02 -3.09906526e-04 9.99859894e-01 6.03128771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.49, Y:5.35, Z:0.60 [[ 9.92775726e-01 1.18816854e-01 1.67007232e-02 2.63488114e+02] [-1.18821461e-01 9.92915375e-01 -7.19632664e-04 5.34910184e+00] [-1.66679094e-02 -1.26997050e-03 9.99860274e-01 6.03813141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.52, Y:5.35, Z:0.60 [[ 9.92577459e-01 1.20461957e-01 1.67004272e-02 2.63521054e+02] [-1.20466683e-01 9.92717105e-01 -7.26438034e-04 5.34988501e+00] [-1.66663079e-02 -1.29079905e-03 9.99860274e-01 6.04466236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.55, Y:5.35, Z:0.60 [[ 9.92294263e-01 1.22772968e-01 1.67001281e-02 2.63554249e+02] [-1.22777904e-01 9.92433901e-01 -7.33250555e-04 5.35152388e+00] [-1.66637966e-02 -1.32280641e-03 9.99860274e-01 6.04448624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.59, Y:5.36, Z:0.60 [[ 9.92133174e-01 1.24068050e-01 1.66998257e-02 2.63587244e+02] [-1.24073054e-01 9.92272810e-01 -7.40073811e-04 5.35666283e+00] [-1.66626025e-02 -1.33774661e-03 9.99860274e-01 6.03403533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.62, Y:5.36, Z:0.60 [[ 9.92077202e-01 1.24514866e-01 1.66995213e-02 2.63620054e+02] [-1.24519820e-01 9.92216840e-01 -7.46881234e-04 5.35832745e+00] [-1.66625440e-02 -1.33845753e-03 9.99860274e-01 6.02848525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:263.65, Y:5.36, Z:0.60 [[ 9.92298040e-01 1.22742559e-01 1.66992123e-02 2.63652809e+02] [-1.22747149e-01 9.92437690e-01 -7.53726060e-04 5.36348448e+00] [-1.66654420e-02 -1.30185981e-03 9.99860274e-01 6.02800553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.69, Y:5.37, Z:0.60 [[ 9.92404357e-01 1.21880022e-01 1.66989017e-02 2.63685442e+02] [-1.21884376e-01 9.92544014e-01 -7.60546505e-04 5.36647289e+00] [-1.66670903e-02 -1.28056554e-03 9.99860274e-01 6.02296687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.72, Y:5.37, Z:0.60 [[ 9.92802893e-01 1.18589939e-01 1.66985880e-02 2.63718361e+02] [-1.18593716e-01 9.92942567e-01 -7.67371689e-04 5.37183964e+00] [-1.66717414e-02 -1.21849878e-03 9.99860274e-01 6.01730934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.75, Y:5.37, Z:0.60 [[ 9.92983785e-01 1.17065663e-01 1.66982716e-02 2.63750803e+02] [-1.17069112e-01 9.93123468e-01 -7.74196745e-04 5.37295271e+00] [-1.66740773e-02 -1.18608701e-03 9.99860274e-01 6.01693710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.78, Y:5.37, Z:0.60 [[ 9.93142801e-01 1.15708928e-01 1.66979515e-02 2.63783700e+02] [-1.15712071e-01 9.93282491e-01 -7.81041053e-04 5.37381874e+00] [-1.66761563e-02 -1.15646925e-03 9.99860274e-01 6.01185675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.82, Y:5.38, Z:0.60 [[ 9.93759003e-01 1.10291583e-01 1.66976284e-02 2.63816980e+02] [-1.10293850e-01 9.93898710e-01 -7.87887680e-04 5.37753442e+00] [-1.66826487e-02 -1.05867524e-03 9.99860274e-01 5.99330369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.85, Y:5.38, Z:0.60 [[ 9.94122281e-01 1.06967708e-01 1.66973007e-02 2.63849799e+02] [-1.06969393e-01 9.94261996e-01 -7.94772138e-04 5.37843226e+00] [-1.66865065e-02 -9.95999429e-04 9.99860274e-01 5.98069218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22232058799995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:263.88, Y:5.38, Z:0.60 [[ 9.94908759e-01 9.93869846e-02 1.66969706e-02 2.63882904e+02] [-9.93874889e-02 9.95048483e-01 -8.01647876e-04 5.37977471e+00] [-1.66939686e-02 -8.61903486e-04 9.99860275e-01 5.96434501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.92, Y:5.38, Z:0.60 [[ 9.95261483e-01 9.57904131e-02 1.66966334e-02 2.63915845e+02] [-9.57902958e-02 9.95401208e-01 -8.08610615e-04 5.37951068e+00] [-1.66973062e-02 -7.94596453e-04 9.99860275e-01 5.96212578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.95, Y:5.38, Z:0.60 [[ 9.95864925e-01 8.92988526e-02 1.66962910e-02 2.63948819e+02] [-8.92977069e-02 9.96004646e-01 -8.15618815e-04 5.37827832e+00] [-1.67024173e-02 -6.78694335e-04 9.99860275e-01 5.96403493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.98, Y:5.38, Z:0.60 [[ 9.96057974e-01 8.71192176e-02 1.66959444e-02 2.63981186e+02] [-8.71176484e-02 9.96197691e-01 -8.22655072e-04 5.37651848e+00] [-1.67041303e-02 -6.35099266e-04 9.99860275e-01 5.96139341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.01, Y:5.37, Z:0.60 [[ 9.96245942e-01 8.49428031e-02 1.66955982e-02 2.64013489e+02] [-8.49408121e-02 9.96385653e-01 -8.29621103e-04 5.37408694e+00] [-1.67057249e-02 -5.91631012e-04 9.99860275e-01 5.95746874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.05, Y:5.37, Z:0.59 [[ 9.96584121e-01 8.08786624e-02 1.66952477e-02 2.64045959e+02] [-8.08759845e-02 9.96723821e-01 -8.36614850e-04 5.37077353e+00] [-1.67082154e-02 -5.16487523e-04 9.99860275e-01 5.94165894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.08, Y:5.37, Z:0.59 [[ 9.96790908e-01 7.82889926e-02 1.66948960e-02 2.64078226e+02] [-7.82858352e-02 9.96930598e-01 -8.43576864e-04 5.36867291e+00] [-1.67096954e-02 -4.66104126e-04 9.99860275e-01 5.92586869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.432320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:264.11, Y:5.37, Z:0.59 [[ 9.96774558e-01 7.84969660e-02 1.66945389e-02 2.64110195e+02] [-7.84937205e-02 9.96914245e-01 -8.50584330e-04 5.36600109e+00] [-1.67097920e-02 -4.62575654e-04 9.99860275e-01 5.93171017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.14, Y:5.36, Z:0.59 [[ 9.96794757e-01 7.82400700e-02 1.66944158e-02 2.64142693e+02] [-7.82367481e-02 9.96934443e-01 -8.52994939e-04 5.36274370e+00] [-1.67099765e-02 -4.55855918e-04 9.99860275e-01 5.91712634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.18, Y:5.36, Z:0.59 [[ 9.96776049e-01 7.84781425e-02 1.66940126e-02 2.64175097e+02] [-7.84747231e-02 9.96915732e-01 -8.60812617e-04 5.35748563e+00] [-1.67100788e-02 -4.52020621e-04 9.99860275e-01 5.91682594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52232058799996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:264.21, Y:5.35, Z:0.59 [[ 9.96689195e-01 7.95736785e-02 1.66936522e-02 2.64208140e+02] [-7.95702966e-02 9.96828879e-01 -8.67746503e-04 5.35470075e+00] [-1.67097644e-02 -4.63445296e-04 9.99860275e-01 5.91368151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.24, Y:5.35, Z:0.59 [[ 9.96504661e-01 8.18522732e-02 1.66932852e-02 2.64240672e+02] [-8.18490935e-02 9.96644350e-01 -8.74749673e-04 5.35116386e+00] [-1.67088687e-02 -4.94638139e-04 9.99860275e-01 5.91120467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.29, Y:5.35, Z:0.60 [[ 9.94372537e-01 1.04616466e-01 1.66929198e-02 2.64291421e+02] [-1.04616365e-01 9.94512262e-01 -8.81669532e-04 5.34941954e+00] [-1.66935505e-02 -8.69644618e-04 9.99860275e-01 6.02383007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:264.30, Y:5.34, Z:0.59 [[ 9.96268829e-01 8.46888219e-02 1.66199697e-02 2.64300787e+02] [-8.46641317e-02 9.96407151e-01 -2.18486446e-03 5.34462593e+00] [-1.67452903e-02 7.69597050e-04 9.99859492e-01 5.88367845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64232058799996 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:264.35, Y:5.34, Z:0.60 [[ 9.93898488e-01 1.09028783e-01 1.66889453e-02 2.64351306e+02] [-1.09029222e-01 9.94038150e-01 -8.86241422e-04 5.33693643e+00] [-1.66860742e-02 -9.38748720e-04 9.99860337e-01 6.00230337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.38, Y:5.33, Z:0.60 [[ 9.94659462e-01 1.01865006e-01 1.66154880e-02 2.64375845e+02] [-1.01842489e-01 9.94798108e-01 -2.19798701e-03 5.33247385e+00] [-1.67529540e-02 4.94085935e-04 9.99859537e-01 5.98675671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.41, Y:5.33, Z:0.60 [[ 9.94756501e-01 1.00908200e-01 1.66444860e-02 2.64407998e+02] [-1.00894733e-01 9.94895740e-01 -1.64900252e-03 5.32983851e+00] [-1.67259261e-02 -3.89849906e-05 9.99860111e-01 5.98460600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.732320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:264.42, Y:5.33, Z:0.59 [[ 9.95924506e-01 8.86419133e-02 1.66429869e-02 2.64424189e+02] [-8.86262515e-02 9.96063539e-01 -1.67770508e-03 5.32518167e+00] [-1.67261874e-02 1.95862057e-04 9.99860088e-01 5.86131359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76232058799997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:264.46, Y:5.32, Z:0.59 [[ 9.95778392e-01 9.02607344e-02 1.66851664e-02 2.64457049e+02] [-9.02593167e-02 9.95917944e-01 -8.39539844e-04 5.32202492e+00] [-1.66928341e-02 -6.69996081e-04 9.99860440e-01 5.85386866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.49, Y:5.32, Z:0.59 [[ 9.95408719e-01 9.42501989e-02 1.66848095e-02 2.64489372e+02] [-9.42492227e-02 9.95548275e-01 -8.46573994e-04 5.31607299e+00] [-1.66903231e-02 -7.29843190e-04 9.99860440e-01 5.85323292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.52, Y:5.31, Z:0.59 [[ 9.95155919e-01 9.68830580e-02 1.66844517e-02 2.64521695e+02] [-9.68823339e-02 9.95295476e-01 -8.53568334e-04 5.31227030e+00] [-1.66886556e-02 -7.66995037e-04 9.99860441e-01 5.86246591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.55, Y:5.31, Z:0.59 [[ 9.94893817e-01 9.95385690e-02 1.66842957e-02 2.64553940e+02] [-9.95381666e-02 9.95033376e-01 -8.56605509e-04 5.30993734e+00] [-1.66866964e-02 -8.08492683e-04 9.99860441e-01 5.86787603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.59, Y:5.31, Z:0.59 [[ 9.94537582e-01 1.03037105e-01 1.66839344e-02 2.64586254e+02] [-1.03037076e-01 9.94677141e-01 -8.63585661e-04 5.30892977e+00] [-1.66841096e-02 -8.60195427e-04 9.99860441e-01 5.86592274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:264.62, Y:5.31, Z:0.58 [[ 9.94297706e-01 1.05326750e-01 1.66837648e-02 2.64619533e+02] [-1.05326988e-01 9.94437265e-01 -8.66849879e-04 5.30834031e+00] [-1.66822599e-02 -8.95343855e-04 9.99860441e-01 5.84431417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.65, Y:5.31, Z:0.58 [[ 9.94056530e-01 1.07579143e-01 1.66836053e-02 2.64652116e+02] [-1.07579647e-01 9.94196089e-01 -8.69909387e-04 5.30762058e+00] [-1.66803592e-02 -9.30077256e-04 9.99860441e-01 5.82953719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.69, Y:5.31, Z:0.59 [[ 9.91814409e-01 1.26593239e-01 1.66832356e-02 2.64693917e+02] [-1.26596296e-01 9.91953935e-01 -8.76942874e-04 5.30551592e+00] [-1.66600162e-02 -1.24227126e-03 9.99860441e-01 5.92954649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.71, Y:5.31, Z:0.58 [[ 9.93869902e-01 1.09295253e-01 1.66482946e-02 2.64712943e+02] [-1.09284957e-01 9.94009285e-01 -1.52970613e-03 5.30602644e+00] [-1.67157490e-02 -2.99079273e-04 9.99860237e-01 5.84009210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.75, Y:5.30, Z:0.59 [[ 9.91295228e-01 1.30596552e-01 1.66827007e-02 2.64749886e+02] [-1.30600286e-01 9.91434722e-01 -8.70085349e-04 5.30465169e+00] [-1.66534389e-02 -1.31625404e-03 9.99860455e-01 5.90625595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:264.78, Y:5.31, Z:0.58 [[ 9.93949493e-01 1.08566422e-01 1.66654729e-02 2.64776485e+02] [-1.08561588e-01 9.94089004e-01 -1.19718820e-03 5.30605042e+00] [-1.66969378e-02 -6.19285599e-04 9.99860405e-01 5.83739698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09232058799995 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:264.81, Y:5.30, Z:0.58 [[ 9.94028618e-01 1.07836906e-01 1.66825472e-02 2.64809215e+02] [-1.07837449e-01 9.94168159e-01 -8.69679107e-04 5.30419573e+00] [-1.66790408e-02 -9.34517411e-04 9.99860458e-01 5.82555360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.85, Y:5.30, Z:0.59 [[ 9.92743577e-01 1.19087759e-01 1.66821822e-02 2.64850670e+02] [-1.19089765e-01 9.92883105e-01 -8.76625701e-04 5.30098009e+00] [-1.66678522e-02 -1.11641263e-03 9.99860458e-01 5.93535425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.88, Y:5.30, Z:0.59 [[ 9.93321607e-01 1.14170784e-01 1.66498317e-02 2.64882471e+02] [-1.14161837e-01 9.93461049e-01 -1.48994084e-03 5.30035653e+00] [-1.67110670e-02 -4.20784940e-04 9.99860272e-01 5.93890965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.182320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:264.90, Y:5.30, Z:0.58 [[ 9.95192246e-01 9.65144435e-02 1.66540202e-02 2.64904813e+02] [-9.65043566e-02 9.95331563e-01 -1.41014569e-03 5.29896372e+00] [-1.67123713e-02 -2.03819441e-04 9.99860318e-01 5.83373111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21232058799995 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:264.94, Y:5.30, Z:0.58 [[ 9.95183497e-01 9.65997014e-02 1.66824641e-02 2.64936982e+02] [-9.65989024e-02 9.95323023e-01 -8.55591485e-04 5.29682402e+00] [-1.66870905e-02 -7.60037193e-04 9.99860472e-01 5.80796177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.97, Y:5.29, Z:0.58 [[ 9.95271411e-01 9.56897338e-02 1.66821038e-02 2.64969276e+02] [-9.56886906e-02 9.95410935e-01 -8.62559499e-04 5.29444430e+00] [-1.66880866e-02 -7.37807859e-04 9.99860472e-01 5.80924902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.00, Y:5.29, Z:0.58 [[ 9.95124922e-01 9.72013808e-02 1.66817395e-02 2.65002546e+02] [-9.72004326e-02 9.95264447e-01 -8.69547586e-04 5.29448594e+00] [-1.66872635e-02 -7.56163825e-04 9.99860472e-01 5.81747790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:265.04, Y:5.29, Z:0.58 [[ 9.95047003e-01 9.79958825e-02 1.66813743e-02 2.65035331e+02] [-9.79949294e-02 9.95186528e-01 -8.76498898e-04 5.29456475e+00] [-1.66869722e-02 -7.62532495e-04 9.99860472e-01 5.82165655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.07, Y:5.29, Z:0.58 [[ 9.95026743e-01 9.82014491e-02 1.66810088e-02 2.65068378e+02] [-9.82004094e-02 9.95166267e-01 -8.83400160e-04 5.29402588e+00] [-1.66871284e-02 -7.59075110e-04 9.99860472e-01 5.81119420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:265.10, Y:5.29, Z:0.58 [[ 9.95037497e-01 9.80924816e-02 1.66806377e-02 2.65100783e+02] [-9.80913103e-02 9.95177020e-01 -8.90353695e-04 5.29167709e+00] [-1.66875243e-02 -7.50290292e-04 9.99860472e-01 5.80010387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.13, Y:5.29, Z:0.58 [[ 9.95043346e-01 9.80332021e-02 1.66802636e-02 2.65133289e+02] [-9.80319061e-02 9.95182868e-01 -8.97307074e-04 5.29082126e+00] [-1.66878785e-02 -7.42338603e-04 9.99860472e-01 5.81146014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.17, Y:5.29, Z:0.58 [[ 9.94998307e-01 9.84893388e-02 1.66798877e-02 2.65166100e+02] [-9.84879908e-02 9.95137829e-01 -9.04241448e-04 5.29054733e+00] [-1.66878454e-02 -7.43049914e-04 9.99860472e-01 5.80500741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:265.20, Y:5.29, Z:0.59 [[ 9.94043673e-01 1.07698516e-01 1.66795124e-02 2.65202324e+02] [-1.07698345e-01 9.94183201e-01 -9.11112465e-04 5.29160401e+00] [-1.66806164e-02 -8.90670287e-04 9.99860472e-01 5.90484253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:265.23, Y:5.29, Z:0.59 [[ 9.93682016e-01 1.10988542e-01 1.66611786e-02 2.65228488e+02] [-1.10983251e-01 9.93821497e-01 -1.24471141e-03 5.28953068e+00] [-1.66963861e-02 -6.12264410e-04 9.99860418e-01 5.86299002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51232058799997 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:265.26, Y:5.29, Z:0.59 [[ 9.94482123e-01 1.03572267e-01 1.66761034e-02 2.65260976e+02] [-1.03570517e-01 9.94621639e-01 -9.70858277e-04 5.28978976e+00] [-1.66869673e-02 -7.61651445e-04 9.99860473e-01 5.88429710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54232058799994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:265.30, Y:5.29, Z:0.59 [[ 9.93710156e-01 1.10734887e-01 1.66706748e-02 2.65296722e+02] [-1.10732484e-01 9.93849673e-01 -1.06995957e-03 5.28834978e+00] [-1.66866266e-02 -7.82755556e-04 9.99860462e-01 5.88439479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:265.32, Y:5.29, Z:0.59 [[ 9.95020139e-01 9.82725777e-02 1.66560447e-02 2.65319520e+02] [-9.82639426e-02 9.95159488e-01 -1.33803038e-03 5.28678941e+00] [-1.67069127e-02 -3.05321448e-04 9.99860383e-01 5.88229013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.36, Y:5.29, Z:0.59 [[ 9.94488653e-01 1.03508570e-01 1.66821632e-02 2.65355273e+02] [-1.03508803e-01 9.94628173e-01 -8.51784343e-04 5.28876990e+00] [-1.66807164e-02 -8.79660871e-04 9.99860480e-01 5.89795484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:265.39, Y:5.29, Z:0.59 [[ 9.93489465e-01 1.12698659e-01 1.66641824e-02 2.65392697e+02] [-1.12694656e-01 9.93628964e-01 -1.18209739e-03 5.28884747e+00] [-1.66912351e-02 -7.03562999e-04 9.99860444e-01 5.87619287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:265.42, Y:5.29, Z:0.58 [[ 9.94248586e-01 1.05795409e-01 1.66457350e-02 2.65419664e+02] [-1.05784778e-01 9.94387887e-01 -1.52037710e-03 5.28624987e+00] [-1.67131662e-02 -2.49232593e-04 9.99860294e-01 5.84541452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.692320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:265.44, Y:5.28, Z:0.58 [[ 9.95480209e-01 9.34965660e-02 1.66597086e-02 2.65443818e+02] [-9.34885449e-02 9.95619556e-01 -1.26133154e-03 5.28241755e+00] [-1.67046618e-02 -3.01861331e-04 9.99860422e-01 5.76739243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.48, Y:5.28, Z:0.58 [[ 9.95297981e-01 9.54134081e-02 1.66796566e-02 2.65477984e+02] [-9.54119384e-02 9.95437480e-01 -8.85681775e-04 5.27931686e+00] [-1.66880612e-02 -7.09921084e-04 9.99860493e-01 5.84233438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.51, Y:5.28, Z:0.58 [[ 9.95820754e-01 8.97950617e-02 1.66695376e-02 2.65505541e+02] [-8.97896347e-02 9.95960173e-01 -1.07522558e-03 5.27714517e+00] [-1.66987455e-02 -4.26019742e-04 9.99860475e-01 5.75918479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78232058799995 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:265.54, Y:5.28, Z:0.58 [[ 9.95287748e-01 9.55201044e-02 1.66795522e-02 2.65542041e+02] [-9.55186295e-02 9.95427247e-01 -8.86889072e-04 5.27511893e+00] [-1.66879964e-02 -7.10498135e-04 9.99860493e-01 5.83813698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:265.57, Y:5.27, Z:0.57 [[ 9.96010086e-01 8.76715631e-02 1.66615169e-02 2.65567571e+02] [-8.76634938e-02 9.96149404e-01 -1.21545405e-03 5.27111823e+00] [-1.67039209e-02 -2.50002298e-04 9.99860449e-01 5.73975033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:265.60, Y:5.27, Z:0.57 [[ 9.96121587e-01 8.63922325e-02 1.66783409e-02 2.65600211e+02] [-8.63891652e-02 9.96261056e-01 -9.05635208e-04 5.26735012e+00] [-1.66942214e-02 -5.38705169e-04 9.99860497e-01 5.73558901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.63, Y:5.26, Z:0.57 [[ 9.96130848e-01 8.62854589e-02 1.66779186e-02 2.65633191e+02] [-8.62822477e-02 9.96270314e-01 -9.13346544e-04 5.26404088e+00] [-1.66945237e-02 -5.29195637e-04 9.99860497e-01 5.74514989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:265.67, Y:5.26, Z:0.57 [[ 9.96179836e-01 8.57180699e-02 1.66777321e-02 2.65666222e+02] [-8.57147225e-02 9.96319299e-01 -9.16739751e-04 5.26074759e+00] [-1.66949275e-02 -5.16289524e-04 9.99860497e-01 5.73720399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.71, Y:5.26, Z:0.58 [[ 9.94414590e-01 1.04218480e-01 1.66772983e-02 2.65711357e+02] [-1.04217594e-01 9.94554090e-01 -9.24563896e-04 5.25576178e+00] [-1.66828319e-02 -8.18668083e-04 9.99860497e-01 5.83879324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.73, Y:5.25, Z:0.57 [[ 9.96383391e-01 8.33286449e-02 1.66275435e-02 2.65725848e+02] [-8.33100342e-02 9.96522033e-01 -1.81001769e-03 5.25276022e+00] [-1.67205397e-02 4.18230345e-04 9.99860115e-01 5.72160583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.992320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:265.76, Y:5.25, Z:0.57 [[ 9.96292820e-01 8.43949370e-02 1.66766633e-02 2.65758154e+02] [-8.43916158e-02 9.96432255e-01 -9.04046937e-04 5.25082374e+00] [-1.66934622e-02 -5.06675090e-04 9.99860526e-01 5.70553600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:265.79, Y:5.25, Z:0.57 [[ 9.96151343e-01 8.60488437e-02 1.66762840e-02 2.65790514e+02] [-8.60456378e-02 9.96290780e-01 -9.10991075e-04 5.24879418e+00] [-1.66928177e-02 -5.27436507e-04 9.99860526e-01 5.69110489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:5.25, Z:0.58 [[ 9.96085632e-01 8.68062618e-02 1.66759036e-02 2.65822411e+02] [-8.68030464e-02 9.96225069e-01 -9.17901378e-04 5.24567221e+00] [-1.66926328e-02 -5.33210859e-04 9.99860526e-01 5.77342720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.85, Y:5.24, Z:0.57 [[ 9.96015043e-01 8.76131760e-02 1.66722995e-02 2.65852221e+02] [-8.76089817e-02 9.96154456e-01 -9.83184040e-04 5.23968296e+00] [-1.66943253e-02 -4.81377091e-04 9.99860524e-01 5.69472418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.112320588 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:265.90, Y:5.24, Z:0.58 [[ 9.93513679e-01 1.12483288e-01 1.66757060e-02 2.65904848e+02] [-1.12483611e-01 9.93653153e-01 -9.21542476e-04 5.23907908e+00] [-1.66735260e-02 -9.60178582e-04 9.99860526e-01 5.75420512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.91, Y:5.24, Z:0.57 [[ 9.96053931e-01 8.71843573e-02 1.65968262e-02 2.65913467e+02] [-8.71583074e-02 9.96191847e-01 -2.28786041e-03 5.23576620e+00] [-1.67330885e-02 8.32281078e-04 9.99859646e-01 5.66451805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.172320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:265.96, Y:5.23, Z:0.58 [[ 9.94135733e-01 1.06846559e-01 1.66720680e-02 2.65960663e+02] [-1.06846269e-01 9.94275136e-01 -9.10682209e-04 5.23350346e+00] [-1.66739259e-02 -8.76006531e-04 9.99860597e-01 5.75230490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.97, Y:5.23, Z:0.57 [[ 9.95737189e-01 9.07272181e-02 1.66139365e-02 2.65973054e+02] [-9.07076066e-02 9.95875694e-01 -1.93175833e-03 5.22965365e+00] [-1.67206786e-02 4.16513188e-04 9.99860113e-01 5.66021747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.01, Y:5.23, Z:0.57 [[ 9.95681991e-01 9.13208255e-02 1.66697434e-02 2.66005286e+02] [-9.13183178e-02 9.95821335e-01 -9.13143448e-04 5.22683522e+00] [-1.66834751e-02 -6.13052438e-04 9.99860633e-01 5.66070213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.04, Y:5.22, Z:0.57 [[ 9.95593342e-01 9.22823420e-02 1.66693595e-02 2.66037883e+02] [-9.22798526e-02 9.95732686e-01 -9.20098529e-04 5.22409622e+00] [-1.66831349e-02 -6.22202067e-04 9.99860633e-01 5.65381758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.07, Y:5.22, Z:0.56 [[ 9.95506789e-01 9.32114686e-02 1.66689770e-02 2.66070054e+02] [-9.32089943e-02 9.95646134e-01 -9.26976258e-04 5.22162641e+00] [-1.66828073e-02 -6.30887425e-04 9.99860633e-01 5.63598263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.11, Y:5.22, Z:0.57 [[ 9.93722757e-01 1.10622057e-01 1.66685929e-02 2.66114693e+02] [-1.10621907e-01 9.93862124e-01 -9.33831760e-04 5.22013167e+00] [-1.66695856e-02 -9.15941672e-04 9.99860633e-01 5.73963853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35232058799994 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:266.14, Y:5.22, Z:0.57 [[ 9.94645931e-01 1.01996076e-01 1.66214180e-02 2.66140846e+02] [-1.01981008e-01 9.94784800e-01 -1.75383569e-03 5.22000020e+00] [-1.67136183e-02 4.93765691e-05 9.99860317e-01 5.71703239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.16, Y:5.22, Z:0.56 [[ 9.95803175e-01 8.99950484e-02 1.66411628e-02 2.66164222e+02] [-8.99841546e-02 9.95942208e-01 -1.40376940e-03 5.21834992e+00] [-1.66999687e-02 -9.95629453e-05 9.99860541e-01 5.58706625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:266.20, Y:5.22, Z:0.56 [[ 9.95879467e-01 8.91418592e-02 1.66678055e-02 2.66196679e+02] [-8.91388921e-02 9.96018779e-01 -9.22337756e-04 5.21694699e+00] [-1.66836662e-02 -5.67212482e-04 9.99860657e-01 5.60717273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.23, Y:5.21, Z:0.56 [[ 9.95898249e-01 8.89318042e-02 1.66676844e-02 2.66229080e+02] [-8.89287712e-02 9.96037559e-01 -9.24521435e-04 5.21450908e+00] [-1.66838590e-02 -5.61507412e-04 9.99860657e-01 5.60903357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.26, Y:5.21, Z:0.56 [[ 9.96247929e-01 8.49250582e-02 1.66672891e-02 2.66261524e+02] [-8.49213466e-02 9.96387222e-01 -9.31593503e-04 5.21254839e+00] [-1.66861895e-02 -4.87310537e-04 9.99860657e-01 5.57790570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.29, Y:5.21, Z:0.56 [[ 9.96428526e-01 8.27792664e-02 1.66668985e-02 2.66294084e+02] [-8.27751389e-02 9.96567808e-01 -9.38530029e-04 5.21088979e+00] [-1.66873853e-02 -4.44426745e-04 9.99860657e-01 5.56116975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.33, Y:5.21, Z:0.55 [[ 9.96703727e-01 7.93971573e-02 1.66665037e-02 2.66326573e+02] [-7.93924408e-02 9.96842990e-01 -9.45488987e-04 5.20777601e+00] [-1.66889565e-02 -3.80822013e-04 9.99860657e-01 5.54800105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.36, Y:5.20, Z:0.56 [[ 9.97254858e-01 7.21456036e-02 1.66661062e-02 2.66359105e+02] [-7.21397581e-02 9.97394079e-01 -9.52445244e-04 5.20009188e+00] [-1.66913903e-02 -2.52458221e-04 9.99860657e-01 5.55374818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.39, Y:5.20, Z:0.55 [[ 9.97224579e-01 7.25630361e-02 1.66657010e-02 2.66392325e+02] [-7.25571313e-02 9.97363796e-01 -9.59482912e-04 5.19854733e+00] [-1.66913898e-02 -2.52395513e-04 9.99860657e-01 5.54815266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.42, Y:5.19, Z:0.55 [[ 9.97648877e-01 6.64754560e-02 1.66652965e-02 2.66424889e+02] [-6.64685851e-02 9.97788050e-01 -9.66457813e-04 5.19379472e+00] [-1.66926794e-02 -1.43533127e-04 9.99860657e-01 5.54455953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.46, Y:5.19, Z:0.55 [[ 9.97824001e-01 6.37929764e-02 1.66648876e-02 2.66457537e+02] [-6.37856145e-02 9.97963150e-01 -9.73457960e-04 5.19131797e+00] [-1.66930435e-02 -9.16403797e-05 9.99860657e-01 5.51496880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.49, Y:5.19, Z:0.55 [[ 9.97914434e-01 6.23624693e-02 1.66644731e-02 2.66489983e+02] [-6.23547903e-02 9.98053565e-01 -9.80502900e-04 5.18827426e+00] [-1.66931834e-02 -6.06517279e-05 9.99860657e-01 5.49080787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.52, Y:5.18, Z:0.55 [[ 9.97990403e-01 6.11348152e-02 1.66640561e-02 2.66522182e+02] [-6.11268475e-02 9.98129517e-01 -9.87539874e-04 5.18036946e+00] [-1.66932593e-02 -3.30658981e-05 9.99860657e-01 5.50249300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.55, Y:5.18, Z:0.55 [[ 9.97988304e-01 6.11691718e-02 1.66636411e-02 2.66554333e+02] [-6.11610928e-02 9.98127413e-01 -9.94492568e-04 5.17569279e+00] [-1.66932693e-02 -2.66745505e-05 9.99860657e-01 5.51806675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.59, Y:5.17, Z:0.55 [[ 9.97844407e-01 6.34734336e-02 1.66632206e-02 2.66586673e+02] [-6.34655590e-02 9.97983527e-01 -1.00148945e-03 5.17150079e+00] [-1.66931876e-02 -5.82099660e-05 9.99860657e-01 5.51362404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.62, Y:5.17, Z:0.55 [[ 9.97705555e-01 6.56199402e-02 1.66628005e-02 2.66618214e+02] [-6.56122490e-02 9.97844685e-01 -1.00843049e-03 5.16943762e+00] [-1.66930601e-02 -8.71671120e-05 9.99860657e-01 5.48807692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.65, Y:5.17, Z:0.55 [[ 9.97590946e-01 6.73399392e-02 1.66624291e-02 2.66650276e+02] [-6.73323860e-02 9.97730084e-01 -1.01453059e-03 5.16627413e+00] [-1.66929252e-02 -1.09834574e-04 9.99860657e-01 5.46114975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.68, Y:5.16, Z:0.55 [[ 9.97369855e-01 7.05389796e-02 1.66620563e-02 2.66682044e+02] [-7.05317710e-02 9.97509011e-01 -1.02061639e-03 5.16074303e+00] [-1.66925446e-02 -1.57272325e-04 9.99860657e-01 5.45326399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:266.71, Y:5.16, Z:0.54 [[ 9.97154673e-01 7.35183035e-02 1.66618549e-02 2.66714232e+02] [-7.35114559e-02 9.97293847e-01 -1.02389463e-03 5.15732264e+00] [-1.66920404e-02 -2.03855895e-04 9.99860657e-01 5.44235131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.75, Y:5.15, Z:0.54 [[ 9.96745245e-01 7.88753082e-02 1.66614219e-02 2.66745859e+02] [-7.88690916e-02 9.96884448e-01 -1.03089332e-03 5.15310451e+00] [-1.66908244e-02 -2.86533189e-04 9.99860657e-01 5.44907044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.78, Y:5.15, Z:0.54 [[ 9.96454792e-01 8.24636648e-02 1.66610486e-02 2.66778543e+02] [-8.24578492e-02 9.96594014e-01 -1.03689111e-03 5.15180471e+00] [-1.66898071e-02 -3.40619112e-04 9.99860657e-01 5.43541696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.81, Y:5.15, Z:0.54 [[ 9.95943989e-01 8.84194241e-02 1.66606182e-02 2.66810407e+02] [-8.84143260e-02 9.96083238e-01 -1.04376045e-03 5.15268766e+00] [-1.66876513e-02 -4.33510391e-04 9.99860657e-01 5.41699417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.84, Y:5.15, Z:0.54 [[ 9.95674094e-01 9.14086121e-02 1.66602422e-02 2.66842714e+02] [-9.14038323e-02 9.95813355e-01 -1.04972860e-03 5.15038482e+00] [-1.66864459e-02 -4.77622407e-04 9.99860657e-01 5.41333187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.88, Y:5.15, Z:0.54 [[ 9.95146372e-01 9.69853048e-02 1.66598069e-02 2.66875700e+02] [-9.69811905e-02 9.95285654e-01 -1.05659150e-03 5.14603336e+00] [-1.66837407e-02 -5.64224709e-04 9.99860658e-01 5.43327189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.91, Y:5.14, Z:0.54 [[ 9.94968638e-01 9.87920778e-02 1.66593704e-02 2.66908134e+02] [-9.87881020e-02 9.95107924e-01 -1.06342978e-03 5.14449240e+00] [-1.66829300e-02 -5.87668302e-04 9.99860658e-01 5.42155858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.96, Y:5.15, Z:0.55 [[ 9.91205163e-01 1.31281394e-01 1.66589274e-02 2.66961993e+02] [-1.31281861e-01 9.91344505e-01 -1.07032557e-03 5.14506982e+00] [-1.66552499e-02 -1.12610276e-03 9.99860658e-01 5.54118008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.97, Y:5.15, Z:0.54 [[ 9.94742192e-01 1.01062680e-01 1.65621765e-02 2.66967921e+02] [-1.01035102e-01 9.94879731e-01 -2.49567571e-03 5.14609217e+00] [-1.67295934e-02 8.09192738e-04 9.99859723e-01 5.36477250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.00, Y:5.14, Z:0.54 [[ 9.94955203e-01 9.89282080e-02 1.66539338e-02 2.66999802e+02] [-9.89240253e-02 9.95094406e-01 -1.07678238e-03 5.14263722e+00] [-1.66787606e-02 -5.76123946e-04 9.99860734e-01 5.35904781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.03, Y:5.14, Z:0.53 [[ 9.95843862e-01 8.95414011e-02 1.66535435e-02 2.67032024e+02] [-8.95358057e-02 9.95983015e-01 -1.08278528e-03 5.13657642e+00] [-1.66836006e-02 -4.12803365e-04 9.99860734e-01 5.34558257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.06, Y:5.13, Z:0.53 [[ 9.96407538e-01 8.30342831e-02 1.66530912e-02 2.67064628e+02] [-8.30276633e-02 9.96546647e-01 -1.08969730e-03 5.13101459e+00] [-1.66860645e-02 -2.96884649e-04 9.99860734e-01 5.34142019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.10, Y:5.12, Z:0.53 [[ 9.97520570e-01 6.83769132e-02 1.66526377e-02 2.67095541e+02] [-6.83681340e-02 9.97659559e-01 -1.09658433e-03 5.12026729e+00] [-1.66886443e-02 -4.46443380e-05 9.99860734e-01 5.32205860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.13, Y:5.11, Z:0.53 [[ 9.98020034e-01 6.06524046e-02 1.66522351e-02 2.67128080e+02] [-6.06424483e-02 9.98158944e-01 -1.10266453e-03 5.11365114e+00] [-1.66884567e-02 9.06489858e-05 9.99860734e-01 5.30060473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.16, Y:5.11, Z:0.53 [[ 9.98344879e-01 5.50474363e-02 1.66517707e-02 2.67159740e+02] [-5.50365839e-02 9.98483722e-01 -1.10963377e-03 5.10677495e+00] [-1.66876045e-02 1.91340618e-04 9.99860734e-01 5.25954492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:267.19, Y:5.09, Z:0.53 [[ 9.98904952e-01 4.37221783e-02 1.66513629e-02 2.67191317e+02] [-4.37096507e-02 9.99043654e-01 -1.11571968e-03 5.09047327e+00] [-1.66842201e-02 3.86672652e-04 9.99860734e-01 5.25032628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.372320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:267.22, Y:5.08, Z:0.53 [[ 9.99106123e-01 3.88548783e-02 1.66509037e-02 2.67223127e+02] [-3.88415616e-02 9.99244751e-01 -1.12253137e-03 5.07981422e+00] [-1.66819440e-02 4.74780860e-04 9.99860734e-01 5.26014024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.25, Y:5.06, Z:0.53 [[ 9.99413150e-01 2.99352370e-02 1.66504545e-02 2.67253567e+02] [-2.99205732e-02 9.99551642e-01 -1.12915590e-03 5.06120458e+00] [-1.66767906e-02 6.30302111e-04 9.99860734e-01 5.27569302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.29, Y:5.05, Z:0.53 [[ 9.99480337e-01 2.76011778e-02 1.66502413e-02 2.67285485e+02] [-2.75861385e-02 9.99618789e-01 -1.13229071e-03 5.05152458e+00] [-1.66751466e-02 6.72386442e-04 9.99860734e-01 5.29383019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.32, Y:5.03, Z:0.52 [[ 9.99461716e-01 2.82676249e-02 1.66499292e-02 2.67316555e+02] [-2.82526020e-02 9.99600169e-01 -1.13686067e-03 5.03366531e+00] [-1.66754084e-02 6.65844893e-04 9.99860734e-01 5.24436786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.35, Y:5.02, Z:0.52 [[ 9.99455766e-01 2.84775624e-02 1.66493609e-02 2.67347782e+02] [-2.84624310e-02 9.99594207e-01 -1.14512429e-03 5.02420375e+00] [-1.66752150e-02 6.70619783e-04 9.99860734e-01 5.23021454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.38, Y:5.02, Z:0.52 [[ 9.99431993e-01 2.93002251e-02 1.66489693e-02 2.67379436e+02] [-2.92851135e-02 9.99570437e-01 -1.15078943e-03 5.01647135e+00] [-1.66755359e-02 6.62568816e-04 9.99860734e-01 5.22594741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.41, Y:5.00, Z:0.52 [[ 9.99353133e-01 3.18769690e-02 1.66485742e-02 2.67410038e+02] [-3.18621198e-02 9.99491605e-01 -1.15647731e-03 5.00205135e+00] [-1.66769751e-02 6.25270357e-04 9.99860734e-01 5.20633324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.44, Y:4.99, Z:0.52 [[ 9.99323818e-01 3.27833187e-02 1.66481767e-02 2.67442183e+02] [-3.27685004e-02 9.99462293e-01 -1.16217215e-03 4.99299951e+00] [-1.66773247e-02 6.15850528e-04 9.99860734e-01 5.20076721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:4.98, Z:0.52 [[ 9.99362021e-01 3.15975448e-02 1.66477190e-02 2.67474179e+02] [-3.15824537e-02 9.99500467e-01 -1.16869199e-03 4.97851663e+00] [-1.66763307e-02 6.42170576e-04 9.99860734e-01 5.20405052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.51, Y:4.97, Z:0.52 [[ 9.99349772e-01 3.19826994e-02 1.66475192e-02 2.67506042e+02] [-3.19676144e-02 9.99488219e-01 -1.17153075e-03 4.97055848e+00] [-1.66764680e-02 6.38587513e-04 9.99860734e-01 5.18437063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.54, Y:4.96, Z:0.52 [[ 9.97538918e-01 6.81100725e-02 1.66470580e-02 2.67537612e+02] [-6.80998965e-02 9.97677812e-01 -1.17804810e-03 4.96229800e+00] [-1.66886373e-02 4.14859028e-05 9.99860734e-01 5.21466291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.57, Y:4.96, Z:0.52 [[ 9.97833977e-01 6.36414505e-02 1.66469072e-02 2.67569735e+02] [-6.36306170e-02 9.97972821e-01 -1.18017502e-03 4.95502027e+00] [-1.66882690e-02 1.18365758e-04 9.99860734e-01 5.19522081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.60, Y:4.95, Z:0.52 [[ 9.98041476e-01 6.03001548e-02 1.66464200e-02 2.67601623e+02] [-6.02887425e-02 9.98180274e-01 -1.18700798e-03 4.94817710e+00] [-1.66877048e-02 1.81091474e-04 9.99860734e-01 5.17055793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.63, Y:4.94, Z:0.52 [[ 9.98012829e-01 6.07725517e-02 1.66459951e-02 2.67633509e+02] [-6.07611063e-02 9.98151624e-01 -1.19293628e-03 4.94120861e+00] [-1.66877248e-02 1.79136631e-04 9.99860734e-01 5.16518674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.67, Y:4.94, Z:0.52 [[ 9.97988123e-01 6.11770735e-02 1.66455070e-02 2.67666633e+02] [-6.11655713e-02 9.98126913e-01 -1.19970850e-03 4.93919212e+00] [-1.66877232e-02 1.79162886e-04 9.99860734e-01 5.15959334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.70, Y:4.93, Z:0.52 [[ 9.97941448e-01 6.19339119e-02 1.66450181e-02 2.67697917e+02] [-6.19224025e-02 9.98080238e-01 -1.20645432e-03 4.93168699e+00] [-1.66877840e-02 1.73271259e-04 9.99860734e-01 5.18162912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.73, Y:4.93, Z:0.52 [[ 9.97915964e-01 6.23432230e-02 1.66448649e-02 2.67731033e+02] [-6.23317354e-02 9.98054755e-01 -1.20856325e-03 4.92964635e+00] [-1.66878323e-02 1.68541240e-04 9.99860734e-01 5.17607441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.76, Y:4.92, Z:0.52 [[ 9.97723774e-01 6.53470367e-02 1.66443664e-02 2.67763476e+02] [-6.53358530e-02 9.97862590e-01 -1.21539047e-03 4.92321632e+00] [-1.66882127e-02 1.25150093e-04 9.99860734e-01 5.20132998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.80, Y:4.92, Z:0.52 [[ 9.97697006e-01 6.57545955e-02 1.66438641e-02 2.67796590e+02] [-6.57433544e-02 9.97835817e-01 -1.22223089e-03 4.92115622e+00] [-1.66882110e-02 1.25192645e-04 9.99860734e-01 5.19573646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.83, Y:4.92, Z:0.52 [[ 9.97454884e-01 6.93307504e-02 1.66433621e-02 2.67829147e+02] [-6.93198936e-02 9.97593726e-01 -1.22902865e-03 4.91757578e+00] [-1.66885231e-02 7.21845378e-05 9.99860734e-01 5.19623808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:267.86, Y:4.92, Z:0.51 [[ 9.95636008e-01 9.18256765e-02 1.66428552e-02 2.67860926e+02] [-9.18178420e-02 9.95775053e-01 -1.23585526e-03 4.91683914e+00] [-1.66860232e-02 -2.97649053e-04 9.99860734e-01 5.14723069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:4.91, Z:0.52 [[ 9.95334188e-01 9.50414915e-02 1.66424106e-02 2.67893361e+02] [-9.50340067e-02 9.95473252e-01 -1.24181317e-03 4.91379799e+00] [-1.66850984e-02 -3.45575861e-04 9.99860734e-01 5.16199883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.93, Y:4.91, Z:0.52 [[ 9.94966238e-01 9.88191896e-02 1.66418952e-02 2.67925244e+02] [-9.88121180e-02 9.95105324e-01 -1.24868220e-03 4.91180934e+00] [-1.66838323e-02 -4.02024284e-04 9.99860734e-01 5.16302309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.96, Y:4.91, Z:0.52 [[ 9.94925251e-01 9.92310790e-02 1.66414444e-02 2.67958352e+02] [-9.92239650e-02 9.95064335e-01 -1.25466119e-03 4.90967933e+00] [-1.66838092e-02 -4.02936003e-04 9.99860734e-01 5.15743694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.99, Y:4.91, Z:0.51 [[ 9.94600782e-01 1.02432246e-01 1.66409222e-02 2.67990835e+02] [-1.02425464e-01 9.94739882e-01 -1.26154952e-03 4.90843495e+00] [-1.66826124e-02 -4.49716052e-04 9.99860734e-01 5.14841077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:268.02, Y:4.91, Z:0.51 [[ 9.94366343e-01 1.04683679e-01 1.66403982e-02 2.68023072e+02] [-1.04677098e-01 9.94505453e-01 -1.26842404e-03 4.90672464e+00] [-1.66817501e-02 -4.80590413e-04 9.99860734e-01 5.13157923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:268.06, Y:4.90, Z:0.51 [[ 9.94323099e-01 1.05093714e-01 1.66398732e-02 2.68056179e+02] [-1.05087075e-01 9.94462207e-01 -1.27527380e-03 4.90455183e+00] [-1.66817483e-02 -4.80601416e-04 9.99860734e-01 5.12598579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.09, Y:4.90, Z:0.51 [[ 9.93904318e-01 1.08983204e-01 1.66393446e-02 2.68088507e+02] [-1.08976995e-01 9.94043445e-01 -1.28213436e-03 4.90296587e+00] [-1.66799626e-02 -5.38986897e-04 9.99860734e-01 5.11215687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21232058799995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:268.12, Y:4.90, Z:0.51 [[ 9.93461842e-01 1.12945646e-01 1.66388145e-02 2.68120689e+02] [-1.12939877e-01 9.93600988e-01 -1.28897761e-03 4.90075110e+00] [-1.66779269e-02 -5.98635585e-04 9.99860734e-01 5.09746852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.15, Y:4.90, Z:0.51 [[ 9.92934851e-01 1.17488493e-01 1.66383477e-02 2.68152858e+02] [-1.17483261e-01 9.93074019e-01 -1.29497504e-03 4.89805010e+00] [-1.66752555e-02 -6.68901492e-04 9.99860735e-01 5.10306381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27232058799996 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:268.19, Y:4.89, Z:0.52 [[ 9.89722997e-01 1.42026662e-01 1.66378131e-02 2.68194269e+02] [-1.42024761e-01 9.89862249e-01 -1.30180807e-03 4.89478522e+00] [-1.66540345e-02 -1.07455204e-03 9.99860735e-01 5.24096996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.21, Y:4.90, Z:0.51 [[ 9.91993484e-01 1.25195018e-01 1.65871992e-02 2.68214055e+02] [-1.25180090e-01 9.92132140e-01 -1.93929664e-03 4.89747519e+00] [-1.66994838e-02 -1.52617462e-04 9.99860542e-01 5.10886503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:4.90, Z:0.51 [[ 9.90928140e-01 1.33359020e-01 1.66370778e-02 2.68246596e+02] [-1.33355897e-01 9.91067359e-01 -1.30197671e-03 4.89915110e+00] [-1.66620950e-02 -9.28487065e-04 9.99860747e-01 5.13062950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.362320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:268.28, Y:4.90, Z:0.51 [[ 9.89926701e-01 1.40599967e-01 1.66366060e-02 2.68278894e+02] [-1.40597761e-01 9.90065937e-01 -1.30797749e-03 4.90185830e+00] [-1.66552385e-02 -1.04426772e-03 9.99860747e-01 5.14052922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39232058799996 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:268.32, Y:4.90, Z:0.52 [[ 9.87091031e-01 1.59293866e-01 1.66361339e-02 2.68323675e+02] [-1.59294194e-01 9.87230284e-01 -1.31395457e-03 4.90263213e+00] [-1.66330001e-02 -1.35304676e-03 9.99860747e-01 5.20461106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.422320588 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:268.36, Y:4.90, Z:0.52 [[ 9.87239222e-01 1.58379251e-01 1.65749993e-02 2.68356006e+02] [-1.58366627e-01 9.87378188e-01 -2.07977889e-03 4.90025934e+00] [-1.66951866e-02 -5.71687434e-04 9.99860462e-01 5.19304650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.37, Y:4.90, Z:0.51 [[ 9.89100425e-01 1.46306332e-01 1.65773192e-02 2.68372750e+02] [-1.46292501e-01 9.89239253e-01 -2.05050030e-03 4.90187024e+00] [-1.66989360e-02 -3.96986757e-04 9.99860484e-01 5.10517989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.482320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:268.41, Y:4.90, Z:0.52 [[ 9.87104668e-01 1.59209333e-01 1.66361795e-02 2.68409763e+02] [-1.59209987e-01 9.87243894e-01 -1.29359061e-03 4.90184302e+00] [-1.66299184e-02 -1.37173659e-03 9.99860772e-01 5.17742530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:268.44, Y:4.90, Z:0.52 [[ 9.87104230e-01 1.59214059e-01 1.66169486e-02 2.68442201e+02] [-1.59210578e-01 9.87243444e-01 -1.54063395e-03 4.89964087e+00] [-1.66502641e-02 -1.12482770e-03 9.99860742e-01 5.17003399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:268.47, Y:4.90, Z:0.52 [[ 9.87104135e-01 1.59214617e-01 1.66172422e-02 2.68474625e+02] [-1.59211199e-01 9.87243350e-01 -1.53686219e-03 4.89720486e+00] [-1.66499528e-02 -1.12860803e-03 9.99860743e-01 5.16463791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57232058799997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:268.51, Y:4.90, Z:0.52 [[ 9.85224611e-01 1.70459227e-01 1.66167669e-02 2.68510586e+02] [-1.70457295e-01 9.85363857e-01 -1.54293118e-03 4.89807357e+00] [-1.66365684e-02 -1.31231537e-03 9.99860742e-01 5.18519554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60232058799994 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:268.54, Y:4.90, Z:0.52 [[ 9.85318094e-01 1.69920703e-01 1.65893975e-02 2.68542608e+02] [-1.69912897e-01 9.85457274e-01 -1.88921703e-03 4.89564536e+00] [-1.66691595e-02 -9.57272870e-04 9.99860602e-01 5.17708874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.56, Y:4.90, Z:0.51 [[ 9.87201084e-01 1.58615241e-01 1.65899195e-02 2.68562921e+02] [-1.58605951e-01 9.87340168e-01 -1.88259199e-03 4.89836764e+00] [-1.66785017e-02 -7.72763115e-04 9.99860605e-01 5.11114055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.60, Y:4.90, Z:0.52 [[ 9.84609717e-01 1.73973998e-01 1.66358845e-02 2.68604190e+02] [-1.73976800e-01 9.84748907e-01 -1.28974814e-03 4.90016389e+00] [-1.66065518e-02 -1.62435940e-03 9.99860782e-01 5.15066745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:4.90, Z:0.52 [[ 9.83669594e-01 1.79217129e-01 1.65936706e-02 2.68634402e+02] [-1.79211554e-01 9.83808850e-01 -1.83448032e-03 4.90192659e+00] [-1.66537703e-02 -1.16925499e-03 9.99860633e-01 5.15976355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.67, Y:4.90, Z:0.52 [[ 9.83720786e-01 1.78934790e-01 1.66059074e-02 2.68666195e+02] [-1.78931841e-01 9.83860046e-01 -1.67524514e-03 4.89926792e+00] [-1.66376485e-02 -1.32335213e-03 9.99860709e-01 5.15567925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.752320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:268.70, Y:4.90, Z:0.51 [[ 9.83270562e-01 1.81392522e-01 1.66058530e-02 2.68698557e+02] [-1.81389909e-01 9.83409829e-01 -1.67595546e-03 4.90082851e+00] [-1.66343649e-02 -1.36421651e-03 9.99860709e-01 5.14691235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78232058799995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:268.73, Y:4.90, Z:0.51 [[ 9.83317498e-01 1.81137729e-01 1.66078452e-02 2.68730340e+02] [-1.81135519e-01 9.83456762e-01 -1.64974672e-03 4.89833395e+00] [-1.66319290e-02 -1.38604584e-03 9.99860719e-01 5.14179501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.812320588 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:268.76, Y:4.90, Z:0.52 [[ 9.81004618e-01 1.93272128e-01 1.66079665e-02 2.68764788e+02] [-1.93271666e-01 9.81143897e-01 -1.64815059e-03 4.89887593e+00] [-1.66133465e-02 -1.59300600e-03 9.99860720e-01 5.17211162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.79, Y:4.90, Z:0.51 [[ 9.82478476e-01 1.85635856e-01 1.65943823e-02 2.68785354e+02] [-1.85631331e-01 9.82617766e-01 -1.82611556e-03 4.90292989e+00] [-1.66449274e-02 -1.28631804e-03 9.99860636e-01 5.10433440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.82, Y:4.90, Z:0.51 [[ 9.82407137e-01 1.86009159e-01 1.66376156e-02 2.68818467e+02] [-1.86014305e-01 9.82546239e-01 -1.25131927e-03 4.90021992e+00] [-1.65799835e-02 -1.86552952e-03 9.99860802e-01 5.10318767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:4.90, Z:0.51 [[ 9.82334570e-01 1.86392059e-01 1.66371254e-02 2.68851613e+02] [-1.86397150e-01 9.82473674e-01 -1.25780302e-03 4.89803940e+00] [-1.65799823e-02 -1.86552938e-03 9.99860802e-01 5.09759536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.932320588 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:268.89, Y:4.90, Z:0.52 [[ 9.78488288e-01 2.05630475e-01 1.66366327e-02 2.68892075e+02] [-2.05638187e-01 9.78627272e-01 -1.26428659e-03 4.89936714e+00] [-1.65410384e-02 -2.18403736e-03 9.99860802e-01 5.15748481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96232058799995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:268.92, Y:4.90, Z:0.51 [[ 9.78564083e-01 2.05272518e-01 1.65990872e-02 2.68923968e+02] [-2.05272029e-01 9.78703390e-01 -1.75157125e-03 4.89726519e+00] [-1.66051323e-02 -1.69330358e-03 9.99860691e-01 5.14843861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.992320588 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:268.95, Y:4.90, Z:0.51 [[ 9.79719606e-01 1.99684607e-01 1.65997438e-02 2.68947616e+02] [-1.99683466e-01 9.79858906e-01 -1.74303576e-03 4.90219047e+00] [-1.66134642e-02 -1.60700806e-03 9.99860695e-01 5.09459190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.98, Y:4.90, Z:0.51 [[ 9.78514240e-01 2.05506992e-01 1.66360550e-02 2.68980987e+02] [-2.05514659e-01 9.78653219e-01 -1.26585117e-03 4.90488675e+00] [-1.65410701e-02 -2.18029979e-03 9.99860810e-01 5.10284799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.01, Y:4.91, Z:0.51 [[ 9.77353246e-01 2.10959454e-01 1.66355647e-02 2.69013910e+02] [-2.10967789e-01 9.77492186e-01 -1.27226274e-03 4.90784107e+00] [-1.65295303e-02 -2.26611817e-03 9.99860810e-01 5.10179031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.05, Y:4.91, Z:0.51 [[ 9.74847050e-01 2.22253221e-01 1.66353559e-02 2.69051154e+02] [-2.22263117e-01 9.74985888e-01 -1.27498639e-03 4.90971892e+00] [-1.65026071e-02 -2.45450936e-03 9.99860810e-01 5.13257022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.112320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:269.08, Y:4.91, Z:0.51 [[ 9.74209084e-01 2.25035051e-01 1.66098455e-02 2.69082863e+02] [-2.25039833e-01 9.74348243e-01 -1.60487488e-03 4.91241303e+00] [-1.65449269e-02 -2.17439318e-03 9.99860759e-01 5.12668393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14232058799996 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:269.11, Y:4.92, Z:0.51 [[ 9.75025171e-01 2.21471829e-01 1.66175878e-02 2.69111183e+02] [-2.21477778e-01 9.75164258e-01 -1.50458652e-03 4.91522058e+00] [-1.65381012e-02 -2.21341670e-03 9.99860786e-01 5.08911722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.172320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:269.15, Y:4.92, Z:0.51 [[ 9.73383700e-01 2.28577029e-01 1.66347066e-02 2.69147058e+02] [-2.28587700e-01 9.73522480e-01 -1.28256326e-03 4.91536842e+00] [-1.64874253e-02 -2.55406315e-03 9.99860811e-01 5.09772672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:269.18, Y:4.92, Z:0.51 [[ 9.72698517e-01 2.31476270e-01 1.66232111e-02 2.69183183e+02] [-2.31484787e-01 9.72837463e-01 -1.43647353e-03 4.91629436e+00] [-1.65041920e-02 -2.45076481e-03 9.99860793e-01 5.11811078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:269.21, Y:4.91, Z:0.51 [[ 9.72766422e-01 2.31191747e-01 1.66091765e-02 2.69214989e+02] [-2.31197093e-01 9.72905580e-01 -1.62394519e-03 4.91395543e+00] [-1.65346032e-02 -2.26027397e-03 9.99860739e-01 5.11143837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.24, Y:4.91, Z:0.51 [[ 9.73225366e-01 2.29252104e-01 1.66090439e-02 2.69241073e+02] [-2.29257143e-01 9.73364536e-01 -1.62571594e-03 4.91410529e+00] [-1.65393531e-02 -2.22555395e-03 9.99860739e-01 5.08931645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29232058799994 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:269.27, Y:4.91, Z:0.51 [[ 9.73225970e-01 2.29248940e-01 1.66173094e-02 2.69274452e+02] [-2.29255770e-01 9.73365032e-01 -1.51844199e-03 4.91450235e+00] [-1.65228091e-02 -2.33182689e-03 9.99860770e-01 5.11162022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32232058799997 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:269.31, Y:4.92, Z:0.51 [[ 9.73208274e-01 2.29324072e-01 1.66170120e-02 2.69305783e+02] [-2.29330848e-01 9.73347340e-01 -1.52232686e-03 4.91511509e+00] [-1.65232306e-02 -2.32925235e-03 9.99860769e-01 5.10559901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.34, Y:4.92, Z:0.51 [[ 9.74196009e-01 2.25091009e-01 1.66184433e-02 2.69339199e+02] [-2.25097493e-01 9.74335085e-01 -1.50362924e-03 4.91704330e+00] [-1.65303858e-02 -2.27594032e-03 9.99860774e-01 5.08942235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.37, Y:4.91, Z:0.51 [[ 9.74202838e-01 2.25061653e-01 1.66157639e-02 2.69371648e+02] [-2.25067549e-01 9.74341948e-01 -1.53856990e-03 4.91466330e+00] [-1.65357088e-02 -2.24079008e-03 9.99860765e-01 5.08374498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.40, Y:4.91, Z:0.51 [[ 9.74209755e-01 2.25031702e-01 1.66158480e-02 2.69404095e+02] [-2.25037612e-01 9.74348864e-01 -1.53747204e-03 4.91225094e+00] [-1.65356126e-02 -2.24137050e-03 9.99860765e-01 5.07832363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.43, Y:4.91, Z:0.51 [[ 9.75746088e-01 2.18273909e-01 1.66154077e-02 2.69430663e+02] [-2.18278758e-01 9.75885240e-01 -1.54320528e-03 4.91387470e+00] [-1.65515726e-02 -2.12101406e-03 9.99860764e-01 5.06758187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.46, Y:4.91, Z:0.50 [[ 9.76491779e-01 2.14911704e-01 1.66362355e-02 2.69463608e+02] [-2.14920631e-01 9.76630692e-01 -1.27048648e-03 4.91367488e+00] [-1.65205006e-02 -2.33485064e-03 9.99860801e-01 5.04675252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.50, Y:4.91, Z:0.51 [[ 9.75800377e-01 2.18029528e-01 1.66357495e-02 2.69499708e+02] [-2.18038794e-01 9.75939268e-01 -1.27681870e-03 4.91149905e+00] [-1.65138654e-02 -2.38131860e-03 9.99860801e-01 5.05497399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:269.53, Y:4.91, Z:0.51 [[ 9.76726382e-01 2.13844558e-01 1.66156563e-02 2.69533963e+02] [-2.13848882e-01 9.76865545e-01 -1.53691469e-03 4.90965572e+00] [-1.65599230e-02 -2.05209439e-03 9.99860769e-01 5.06235182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:269.57, Y:4.91, Z:0.51 [[ 9.76768981e-01 2.13650491e-01 1.66079646e-02 2.69565694e+02] [-2.13653125e-01 9.76908217e-01 -1.63628087e-03 4.90728011e+00] [-1.65740493e-02 -1.95007515e-03 9.99860739e-01 5.05634266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.60, Y:4.91, Z:0.51 [[ 9.78091790e-01 2.07510533e-01 1.66080886e-02 2.69597218e+02] [-2.07512318e-01 9.78231039e-01 -1.63467710e-03 4.90620416e+00] [-1.65857605e-02 -1.84751873e-03 9.99860740e-01 5.05545410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.63, Y:4.90, Z:0.51 [[ 9.78764343e-01 2.04314422e-01 1.66126088e-02 2.69629499e+02] [-2.04316738e-01 9.78903564e-01 -1.57574667e-03 4.90491761e+00] [-1.65840897e-02 -1.85194939e-03 9.99860759e-01 5.06556048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.66, Y:4.90, Z:0.51 [[ 9.79826481e-01 1.99158572e-01 1.66111513e-02 2.69664358e+02] [-1.99159836e-01 9.79965722e-01 -1.59482286e-03 4.90482869e+00] [-1.65959815e-02 -1.74562450e-03 9.99860753e-01 5.05871291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.69, Y:4.91, Z:0.50 [[ 9.82635808e-01 1.84800363e-01 1.66040677e-02 2.69688852e+02] [-1.84798039e-01 9.82775069e-01 -1.68752084e-03 4.90557382e+00] [-1.66299182e-02 -1.41018074e-03 9.99860719e-01 4.99997484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.72, Y:4.90, Z:0.50 [[ 9.82565748e-01 1.85169590e-01 1.66364955e-02 2.69722005e+02] [-1.85174486e-01 9.82704851e-01 -1.25905798e-03 4.90298699e+00] [-1.65819041e-02 -1.84354725e-03 9.99860811e-01 4.99740446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.76, Y:4.90, Z:0.50 [[ 9.81850657e-01 1.88924670e-01 1.66360108e-02 2.69762719e+02] [-1.88929992e-01 9.81989744e-01 -1.26543026e-03 4.90078182e+00] [-1.65754629e-02 -1.90057784e-03 9.99860811e-01 5.03258968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.79, Y:4.90, Z:0.50 [[ 9.84163131e-01 1.76486819e-01 1.65931774e-02 2.69785829e+02] [-1.76481111e-01 9.84302346e-01 -1.81921591e-03 4.89980970e+00] [-1.66537711e-02 -1.13797716e-03 9.99860669e-01 4.97900700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.82, Y:4.90, Z:0.50 [[ 9.84963054e-01 1.71962374e-01 1.66350311e-02 2.69818760e+02] [-1.71965188e-01 9.85102206e-01 -1.27181153e-03 4.89711905e+00] [-1.66059095e-02 -1.60795888e-03 9.99860819e-01 4.97935059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.85, Y:4.90, Z:0.50 [[ 9.85629276e-01 1.68101822e-01 1.66345282e-02 2.69851939e+02] [-1.68103982e-01 9.85768440e-01 -1.27835515e-03 4.89620246e+00] [-1.66126867e-02 -1.53634616e-03 9.99860819e-01 4.96416353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.88, Y:4.90, Z:0.49 [[ 9.87247759e-01 1.58319842e-01 1.66340163e-02 2.69883554e+02] [-1.58320511e-01 9.87386938e-01 -1.28498112e-03 4.89763369e+00] [-1.66276484e-02 -1.36491123e-03 9.99860819e-01 4.92924283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.92, Y:4.89, Z:0.50 [[ 9.85336593e-01 1.69809080e-01 1.66335601e-02 2.69924717e+02] [-1.69811272e-01 9.85475756e-01 -1.29085930e-03 4.89481874e+00] [-1.66111699e-02 -1.55263510e-03 9.99860819e-01 5.00239794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.95, Y:4.89, Z:0.49 [[ 9.89653585e-01 1.42515182e-01 1.65893073e-02 2.69946826e+02] [-1.42504068e-01 9.89792476e-01 -1.85620917e-03 4.89495745e+00] [-1.66845095e-02 -5.27039713e-04 9.99860665e-01 4.90617938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.98, Y:4.89, Z:0.49 [[ 9.90331343e-01 1.37721307e-01 1.66335089e-02 2.69978774e+02] [-1.37719103e-01 9.90470495e-01 -1.28334520e-03 4.89219402e+00] [-1.66517438e-02 -1.01981496e-03 9.99860830e-01 4.90252185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.01, Y:4.89, Z:0.49 [[ 9.90974006e-01 1.33018277e-01 1.66330452e-02 2.70011935e+02] [-1.33015313e-01 9.91113144e-01 -1.28932700e-03 4.89032733e+00] [-1.66567338e-02 -9.34760184e-04 9.99860830e-01 4.89556171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.06, Y:4.89, Z:0.50 [[ 9.88819475e-01 1.48187063e-01 1.66325111e-02 2.70059384e+02] [-1.48186116e-01 9.88958642e-01 -1.29618111e-03 4.88749357e+00] [-1.66409429e-02 -1.18301809e-03 9.99860830e-01 5.01520445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.07, Y:4.89, Z:0.49 [[ 9.92941755e-01 1.17442375e-01 1.65517531e-02 2.70073550e+02] [-1.17420114e-01 9.93079636e-01 -2.31375121e-03 4.88719062e+00] [-1.67089413e-02 3.53911446e-04 9.99860333e-01 4.87700039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.11, Y:4.89, Z:0.49 [[ 9.93995762e-01 1.08147236e-01 1.66312846e-02 2.70105879e+02] [-1.08140899e-01 9.94134750e-01 -1.28256623e-03 4.88677294e+00] [-1.66724440e-02 -5.23656665e-04 9.99860868e-01 4.86232385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.16, Y:4.89, Z:0.50 [[ 9.91159454e-01 1.31629606e-01 1.66308189e-02 2.70158869e+02] [-1.31626457e-01 9.91298550e-01 -1.28857675e-03 4.88565752e+00] [-1.66557215e-02 -9.11870745e-04 9.99860868e-01 5.00000120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.17, Y:4.88, Z:0.48 [[ 9.94984746e-01 9.86538618e-02 1.65157937e-02 2.70166087e+02] [-9.86224299e-02 9.95121238e-01 -2.70890288e-03 4.88045542e+00] [-1.67024608e-02 1.06648933e-03 9.99859935e-01 4.82994064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.20, Y:4.87, Z:0.48 [[ 9.96045248e-01 8.72779557e-02 1.66259314e-02 2.70197411e+02] [-8.72685162e-02 9.96183985e-01 -1.29381408e-03 4.87049361e+00] [-1.66754081e-02 -1.62223003e-04 9.99860943e-01 4.82603732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.23, Y:4.87, Z:0.48 [[ 9.96528750e-01 8.15723249e-02 1.66254598e-02 2.70229299e+02] [-8.15619904e-02 9.96667423e-01 -1.29984645e-03 4.86648300e+00] [-1.66760857e-02 -6.06712333e-05 9.99860943e-01 4.81985179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.26, Y:4.86, Z:0.48 [[ 9.97476037e-01 6.90301714e-02 1.66249866e-02 2.70261145e+02] [-6.90179929e-02 9.97614561e-01 -1.30587068e-03 4.85974905e+00] [-1.66754732e-02 1.55151502e-04 9.99860943e-01 4.79686108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.29, Y:4.85, Z:0.48 [[ 9.97837452e-01 6.35928276e-02 1.66244486e-02 2.70293313e+02] [-6.35797807e-02 9.97975896e-01 -1.31268485e-03 4.85436103e+00] [-1.66742763e-02 2.52867316e-04 9.99860943e-01 4.79929689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.32, Y:4.84, Z:0.48 [[ 9.98430361e-01 5.34832635e-02 1.66239105e-02 2.70323629e+02] [-5.34687024e-02 9.98568654e-01 -1.31946386e-03 4.84450503e+00] [-1.66706852e-02 4.28533860e-04 9.99860943e-01 4.80007718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.36, Y:4.84, Z:0.48 [[ 9.98654782e-01 4.91150352e-02 1.66234774e-02 2.70355664e+02] [-4.90997788e-02 9.98793000e-01 -1.32489851e-03 4.83684581e+00] [-1.66684853e-02 5.06907167e-04 9.99860943e-01 4.78977148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.39, Y:4.82, Z:0.48 [[ 9.99091502e-01 3.92408913e-02 1.66229447e-02 2.70386540e+02] [-3.92241590e-02 9.99229549e-01 -1.33154767e-03 4.82219162e+00] [-1.66623887e-02 6.78316937e-04 9.99860943e-01 4.80143152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.42, Y:4.81, Z:0.48 [[ 9.99259581e-01 3.46984589e-02 1.66224854e-02 2.70417676e+02] [-3.46810044e-02 9.99397538e-01 -1.33725680e-03 4.81437457e+00] [-1.66588718e-02 7.59782181e-04 9.99860943e-01 4.83452214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.45, Y:4.81, Z:0.48 [[ 9.99242456e-01 3.51882768e-02 1.66222829e-02 2.70450743e+02] [-3.51708482e-02 9.99380416e-01 -1.33976955e-03 4.81197676e+00] [-1.66591282e-02 7.54134830e-04 9.99860943e-01 4.82897438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.48, Y:4.80, Z:0.48 [[ 9.99374281e-01 3.12212904e-02 1.66216222e-02 2.70482958e+02] [-3.12031791e-02 9.99512153e-01 -1.34791766e-03 4.80459465e+00] [-1.66555971e-02 8.28426791e-04 9.99860943e-01 4.78151899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.51, Y:4.79, Z:0.48 [[ 9.99600337e-01 2.28672060e-02 1.66209592e-02 2.70513801e+02] [-2.28478083e-02 9.99738035e-01 -1.35604295e-03 4.78992051e+00] [-1.66476140e-02 9.75748504e-04 9.99860943e-01 4.75715079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.55, Y:4.78, Z:0.48 [[ 9.99669712e-01 1.96016928e-02 1.66204667e-02 2.70545236e+02] [-1.95817458e-02 9.99807331e-01 -1.36205354e-03 4.78040813e+00] [-1.66439630e-02 1.03614592e-03 9.99860943e-01 4.78067748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.58, Y:4.76, Z:0.47 [[ 9.99764839e-01 1.39296078e-02 1.66202658e-02 2.70576422e+02] [-1.39088399e-02 9.99902336e-01 -1.36450037e-03 4.76343673e+00] [-1.66376496e-02 1.13301087e-03 9.99860943e-01 4.71318912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.61, Y:4.75, Z:0.47 [[ 9.99786178e-01 1.23033148e-02 1.66200635e-02 2.70608673e+02] [-1.22822826e-02 9.99923636e-01 -1.36695992e-03 4.75353815e+00] [-1.66356125e-02 1.16253532e-03 9.99860943e-01 4.71166958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58232058799996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:270.65, Y:4.73, Z:0.50 [[ 9.99499591e-01 2.69137889e-02 1.66197093e-02 2.70648463e+02] [-2.68946966e-02 9.99637332e-01 -1.37125238e-03 4.73127097e+00] [-1.66505875e-02 9.23584151e-04 9.99860943e-01 4.97083712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.67, Y:4.72, Z:0.47 [[ 9.99842893e-01 6.28751402e-03 1.65727337e-02 2.70668377e+02] [-6.25627594e-03 9.99978555e-01 -1.93608057e-03 4.72048890e+00] [-1.65845515e-02 1.83209280e-03 9.99860788e-01 4.67154765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.70, Y:4.71, Z:0.47 [[ 9.99841430e-01 6.39538335e-03 1.66196973e-02 2.70699238e+02] [-6.37359219e-03 9.99978758e-01 -1.36380187e-03 4.70657889e+00] [-1.66280663e-02 1.25765844e-03 9.99860953e-01 4.65039564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.73, Y:4.68, Z:0.46 [[ 9.99854309e-01 3.89379071e-03 1.66192585e-02 2.70729110e+02] [-3.87156803e-03 9.99991568e-01 -1.36912888e-03 4.68338398e+00] [-1.66244495e-02 1.30458682e-03 9.99860953e-01 4.60267545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.76, Y:4.67, Z:0.46 [[ 9.99856560e-01 3.26719104e-03 1.66188210e-02 2.70761012e+02] [-3.24479497e-03 9.99993791e-01 -1.37441875e-03 4.67001987e+00] [-1.66232083e-02 1.32029693e-03 9.99860953e-01 4.58743483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.732320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:270.81, Y:4.66, Z:0.48 [[ 9.99199067e-01 3.64013216e-02 1.66183189e-02 2.70806823e+02] [-3.63833854e-02 9.99336952e-01 -1.38046366e-03 4.66182234e+00] [-1.66575508e-02 7.74727306e-04 9.99860953e-01 4.82322236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:270.85, Y:4.66, Z:0.48 [[ 9.98314617e-01 5.56236949e-02 1.65508042e-02 2.70853359e+02] [-5.55952543e-02 9.98451021e-01 -2.17391060e-03 4.65636707e+00] [-1.66460882e-02 1.25010057e-03 9.99860663e-01 4.81056848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:4.65, Z:0.46 [[ 9.99475130e-01 2.78938875e-02 1.64740897e-02 2.70851915e+02] [-2.78471633e-02 9.99607512e-01 -3.05888159e-03 4.65231380e+00] [-1.65529479e-02 2.59851941e-03 9.99859614e-01 4.55077533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:4.65, Z:0.46 [[ 9.99199181e-01 3.64004123e-02 1.66134358e-02 2.70883261e+02] [-3.63826092e-02 9.99336991e-01 -1.37269475e-03 4.64926944e+00] [-1.66523876e-02 7.67155326e-04 9.99861045e-01 4.55876607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.92, Y:4.65, Z:0.45 [[ 9.99130451e-01 3.82406792e-02 1.66130069e-02 2.70915119e+02] [-3.82230442e-02 9.99268282e-01 -1.37786613e-03 4.64886433e+00] [-1.66535414e-02 7.41668317e-04 9.99861045e-01 4.53795411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.95, Y:4.65, Z:0.45 [[ 9.99281441e-01 3.40679401e-02 1.66125399e-02 2.70946572e+02] [-3.40496366e-02 9.99419185e-01 -1.38347378e-03 4.64704836e+00] [-1.66500232e-02 8.16828732e-04 9.99861045e-01 4.53910110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.98, Y:4.65, Z:0.45 [[ 9.99344501e-01 3.21653180e-02 1.66120740e-02 2.70979422e+02] [-3.21466599e-02 9.99482197e-01 -1.38904533e-03 4.64535966e+00] [-1.66481513e-02 8.54112120e-04 9.99861045e-01 4.53122582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:271.03, Y:4.64, Z:0.48 [[ 9.98621045e-01 4.98002517e-02 1.66115365e-02 2.71027515e+02] [-4.97839207e-02 9.98759037e-01 -1.39544333e-03 4.64293361e+00] [-1.66604157e-02 5.66531662e-04 9.99861045e-01 4.79625610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.06, Y:4.67, Z:0.48 [[ 9.86611154e-01 1.62249743e-01 1.65364027e-02 2.71056174e+02] [-1.62234247e-01 9.86749632e-01 -2.28322835e-03 4.67461771e+00] [-1.66877425e-02 -4.30112283e-04 9.99860657e-01 4.78567399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:271.09, Y:4.68, Z:0.48 [[ 9.86357289e-01 1.63782345e-01 1.65723207e-02 2.71089996e+02] [-1.63774257e-01 9.86496102e-01 -1.85321459e-03 4.67649339e+00] [-1.66520536e-02 -8.86187785e-04 9.99860952e-01 4.76726913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03232058799995 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:271.13, Y:4.68, Z:0.48 [[ 9.86892631e-01 1.60525588e-01 1.65671667e-02 2.71125565e+02] [-1.60516008e-01 9.87031379e-01 -1.91508378e-03 4.67626991e+00] [-1.66597333e-02 -7.69313384e-04 9.99860921e-01 4.75457669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.14, Y:4.68, Z:0.47 [[ 9.88518583e-01 1.50189963e-01 1.65525173e-02 2.71143941e+02] [-1.50175989e-01 9.88657069e-01 -2.09106970e-03 4.67574286e+00] [-1.66788209e-02 -4.18729398e-04 9.99860811e-01 4.70903231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.18, Y:4.68, Z:0.47 [[ 9.88309306e-01 1.51554419e-01 1.66124609e-02 2.71176654e+02] [-1.51552900e-01 9.88448216e-01 -1.35763703e-03 4.67679912e+00] [-1.66263132e-02 -1.17590130e-03 9.99861082e-01 4.71788039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:4.68, Z:0.47 [[ 9.88285537e-01 1.51709401e-01 1.66119021e-02 2.71209344e+02] [-1.51707790e-01 9.88424446e-01 -1.36444006e-03 4.67559161e+00] [-1.66266085e-02 -1.17169858e-03 9.99861082e-01 4.70261350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:4.68, Z:0.47 [[ 9.88207569e-01 1.52216505e-01 1.66113409e-02 2.71242216e+02] [-1.52214852e-01 9.88346477e-01 -1.37123799e-03 4.67543657e+00] [-1.66264854e-02 -1.17342504e-03 9.99861082e-01 4.69060163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.29, Y:4.67, Z:0.47 [[ 9.86271380e-01 1.64295003e-01 1.66107768e-02 2.71289228e+02] [-1.64294935e-01 9.86410298e-01 -1.37803812e-03 4.67406896e+00] [-1.66114461e-02 -1.36994694e-03 9.99861082e-01 4.70752091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:271.30, Y:4.67, Z:0.46 [[ 9.88505721e-01 1.50277668e-01 1.65246085e-02 2.71304172e+02] [-1.50258745e-01 9.88643822e-01 -2.38788210e-03 4.67422517e+00] [-1.66957975e-02 -1.22531826e-04 9.99860608e-01 4.64486519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.34, Y:4.67, Z:0.46 [[ 9.88757996e-01 1.48599423e-01 1.66083386e-02 2.71336440e+02] [-1.48597095e-01 9.88896858e-01 -1.38107621e-03 4.67210606e+00] [-1.66291610e-02 -1.10240072e-03 9.99861118e-01 4.64359498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.37, Y:4.67, Z:0.47 [[ 9.89478767e-01 1.43721783e-01 1.66077693e-02 2.71368101e+02] [-1.43718655e-01 9.89617614e-01 -1.38788842e-03 4.66990163e+00] [-1.66348108e-02 -1.01356015e-03 9.99861118e-01 4.65365845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.40, Y:4.67, Z:0.47 [[ 9.89985435e-01 1.40189293e-01 1.66072700e-02 2.71400351e+02] [-1.40185571e-01 9.90124266e-01 -1.39383760e-03 4.66777200e+00] [-1.66386621e-02 -9.48220701e-04 9.99861118e-01 4.67266574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.44, Y:4.67, Z:0.48 [[ 9.87355343e-01 1.57650390e-01 1.66066913e-02 2.71444646e+02] [-1.57649005e-01 9.87494217e-01 -1.40069820e-03 4.66539505e+00] [-1.66198323e-02 -1.23504151e-03 9.99861118e-01 4.75506025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.46, Y:4.67, Z:0.46 [[ 9.90647369e-01 1.35440794e-01 1.65402863e-02 2.71462967e+02] [-1.35423311e-01 9.90785438e-01 -2.17768489e-03 4.66559483e+00] [-1.66828221e-02 -8.26225300e-05 9.99860829e-01 4.62414919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.50, Y:4.66, Z:0.46 [[ 9.90994916e-01 1.32865769e-01 1.66061473e-02 2.71495453e+02] [-1.32861048e-01 9.91133696e-01 -1.39210233e-03 4.66417851e+00] [-1.66438749e-02 -8.26743801e-04 9.99861139e-01 4.62406155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.422320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:271.53, Y:4.66, Z:0.46 [[ 9.91198617e-01 1.31337565e-01 1.66055705e-02 2.71528397e+02] [-1.31332515e-01 9.91337386e-01 -1.39894896e-03 4.66130923e+00] [-1.66454574e-02 -7.94215066e-04 9.99861139e-01 4.61728415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:271.56, Y:4.66, Z:0.46 [[ 9.91849642e-01 1.26327199e-01 1.66049918e-02 2.71560968e+02] [-1.26321335e-01 9.91988379e-01 -1.40578436e-03 4.65768088e+00] [-1.66495477e-02 -7.03238014e-04 9.99861139e-01 4.62876940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.482320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:271.59, Y:4.66, Z:0.46 [[ 9.92178928e-01 1.23714462e-01 1.66044093e-02 2.71593908e+02] [-1.23708118e-01 9.92317644e-01 -1.41263051e-03 4.65576120e+00] [-1.66516112e-02 -6.52518000e-04 9.99861139e-01 4.62634032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:271.63, Y:4.65, Z:0.46 [[ 9.92625423e-01 1.20079485e-01 1.66038244e-02 2.71626388e+02] [-1.20072519e-01 9.92764109e-01 -1.41947281e-03 4.65391422e+00] [-1.66541305e-02 -5.84658220e-04 9.99861139e-01 4.62346894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54232058799994 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:271.68, Y:4.65, Z:0.47 [[ 9.89946336e-01 1.40465601e-01 1.66032319e-02 2.71676183e+02] [-1.40461373e-01 9.90085132e-01 -1.42636913e-03 4.65420466e+00] [-1.66389689e-02 -9.20083855e-04 9.99861139e-01 4.71945633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.69, Y:4.65, Z:0.46 [[ 9.93761191e-01 1.10302375e-01 1.64948611e-02 2.71685830e+02] [-1.10273625e-01 9.93897746e-01 -2.64528107e-03 4.64801086e+00] [-1.66859860e-02 8.09829548e-04 9.99860451e-01 4.58302603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:271.72, Y:4.64, Z:0.47 [[ 9.93101052e-01 1.16080809e-01 1.65995628e-02 2.71724475e+02] [-1.16073102e-01 9.93239644e-01 -1.43025895e-03 4.64079006e+00] [-1.66533694e-02 -5.06371068e-04 9.99861195e-01 4.67991912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.75, Y:4.64, Z:0.46 [[ 9.95250664e-01 9.59259009e-02 1.65631248e-02 2.71748176e+02] [-9.59083747e-02 9.95388445e-01 -1.85108921e-03 4.63618540e+00] [-1.66643104e-02 2.53755390e-04 9.99861109e-01 4.58774560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66232058799994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:271.79, Y:4.63, Z:0.47 [[ 9.93631003e-01 1.11453497e-01 1.65996497e-02 2.71789473e+02] [-1.11445217e-01 9.93769556e-01 -1.42590083e-03 4.63208012e+00] [-1.66551482e-02 -4.33132306e-04 9.99861200e-01 4.69764809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.81, Y:4.62, Z:0.46 [[ 9.96507985e-01 8.18412524e-02 1.65482595e-02 2.71809798e+02] [-8.18189619e-02 9.96645160e-01 -2.02070288e-03 4.62363596e+00] [-1.66581195e-02 6.59685145e-04 9.99861026e-01 4.56905760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.84, Y:4.62, Z:0.46 [[ 9.96721598e-01 7.91864667e-02 1.66000001e-02 2.71841691e+02] [-7.91739182e-02 9.96859817e-01 -1.41280266e-03 4.61805754e+00] [-1.66597479e-02 9.38838788e-05 9.99861212e-01 4.56655166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752320588 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:271.89, Y:4.61, Z:0.47 [[ 9.95166551e-01 9.67884079e-02 1.65994180e-02 2.71890402e+02] [-9.67781904e-02 9.95304962e-01 -1.41960901e-03 4.61258538e+00] [-1.66588848e-02 -1.93714232e-04 9.99861212e-01 4.70297802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78232058799995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:271.92, Y:4.61, Z:0.47 [[ 9.95417634e-01 9.41879402e-02 1.65035336e-02 2.71922238e+02] [-9.41592359e-02 9.95553987e-01 -2.50949626e-03 4.60607664e+00] [-1.66665230e-02 9.44036717e-04 9.99860658e-01 4.67450060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812320588 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:271.94, Y:4.59, Z:0.48 [[ 9.96985569e-01 7.58104059e-02 1.65093174e-02 2.71937585e+02] [-7.57802985e-02 9.97121547e-01 -2.44257089e-03 4.59388736e+00] [-1.66469684e-02 1.18412693e-03 9.99860728e-01 4.75702459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:271.99, Y:4.59, Z:0.47 [[ 9.96146431e-01 8.61236774e-02 1.65831083e-02 2.71985627e+02] [-8.61095906e-02 9.96284445e-01 -1.56295844e-03 4.58715200e+00] [-1.66561006e-02 1.28970805e-04 9.99861269e-01 4.71079719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872320588 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:272.02, Y:4.58, Z:0.47 [[ 9.96464040e-01 8.23851952e-02 1.64953773e-02 2.72018757e+02] [-8.23536946e-02 9.96599823e-01 -2.58107578e-03 4.58082805e+00] [-1.66519326e-02 1.21349393e-03 9.99860611e-01 4.70562700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.05, Y:4.57, Z:0.47 [[ 9.97074063e-01 7.46406145e-02 1.64952123e-02 2.72046507e+02] [-7.46080279e-02 9.97209592e-01 -2.58300575e-03 4.56939575e+00] [-1.66419811e-02 1.34477277e-03 9.99860608e-01 4.70820936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.932320588 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:272.08, Y:4.56, Z:0.47 [[ 9.97224277e-01 7.26019649e-02 1.65135123e-02 2.72080841e+02] [-7.25727306e-02 9.97360322e-01 -2.36353953e-03 4.56168440e+00] [-1.66415196e-02 1.15854832e-03 9.99860849e-01 4.72324689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:272.09, Y:4.55, Z:0.46 [[ 9.98371274e-01 5.46122728e-02 1.65015002e-02 2.72092744e+02] [-5.45781868e-02 9.98506347e-01 -2.50929534e-03 4.55036354e+00] [-1.66138910e-02 1.60458643e-03 9.99860692e-01 4.61258085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.992320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:272.14, Y:4.55, Z:0.47 [[ 9.97404023e-01 7.00730089e-02 1.65827971e-02 2.72143059e+02] [-7.00579428e-02 9.97541813e-01 -1.48843180e-03 4.54576557e+00] [-1.66463324e-02 3.22811216e-04 9.99861388e-01 4.69845932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:272.18, Y:4.54, Z:0.46 [[ 9.97681844e-01 6.60229764e-02 1.64895629e-02 2.72177569e+02] [-6.59886350e-02 9.97816938e-01 -2.61869711e-03 4.53737695e+00] [-1.66264594e-02 1.52450281e-03 9.99860609e-01 4.64855269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.052320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:272.21, Y:4.53, Z:0.47 [[ 9.97640038e-01 6.66516310e-02 1.64898185e-02 2.72210284e+02] [-6.66174271e-02 9.97775164e-01 -2.61552421e-03 4.52964974e+00] [-1.66274603e-02 1.51084240e-03 9.99860613e-01 4.69379644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08232058799996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:272.24, Y:4.53, Z:0.47 [[ 9.97496492e-01 6.87662395e-02 1.64909786e-02 2.72243801e+02] [-6.87325668e-02 9.97631731e-01 -2.60070917e-03 4.52554468e+00] [-1.66307645e-02 1.46073098e-03 9.99860632e-01 4.68309921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.26, Y:4.52, Z:0.46 [[ 9.97961735e-01 6.16477276e-02 1.64903972e-02 2.72258238e+02] [-6.16129648e-02 9.98096708e-01 -2.60835489e-03 4.51801403e+00] [-1.66198103e-02 1.58701610e-03 9.99860622e-01 4.60669377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:272.31, Y:4.52, Z:0.47 [[ 9.96793312e-01 7.82864946e-02 1.65625418e-02 2.72305400e+02] [-7.82704646e-02 9.96930853e-01 -1.61486477e-03 4.51562894e+00] [-1.66381311e-02 3.13328554e-04 9.99861528e-01 4.66629488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.172320588 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:272.34, Y:4.51, Z:0.46 [[ 9.96368092e-01 8.35371981e-02 1.64973052e-02 2.72339009e+02] [-8.35071517e-02 9.96504034e-01 -2.50304712e-03 4.51279594e+00] [-1.66487287e-02 1.11631332e-03 9.99860777e-01 4.63259005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20232058799996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:272.36, Y:4.51, Z:0.47 [[ 9.97640381e-01 6.66435187e-02 1.65018587e-02 2.72357492e+02] [-6.66122198e-02 9.97775957e-01 -2.43974468e-03 4.50641252e+00] [-1.66277510e-02 1.33476238e-03 9.99860858e-01 4.71227656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.40, Y:4.51, Z:0.46 [[ 9.96172421e-01 8.58274118e-02 1.65578528e-02 2.72395600e+02] [-8.58124057e-02 9.96310002e-01 -1.61596022e-03 4.50808961e+00] [-1.66354481e-02 1.88905817e-04 9.99861604e-01 4.61316517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:272.42, Y:4.50, Z:0.46 [[ 9.96777659e-01 7.84929366e-02 1.65274924e-02 2.72420205e+02] [-7.84695707e-02 9.96914384e-01 -2.05854539e-03 4.50428512e+00] [-1.66380762e-02 7.55006820e-04 9.99861293e-01 4.62038278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:272.46, Y:4.50, Z:0.46 [[ 9.96274723e-01 8.46315543e-02 1.65582807e-02 2.72458740e+02] [-8.46167267e-02 9.96412296e-01 -1.59530152e-03 4.50240952e+00] [-1.66338874e-02 1.88251069e-04 9.99861630e-01 4.62939109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:272.49, Y:4.50, Z:0.46 [[ 9.96379819e-01 8.33908294e-02 1.65295279e-02 2.72491370e+02] [-8.33686934e-02 9.96516714e-01 -2.02495622e-03 4.49985076e+00] [-1.66408136e-02 6.39580368e-04 9.99861328e-01 4.62022151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35232058799994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:272.51, Y:4.50, Z:0.46 [[ 9.97223038e-01 7.26147992e-02 1.65318974e-02 2.72511459e+02] [-7.25917831e-02 9.97359753e-01 -1.98886776e-03 4.49530117e+00] [-1.66326703e-02 7.83264840e-04 9.99861361e-01 4.61401986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:272.56, Y:4.49, Z:0.46 [[ 9.95857121e-01 8.94086391e-02 1.65737635e-02 2.72555413e+02] [-8.93988803e-02 9.95995015e-01 -1.33025451e-03 4.49317514e+00] [-1.66263221e-02 -1.56932477e-04 9.99861761e-01 4.60077282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:272.59, Y:4.49, Z:0.46 [[ 9.95938850e-01 8.85027744e-02 1.65247033e-02 2.72588732e+02] [-8.84803154e-02 9.96075740e-01 -2.08674497e-03 4.49052662e+00] [-1.66445388e-02 6.16159431e-04 9.99861280e-01 4.58688082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442320588 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:272.61, Y:4.49, Z:0.46 [[ 9.96393413e-01 8.32296224e-02 1.65226093e-02 2.72610532e+02] [-8.32058992e-02 9.96530123e-01 -2.11927761e-03 4.48624694e+00] [-1.66416646e-02 7.36855683e-04 9.99861246e-01 4.60877579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47232058799995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:272.65, Y:4.48, Z:0.46 [[ 9.96218703e-01 8.52877624e-02 1.65618088e-02 2.72645222e+02] [-8.52749803e-02 9.96356359e-01 -1.47774500e-03 4.48204351e+00] [-1.66274971e-02 5.98492889e-05 9.99861752e-01 4.57601859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502320588 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:272.68, Y:4.48, Z:0.46 [[ 9.96312956e-01 8.41822630e-02 1.65480915e-02 2.72678816e+02] [-8.41655832e-02 9.96450327e-01 -1.70306336e-03 4.47968879e+00] [-1.66327189e-02 3.04004321e-04 9.99861621e-01 4.57175728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:272.70, Y:4.48, Z:0.44 [[ 9.97942593e-01 6.19422322e-02 1.65451386e-02 2.72695804e+02] [-6.19216897e-02 9.98079474e-01 -1.75150815e-03 4.47569939e+00] [-1.66218556e-02 7.23401639e-04 9.99861586e-01 4.44780169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562320588 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:272.74, Y:4.48, Z:0.46 [[ 9.95934791e-01 8.85360967e-02 1.65906822e-02 2.72744418e+02] [-8.85320000e-02 9.96072848e-01 -9.82660699e-04 4.47569521e+00] [-1.66125290e-02 -4.90140296e-04 9.99861882e-01 4.58356515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59232058799995 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:272.78, Y:4.47, Z:0.46 [[ 9.96087710e-01 8.68116207e-02 1.65231933e-02 2.72777826e+02] [-8.67890918e-02 9.96224543e-01 -2.07704260e-03 4.47421096e+00] [-1.66411221e-02 6.34883672e-04 9.99861325e-01 4.56471320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622320588 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:272.81, Y:4.47, Z:0.45 [[ 9.96124764e-01 8.63847618e-02 1.65265882e-02 2.72813704e+02] [-8.63631137e-02 9.96261678e-01 -2.02047016e-03 4.47221106e+00] [-1.66393443e-02 5.85352739e-04 9.99861385e-01 4.53649915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65232058799995 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:272.85, Y:4.47, Z:0.45 [[ 9.96414509e-01 8.29782124e-02 1.65149052e-02 2.72845116e+02] [-8.29528410e-02 9.96551009e-01 -2.21659661e-03 4.46952558e+00] [-1.66418747e-02 8.38690719e-04 9.99861163e-01 4.54579273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.682320588 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:272.88, Y:4.47, Z:0.45 [[ 9.96596739e-01 8.07582666e-02 1.65239719e-02 2.72877470e+02] [-8.07352232e-02 9.96733459e-01 -2.05799010e-03 4.46642326e+00] [-1.66361953e-02 7.16919668e-04 9.99861352e-01 4.54219238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71232058799995 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:272.91, Y:4.46, Z:0.46 [[ 9.96653531e-01 8.00538485e-02 1.65263282e-02 2.72909992e+02] [-8.00314124e-02 9.96790304e-01 -2.01557853e-03 4.46277094e+00] [-1.66346385e-02 6.86208071e-04 9.99861399e-01 4.55039093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.742320588 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:272.95, Y:4.46, Z:0.45 [[ 9.96886900e-01 7.70934392e-02 1.65260360e-02 2.72946199e+02] [-7.70705079e-02 9.97023597e-01 -2.02095372e-03 4.46090016e+00] [-1.66326502e-02 7.40992296e-04 9.99861393e-01 4.54934120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77232058799996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:272.98, Y:4.46, Z:0.45 [[ 9.97137257e-01 7.37866784e-02 1.65171523e-02 2.72979762e+02] [-7.37605537e-02 9.97273584e-01 -2.18615020e-03 4.45876946e+00] [-1.66334285e-02 9.61577509e-04 9.99861193e-01 4.54049452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.802320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:273.01, Y:4.46, Z:0.45 [[ 9.97216273e-01 7.27113764e-02 1.65154620e-02 2.73005804e+02] [-7.26845738e-02 9.97352512e-01 -2.21816714e-03 4.45855415e+00] [-1.66330235e-02 1.01157305e-03 9.99861150e-01 4.50817639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83232058799996 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:273.05, Y:4.45, Z:0.45 [[ 9.97533940e-01 6.82122085e-02 1.65267476e-02 2.73045332e+02] [-6.81884923e-02 9.97670461e-01 -1.99495676e-03 4.45427998e+00] [-1.66243283e-02 8.63103080e-04 9.99861434e-01 4.52689336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.862320588 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:273.08, Y:4.45, Z:0.45 [[ 9.97584185e-01 6.74761745e-02 1.65154555e-02 2.73078306e+02] [-6.74485662e-02 9.97720275e-01 -2.22364195e-03 4.45321524e+00] [-1.66278477e-02 1.10432625e-03 9.99861138e-01 4.51401156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89232058799996 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:273.11, Y:4.45, Z:0.45 [[ 9.98068592e-01 5.98865933e-02 1.65130702e-02 2.73113866e+02] [-5.98571309e-02 9.98204366e-01 -2.27314182e-03 4.44532335e+00] [-1.66195495e-02 1.28032645e-03 9.99861066e-01 4.50045067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.922320588 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:273.14, Y:4.44, Z:0.45 [[ 9.97983703e-01 6.12854883e-02 1.65111531e-02 2.73144108e+02] [-6.12555068e-02 9.98119431e-01 -2.31596925e-03 4.44459222e+00] [-1.66220381e-02 1.29990052e-03 9.99860999e-01 4.53762602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95232058799996 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:273.18, Y:4.44, Z:0.45 [[ 9.98103796e-01 5.92944730e-02 1.65220662e-02 2.73177523e+02] [-5.92685423e-02 9.98239959e-01 -2.05515184e-03 4.44049580e+00] [-1.66148458e-02 1.07201607e-03 9.99861389e-01 4.53954809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.982320588 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:273.21, Y:4.44, Z:0.46 [[ 9.98285104e-01 5.61596025e-02 1.65212276e-02 2.73211835e+02] [-5.61329028e-02 9.98421148e-01 -2.07575883e-03 4.43695854e+00] [-1.66117168e-02 1.14481466e-03 9.99861361e-01 4.55931270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01232058799997 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:273.25, Y:4.43, Z:0.45 [[ 9.98273691e-01 5.63623417e-02 1.65204502e-02 2.73251727e+02] [-5.63353368e-02 9.98409704e-01 -2.09584581e-03 4.43470878e+00] [-1.66123046e-02 1.16154260e-03 9.99861331e-01 4.54859358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.25, Y:4.43, Z:0.43 [[ 9.99707812e-01 1.76577371e-02 1.65074057e-02 2.73245064e+02] [-1.76197622e-02 9.99841775e-01 -2.44309898e-03 4.43037397e+00] [-1.65479334e-02 2.15152858e-03 9.99860759e-01 4.34438527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.28, Y:4.43, Z:0.44 [[ 9.99718068e-01 1.70068587e-02 1.65695790e-02 2.73276473e+02] [-1.70002193e-02 9.99855339e-01 -5.41479317e-04 4.42906268e+00] [-1.65763909e-02 2.59640180e-04 9.99862568e-01 4.35516313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.31, Y:4.43, Z:0.43 [[ 9.99702781e-01 1.78830675e-02 1.65693995e-02 2.73309200e+02] [-1.78764583e-02 9.99840054e-01 -5.46917163e-04 4.42815224e+00] [-1.65765299e-02 2.50552429e-04 9.99862568e-01 4.34916986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13232058799997 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:273.37, Y:4.43, Z:0.45 [[ 9.98298131e-01 5.59133594e-02 1.65691761e-02 2.73367453e+02] [-5.59118679e-02 9.98435555e-01 -5.53603988e-04 4.42900471e+00] [-1.65742084e-02 -3.73751758e-04 9.99862569e-01 4.52248238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.37, Y:4.43, Z:0.44 [[ 9.99625638e-01 2.18238533e-02 1.65016439e-02 2.73367955e+02] [-2.17878743e-02 9.99759838e-01 -2.35699314e-03 4.42551905e+00] [-1.65491195e-02 1.99657503e-03 9.99861061e-01 4.36459255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.192320588 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:273.43, Y:4.42, Z:0.45 [[ 9.98715033e-01 4.78956454e-02 1.65617189e-02 2.73427477e+02] [-4.78930998e-02 9.98852315e-01 -5.50518568e-04 4.42059491e+00] [-1.65690787e-02 -2.43380889e-04 9.99862694e-01 4.54260156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22232058799995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:273.46, Y:4.43, Z:0.45 [[ 9.98285020e-01 5.61693561e-02 1.64930989e-02 2.73455340e+02] [-5.61385896e-02 9.98420284e-01 -2.32287558e-03 4.42821750e+00] [-1.65975189e-02 1.39299258e-03 9.99861281e-01 4.47720124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.46, Y:4.43, Z:0.43 [[ 9.99602854e-01 2.28393918e-02 1.65074779e-02 2.73460714e+02] [-2.28109350e-02 9.99737972e-01 -1.91013160e-03 4.42657694e+00] [-1.65467787e-02 1.53282200e-03 9.99861918e-01 4.32624038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.49, Y:4.42, Z:0.43 [[ 9.99583468e-01 2.36421868e-02 1.65510578e-02 2.73493307e+02] [-2.36368521e-02 9.99720476e-01 -5.17889686e-04 4.42475114e+00] [-1.65586754e-02 1.26459063e-04 9.99862888e-01 4.33444426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.53, Y:4.42, Z:0.43 [[ 9.99561059e-01 2.45715202e-02 1.65508439e-02 2.73525875e+02] [-2.45662012e-02 9.99698068e-01 -5.24636485e-04 4.42474882e+00] [-1.65587378e-02 1.17814838e-04 9.99862888e-01 4.33610426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34232058799995 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:273.59, Y:4.43, Z:0.45 [[ 9.98076158e-01 5.97499783e-02 1.65506271e-02 2.73585740e+02] [-5.97493746e-02 9.98213269e-01 -5.31390407e-04 4.42897387e+00] [-1.65528061e-02 -4.58521522e-04 9.99862888e-01 4.46156698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.372320588 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:273.62, Y:4.43, Z:0.45 [[ 9.98165107e-01 5.82632860e-02 1.64866499e-02 2.73618560e+02] [-5.82338271e-02 9.98300409e-01 -2.26170665e-03 4.42853960e+00] [-1.65904038e-02 1.29747594e-03 9.99861528e-01 4.45549140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.62, Y:4.42, Z:0.43 [[ 9.99659088e-01 2.02416824e-02 1.64918653e-02 2.73618359e+02] [-2.02096366e-02 9.99793543e-01 -2.10749097e-03 4.42366947e+00] [-1.65311196e-02 1.77347790e-03 9.99861779e-01 4.31923837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.432320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:273.65, Y:4.42, Z:0.43 [[ 9.99651148e-01 2.05916716e-02 1.65398392e-02 2.73650817e+02] [-2.05863743e-02 9.99787958e-01 -4.90488923e-04 4.42221632e+00] [-1.65464320e-02 1.49822494e-04 9.99863087e-01 4.33179330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.68, Y:4.42, Z:0.43 [[ 9.99652772e-01 2.05128031e-02 1.65396351e-02 2.73683603e+02] [-2.05073827e-02 9.99789578e-01 -4.97275607e-04 4.42449206e+00] [-1.65463554e-02 1.57918311e-04 9.99863087e-01 4.32472020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.492320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:273.74, Y:4.43, Z:0.45 [[ 9.98273381e-01 5.63622559e-02 1.65394297e-02 2.73736961e+02] [-5.63616353e-02 9.98410292e-01 -5.04017751e-04 4.42626901e+00] [-1.65415444e-02 -4.29041800e-04 9.99863087e-01 4.46597608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:273.78, Y:4.43, Z:0.45 [[ 9.98294855e-01 5.59940901e-02 1.64937458e-02 2.73776298e+02] [-5.59712501e-02 9.98430679e-01 -1.84350455e-03 4.42764709e+00] [-1.65710871e-02 9.17185535e-04 9.99862269e-01 4.45585148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.78, Y:4.42, Z:0.43 [[ 9.99689574e-01 1.86846891e-02 1.64814544e-02 2.73775472e+02] [-1.86508253e-02 9.99823625e-01 -2.20599316e-03 4.42396997e+00] [-1.65197657e-02 1.89791564e-03 9.99861738e-01 4.28936632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58232058799996 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:273.84, Y:4.43, Z:0.44 [[ 9.98452602e-01 5.30950548e-02 1.65322735e-02 2.73835458e+02] [-5.30942299e-02 9.98589387e-01 -4.89116927e-04 4.42623625e+00] [-1.65349226e-02 -3.89408264e-04 9.99863213e-01 4.44143475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.83, Y:4.43, Z:0.43 [[ 9.99718931e-01 1.70557308e-02 1.64669403e-02 2.73833202e+02] [-1.70185340e-02 9.99852303e-01 -2.39638126e-03 4.42601445e+00] [-1.65053802e-02 2.11546453e-03 9.99861539e-01 4.25705044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.87, Y:4.43, Z:0.43 [[ 9.99699801e-01 1.80907414e-02 1.65237359e-02 2.73865525e+02] [-1.80850680e-02 9.99836330e-01 -4.92725770e-04 4.42503813e+00] [-1.65299453e-02 1.93744966e-04 9.99863352e-01 4.26151452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.90, Y:4.42, Z:0.43 [[ 9.99702945e-01 1.79163247e-02 1.65235339e-02 2.73897856e+02] [-1.79105170e-02 9.99839469e-01 -4.99411764e-04 4.42454256e+00] [-1.65298289e-02 2.03318378e-04 9.99863352e-01 4.27430146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.93, Y:4.42, Z:0.43 [[ 9.99713459e-01 1.73198902e-02 1.65233288e-02 2.73930346e+02] [-1.73138903e-02 9.99849975e-01 -5.06105877e-04 4.42432421e+00] [-1.65296156e-02 2.19877754e-04 9.99863352e-01 4.26992861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.96, Y:4.42, Z:0.43 [[ 9.99756175e-01 1.46484205e-02 1.65231193e-02 2.73963139e+02] [-1.46419444e-02 9.99892669e-01 -5.12854505e-04 4.42321322e+00] [-1.65288584e-02 2.70798864e-04 9.99863352e-01 4.26126511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:274.02, Y:4.42, Z:0.44 [[ 9.98710259e-01 4.80084607e-02 1.65229106e-02 2.74022133e+02] [-4.80064340e-02 9.98846891e-01 -5.19493637e-04 4.42354886e+00] [-1.65287980e-02 -2.74382394e-04 9.99863352e-01 4.42128542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:274.06, Y:4.42, Z:0.44 [[ 9.98885764e-01 4.42311641e-02 1.64570400e-02 2.74055401e+02] [-4.41992597e-02 9.99020093e-01 -2.29752461e-03 4.42187256e+00] [-1.65425358e-02 1.56757564e-03 9.99861934e-01 4.40256044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.05, Y:4.42, Z:0.42 [[ 9.99862675e-01 1.92961859e-03 1.64592736e-02 2.74051419e+02] [-1.89311040e-03 9.99995714e-01 -2.23338467e-03 4.41603507e+00] [-1.64635126e-02 2.20191875e-03 9.99862043e-01 4.22950627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:274.11, Y:4.41, Z:0.44 [[ 9.99340911e-01 3.23280631e-02 1.65118038e-02 2.74105628e+02] [-3.23242107e-02 9.99477311e-01 -5.00215716e-04 4.41361865e+00] [-1.65193443e-02 -3.38449951e-05 9.99863546e-01 4.42421233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.11, Y:4.41, Z:0.42 [[ 9.99847557e-01 -5.82545877e-03 1.64598596e-02 2.74107594e+02] [ 5.85956602e-03 9.99980783e-01 -2.02468007e-03 4.40786411e+00] [-1.64477486e-02 2.12081905e-03 9.99862477e-01 4.21939826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.14, Y:4.40, Z:0.42 [[ 9.99828831e-01 -8.35767619e-03 1.65063219e-02 2.74139927e+02] [ 8.36713692e-03 9.99964868e-01 -5.04180276e-04 4.40342126e+00] [-1.65015282e-02 6.42204631e-04 9.99863634e-01 4.22296999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:274.17, Y:4.40, Z:0.42 [[ 9.99810679e-01 -1.03030848e-02 1.65061230e-02 2.74172426e+02] [ 1.03129162e-02 9.99946690e-01 -5.10610772e-04 4.40031921e+00] [-1.64999822e-02 6.80740365e-04 9.99863634e-01 4.22018300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.21, Y:4.40, Z:0.42 [[ 9.99817831e-01 -9.58428230e-03 1.65059225e-02 2.74205019e+02] [ 9.59412138e-03 9.99953842e-01 -5.17009838e-04 4.39732466e+00] [-1.65002055e-02 6.75275479e-04 9.99863634e-01 4.20938774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.24, Y:4.40, Z:0.42 [[ 9.99846543e-01 -5.86948754e-03 1.65057202e-02 2.74237471e+02] [ 5.87892643e-03 9.99982582e-01 -5.23392413e-04 4.39675137e+00] [-1.65023606e-02 6.20348009e-04 9.99863634e-01 4.20108595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.27, Y:4.39, Z:0.42 [[ 9.99863599e-01 5.89711024e-04 1.65056228e-02 2.74269934e+02] [-5.81100830e-04 9.99999693e-01 -5.26443343e-04 4.39268239e+00] [-1.65059282e-02 5.16780105e-04 9.99863634e-01 4.22453512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.30, Y:4.39, Z:0.42 [[ 9.99855013e-01 4.18560787e-03 1.65055703e-02 2.74302343e+02] [-4.17746010e-03 9.99991135e-01 -5.28084642e-04 4.39175967e+00] [-1.65076344e-02 4.59056715e-04 9.99863634e-01 4.22438988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.33, Y:4.39, Z:0.42 [[ 9.99820035e-01 9.35253661e-03 1.65053590e-02 2.74334837e+02] [-9.34498473e-03 9.99956192e-01 -5.34609711e-04 4.39148012e+00] [-1.65096359e-02 3.80271172e-04 9.99863634e-01 4.20488090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.37, Y:4.39, Z:0.42 [[ 9.99782869e-01 1.27198646e-02 1.65051417e-02 2.74367262e+02] [-1.27126620e-02 9.99919044e-01 -5.41234727e-04 4.39031005e+00] [-1.65106900e-02 3.31292921e-04 9.99863634e-01 4.19627904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.40, Y:4.39, Z:0.42 [[ 9.99721282e-01 1.68803314e-02 1.65049236e-02 2.74399950e+02] [-1.68735871e-02 9.99857481e-01 -5.47806974e-04 4.38772408e+00] [-1.65118185e-02 2.69157024e-04 9.99863634e-01 4.22243951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.43, Y:4.39, Z:0.42 [[ 9.99697379e-01 1.82412931e-02 1.65047006e-02 2.74432211e+02] [-1.82346246e-02 9.99833582e-01 -5.54444533e-04 4.38732950e+00] [-1.65120677e-02 2.53319725e-04 9.99863634e-01 4.22141626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.47, Y:4.39, Z:0.42 [[ 9.99689945e-01 1.86444433e-02 1.65044751e-02 2.74465367e+02] [-1.86377202e-02 9.99826145e-01 -5.61079671e-04 4.38657008e+00] [-1.65120667e-02 2.53299917e-04 9.99863634e-01 4.21588123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.242320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:274.52, Y:4.39, Z:0.44 [[ 9.98533761e-01 5.15551896e-02 1.65042461e-02 2.74520213e+02] [-5.15528455e-02 9.98670107e-01 -5.67734498e-04 4.38893930e+00] [-1.65115669e-02 -2.83938787e-04 9.99863634e-01 4.35514663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:274.53, Y:4.39, Z:0.42 [[ 9.99602258e-01 2.29062360e-02 1.64508696e-02 2.74526871e+02] [-2.28763090e-02 9.99736292e-01 -2.00508407e-03 4.38735633e+00] [-1.64924603e-02 1.62795138e-03 9.99862665e-01 4.17465141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.302320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:274.56, Y:4.38, Z:0.42 [[ 9.99555034e-01 2.48493145e-02 1.64998642e-02 2.74559645e+02] [-2.48434766e-02 9.99691197e-01 -5.58725823e-04 4.38430954e+00] [-1.65086529e-02 1.48563220e-04 9.99863712e-01 4.18453127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33232058799996 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:274.60, Y:4.38, Z:0.44 [[ 9.98605576e-01 5.01464479e-02 1.64996342e-02 2.74601212e+02] [-5.01439481e-02 9.98741841e-01 -5.65436293e-04 4.38290153e+00] [-1.65072296e-02 -2.62708967e-04 9.99863712e-01 4.39060777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.362320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:274.64, Y:4.38, Z:0.43 [[ 9.98055056e-01 6.01208640e-02 1.64798705e-02 2.74643258e+02] [-6.01104835e-02 9.98191096e-01 -1.12495556e-03 4.38359962e+00] [-1.65176933e-02 1.32154607e-04 9.99863565e-01 4.29129543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:274.68, Y:4.38, Z:0.43 [[ 9.97890695e-01 6.27955892e-02 1.64583020e-02 2.74680160e+02] [-6.27758599e-02 9.98026180e-01 -1.71315052e-03 4.38466614e+00] [-1.65333946e-02 6.76352904e-04 9.99863085e-01 4.29454198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.70, Y:4.38, Z:0.43 [[ 9.98479161e-01 5.26184717e-02 1.64517995e-02 2.74695916e+02] [-5.25943231e-02 9.98614158e-01 -1.89737680e-03 4.37970861e+00] [-1.65288369e-02 1.02921994e-03 9.99862860e-01 4.28208464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:274.74, Y:4.38, Z:0.43 [[ 9.97968695e-01 6.15367326e-02 1.64837897e-02 2.74739917e+02] [-6.15303850e-02 9.98104812e-01 -8.92448946e-04 4.38072940e+00] [-1.65074682e-02 -1.23617817e-04 9.99863735e-01 4.29300723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.75, Y:4.38, Z:0.41 [[ 9.99265192e-01 3.46166056e-02 1.64550173e-02 2.74749045e+02] [-3.45924825e-02 9.99399971e-01 -1.74846289e-03 4.37841434e+00] [-1.65056697e-02 1.17795821e-03 9.99863078e-01 4.14722135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:274.79, Y:4.38, Z:0.43 [[ 9.98189461e-01 5.78426683e-02 1.64931907e-02 2.74790049e+02] [-5.78421813e-02 9.98325611e-01 -5.06959503e-04 4.37773362e+00] [-1.64948986e-02 -4.47960496e-04 9.99863850e-01 4.27822047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:274.82, Y:4.38, Z:0.43 [[ 9.98168454e-01 5.82089879e-02 1.64757541e-02 2.74824084e+02] [-5.81993937e-02 9.98304414e-01 -1.06160327e-03 4.38115336e+00] [-1.65096129e-02 1.00779991e-04 9.99863702e-01 4.28182070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:274.85, Y:4.38, Z:0.42 [[ 9.98141646e-01 5.86670661e-02 1.64751225e-02 2.74854295e+02] [-5.86571940e-02 9.98277598e-01 -1.08221239e-03 4.37951609e+00] [-1.65102359e-02 1.13816796e-04 9.99863690e-01 4.22323682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:274.89, Y:4.38, Z:0.42 [[ 9.98249856e-01 5.67951647e-02 1.64782928e-02 2.74885543e+02] [-5.67867930e-02 9.98385851e-01 -9.75885372e-04 4.37756316e+00] [-1.65071199e-02 3.84280315e-05 9.99863747e-01 4.23518497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:274.91, Y:4.38, Z:0.42 [[ 9.99027888e-01 4.08867474e-02 1.64788495e-02 2.74906573e+02] [-4.08765211e-02 9.99163747e-01 -9.57061584e-04 4.37725761e+00] [-1.65042002e-02 2.82533172e-04 9.99863756e-01 4.16083470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:274.95, Y:4.38, Z:0.43 [[ 9.97431409e-01 6.97034779e-02 1.64927335e-02 2.74953991e+02] [-6.97051802e-02 9.97567524e-01 -4.72315224e-04 4.38118985e+00] [-1.64855374e-02 -6.78526925e-04 9.99863874e-01 4.26193429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.692320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:274.99, Y:4.38, Z:0.42 [[ 9.97258915e-01 7.21364872e-02 1.64615726e-02 2.74986590e+02] [-7.21217687e-02 9.97394726e-01 -1.48680097e-03 4.38455897e+00] [-1.65259383e-02 2.95487786e-04 9.99863394e-01 4.22197164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:275.02, Y:4.38, Z:0.42 [[ 9.97163523e-01 7.34429552e-02 1.64633402e-02 2.75016441e+02] [-7.34293921e-02 9.97299396e-01 -1.42763323e-03 4.38322794e+00] [-1.65237289e-02 2.14690716e-04 9.99863451e-01 4.21447306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.752320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:275.04, Y:4.38, Z:0.42 [[ 9.97839456e-01 6.36024048e-02 1.64667694e-02 2.75042357e+02] [-6.35895332e-02 9.97975285e-01 -1.30461331e-03 4.38230238e+00] [-1.65164054e-02 2.54680454e-04 9.99863562e-01 4.20498157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:275.06, Y:4.38, Z:0.41 [[ 9.98732902e-01 4.75504941e-02 1.64784801e-02 2.75064089e+02] [-4.75429373e-02 9.98868833e-01 -8.50251907e-04 4.38249444e+00] [-1.65002701e-02 6.57392099e-05 9.99863859e-01 4.14033965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.10, Y:4.39, Z:0.42 [[ 9.97568010e-01 6.77212174e-02 1.64894302e-02 2.75103506e+02] [-6.77236563e-02 9.97704033e-01 -4.11086749e-04 4.38603051e+00] [-1.64794103e-02 -7.06637514e-04 9.99863956e-01 4.21590680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.13, Y:4.39, Z:0.41 [[ 9.98714629e-01 4.79332019e-02 1.64771941e-02 2.75125527e+02] [-4.79250036e-02 9.98850538e-01 -8.92282596e-04 4.38508796e+00] [-1.65010242e-02 1.01466094e-04 9.99863844e-01 4.11056180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.872320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:275.17, Y:4.39, Z:0.42 [[ 9.97554860e-01 6.79147126e-02 1.64891567e-02 2.75166115e+02] [-6.79173034e-02 9.97690873e-01 -4.03460538e-04 4.38513760e+00] [-1.64784821e-02 -7.17425038e-04 9.99863963e-01 4.20796841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.19, Y:4.38, Z:0.42 [[ 9.97913913e-01 6.24210448e-02 1.64753114e-02 2.75188802e+02] [-6.24137298e-02 9.98049903e-01 -9.58301892e-04 4.38384065e+00] [-1.65030011e-02 -7.19828412e-05 9.99863814e-01 4.24697885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.23, Y:4.39, Z:0.43 [[ 9.97297006e-01 7.16021998e-02 1.64865772e-02 2.75226084e+02] [-7.16039532e-02 9.97433025e-01 -4.84672287e-04 4.38528320e+00] [-1.64789602e-02 -6.97141885e-04 9.99863970e-01 4.25620373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96232058799995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:275.25, Y:4.38, Z:0.42 [[ 9.97489084e-01 6.88771356e-02 1.64762561e-02 2.75254976e+02] [-6.88716497e-02 9.97625122e-01 -9.00816815e-04 4.38297832e+00] [-1.64991727e-02 -2.36192001e-04 9.99863851e-01 4.24685968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.992320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:275.28, Y:4.38, Z:0.41 [[ 9.98683012e-01 4.85869398e-02 1.64788108e-02 2.75278202e+02] [-4.85803950e-02 9.98818957e-01 -7.97467738e-04 4.38099274e+00] [-1.64980951e-02 -4.12965598e-06 9.99863897e-01 4.14831808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:275.31, Y:4.38, Z:0.41 [[ 9.98726902e-01 4.76729179e-02 1.64884539e-02 2.75310580e+02] [-4.76728817e-02 9.98862924e-01 -3.95471120e-04 4.38223515e+00] [-1.64885585e-02 -3.91084467e-04 9.99863978e-01 4.12279897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.34, Y:4.38, Z:0.41 [[ 9.98711163e-01 4.80015626e-02 1.64882880e-02 2.75343056e+02] [-4.80014590e-02 9.98847185e-01 -4.02271823e-04 4.38296286e+00] [-1.64885897e-02 -3.89708519e-04 9.99863978e-01 4.11431940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.38, Y:4.38, Z:0.41 [[ 9.98721797e-01 4.77798409e-02 1.64881196e-02 2.75375791e+02] [-4.77795951e-02 9.98857819e-01 -4.09059092e-04 4.38204108e+00] [-1.64888320e-02 -3.79259447e-04 9.99863978e-01 4.09847611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.41, Y:4.38, Z:0.42 [[ 9.97660551e-01 6.63443557e-02 1.64879486e-02 2.75413998e+02] [-6.63465276e-02 9.97796555e-01 -4.15837841e-04 4.37858881e+00] [-1.64792068e-02 -6.79053130e-04 9.99863978e-01 4.23326237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14232058799996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:275.44, Y:4.38, Z:0.42 [[ 9.97658972e-01 6.63706730e-02 1.64775161e-02 2.75443280e+02] [-6.63660853e-02 9.97794999e-01 -8.25680614e-04 4.37755197e+00] [-1.64959842e-02 -2.69800570e-04 9.99863896e-01 4.23515791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.172320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:275.49, Y:4.38, Z:0.42 [[ 9.97199380e-01 7.29506495e-02 1.64802645e-02 2.75485919e+02] [-7.29487596e-02 9.97335433e-01 -7.16597924e-04 4.37887278e+00] [-1.64886280e-02 -4.87623844e-04 9.99863934e-01 4.19804892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:275.52, Y:4.38, Z:0.42 [[ 9.97532730e-01 6.82452339e-02 1.64632875e-02 2.75520362e+02] [-6.82318172e-02 9.97668545e-01 -1.37592764e-03 4.37767266e+00] [-1.65188046e-02 2.49212832e-04 9.99863524e-01 4.20559710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.54, Y:4.37, Z:0.42 [[ 9.98000679e-01 6.10214295e-02 1.64629946e-02 2.75541243e+02] [-6.10068363e-02 9.98136384e-01 -1.38765149e-03 4.37027530e+00] [-1.65169904e-02 3.80521910e-04 9.99863513e-01 4.18471997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:275.58, Y:4.37, Z:0.42 [[ 9.97811068e-01 6.40440693e-02 1.64751291e-02 2.75582127e+02] [-6.40385415e-02 9.97947053e-01 -8.63410384e-04 4.37064165e+00] [-1.64966029e-02 -1.93522803e-04 9.99863903e-01 4.17398617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:275.59, Y:4.37, Z:0.40 [[ 9.99389031e-01 3.08323403e-02 1.64600216e-02 2.75592831e+02] [-3.08120875e-02 9.99524095e-01 -1.48267285e-03 4.36685402e+00] [-1.64979025e-02 9.74599356e-04 9.99863425e-01 4.04512102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:275.63, Y:4.36, Z:0.41 [[ 9.99410831e-01 3.01039685e-02 1.64845816e-02 2.75625267e+02] [-3.01021136e-02 9.99546764e-01 -3.60692758e-04 4.36281763e+00] [-1.64879685e-02 -1.35740499e-04 9.99864055e-01 4.07011283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.66, Y:4.36, Z:0.42 [[ 9.98757507e-01 4.70287674e-02 1.64844301e-02 2.75659971e+02] [-4.70291033e-02 9.98893452e-01 -3.67489422e-04 4.35882824e+00] [-1.64834718e-02 -4.08215145e-04 9.99864055e-01 4.20327344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38232058799997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:275.69, Y:4.35, Z:0.42 [[ 9.99066214e-01 3.99389091e-02 1.64798010e-02 2.75687434e+02] [-3.99348863e-02 9.99202120e-01 -5.73246363e-04 4.35295489e+00] [-1.64895469e-02 -8.54079054e-05 9.99864035e-01 4.20402905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.72, Y:4.35, Z:0.41 [[ 9.99300554e-01 3.35657184e-02 1.64847265e-02 2.75719439e+02] [-3.35644780e-02 9.99436492e-01 -3.51988347e-04 4.35042396e+00] [-1.64872520e-02 -2.01559090e-04 9.99864056e-01 4.13882637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:275.76, Y:4.35, Z:0.41 [[ 9.99015765e-01 4.11797156e-02 1.64842876e-02 2.75758224e+02] [-4.11791898e-02 9.99151708e-01 -3.71467228e-04 4.35044901e+00] [-1.64856010e-02 -3.07707989e-04 9.99864056e-01 4.12377814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.78, Y:4.35, Z:0.42 [[ 9.99183910e-01 3.68800354e-02 1.64734974e-02 2.75779886e+02] [-3.68712349e-02 9.99319674e-01 -8.37729585e-04 4.34585062e+00] [-1.64931855e-02 2.29647732e-04 9.99863952e-01 4.19043888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:275.81, Y:4.34, Z:0.42 [[ 9.99318305e-01 3.30321467e-02 1.64864282e-02 2.75813938e+02] [-3.30323959e-02 9.99454248e-01 -2.57268220e-04 4.34407622e+00] [-1.64859289e-02 -2.87493383e-04 9.99864057e-01 4.18111444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53232058799995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:275.87, Y:4.35, Z:0.41 [[ 9.98505130e-01 5.21132824e-02 1.64836906e-02 2.75868264e+02] [-5.21141537e-02 9.98641063e-01 -3.76978106e-04 4.34602899e+00] [-1.64809359e-02 -4.82619014e-04 9.99864064e-01 4.14839546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:275.90, Y:4.34, Z:0.42 [[ 9.98610648e-01 5.00631516e-02 1.64455204e-02 2.75901065e+02] [-5.00400931e-02 9.98745568e-01 -1.81088998e-03 4.34130238e+00] [-1.65155495e-02 9.85438646e-04 9.99863123e-01 4.15149337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:275.92, Y:4.34, Z:0.42 [[ 9.98876186e-01 4.44499231e-02 1.64489673e-02 2.75917304e+02] [-4.44285183e-02 9.99011179e-01 -1.66461181e-03 4.33694227e+00] [-1.65066940e-02 9.31937856e-04 9.99863321e-01 4.16821665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:275.95, Y:4.34, Z:0.42 [[ 9.98747834e-01 4.72398206e-02 1.64670122e-02 2.75952331e+02] [-4.72338077e-02 9.98883576e-01 -7.54105666e-04 4.33751697e+00] [-1.64842518e-02 -2.46382838e-05 9.99864125e-01 4.16210324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.99, Y:4.34, Z:0.41 [[ 9.98511590e-01 5.19961102e-02 1.64623449e-02 2.75990161e+02] [-5.19870770e-02 9.98647280e-01 -9.76475520e-04 4.34095043e+00] [-1.64908489e-02 1.19192929e-04 9.99864010e-01 4.10991749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.02, Y:4.34, Z:0.41 [[ 9.98396962e-01 5.41554122e-02 1.64528971e-02 2.76021811e+02] [-5.41392521e-02 9.98532376e-01 -1.42635325e-03 4.34006519e+00] [-1.65059952e-02 5.33319207e-04 9.99863625e-01 4.09120551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:276.04, Y:4.34, Z:0.41 [[ 9.98664224e-01 4.89792712e-02 1.64559418e-02 2.76041183e+02] [-4.89651496e-02 9.98799693e-01 -1.26020619e-03 4.33668566e+00] [-1.64979136e-02 4.52755190e-04 9.99863798e-01 4.13099040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.742320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:276.08, Y:4.34, Z:0.41 [[ 9.98512588e-01 5.19752333e-02 1.64677534e-02 2.76076617e+02] [-5.19738089e-02 9.98648316e-01 -5.14751118e-04 4.33568194e+00] [-1.64722485e-02 -3.41906395e-04 9.99864265e-01 4.14063298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.11, Y:4.34, Z:0.41 [[ 9.98398302e-01 5.41273964e-02 1.64637542e-02 2.76109405e+02] [-5.41222179e-02 9.98534029e-01 -7.60260033e-04 4.33541760e+00] [-1.64807697e-02 -1.32012565e-04 9.99864174e-01 4.14902632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.802320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:276.15, Y:4.34, Z:0.41 [[ 9.98201822e-01 5.76375698e-02 1.64631083e-02 2.76145787e+02] [-5.76321701e-02 9.98337563e-01 -8.02630133e-04 4.33820252e+00] [-1.64820011e-02 -1.47617797e-04 9.99864152e-01 4.11610553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.17, Y:4.34, Z:0.41 [[ 9.98462062e-01 5.29395257e-02 1.64595747e-02 2.76171606e+02] [-5.29296434e-02 9.98597707e-01 -1.03575540e-03 4.33729580e+00] [-1.64913260e-02 1.62963047e-04 9.99863996e-01 4.09946261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.21, Y:4.34, Z:0.41 [[ 9.98160478e-01 5.83485397e-02 1.64653502e-02 2.76206864e+02] [-5.83468128e-02 9.98296202e-01 -5.85655831e-04 4.33793739e+00] [-1.64714687e-02 -3.76122200e-04 9.99864265e-01 4.11799575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.23, Y:4.34, Z:0.40 [[ 9.99167472e-01 3.73275146e-02 1.64626576e-02 2.76226699e+02] [-3.73195332e-02 9.99303070e-01 -7.91865509e-04 4.33830309e+00] [-1.64807427e-02 1.76827560e-04 9.99864168e-01 4.01461199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.26, Y:4.34, Z:0.41 [[ 9.98355794e-01 5.49040749e-02 1.64697098e-02 2.76261133e+02] [-5.49083265e-02 9.98491381e-01 -1.94277255e-04 4.33885366e+00] [-1.64555299e-02 -7.10366377e-04 9.99864346e-01 4.09570947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:276.30, Y:4.35, Z:0.41 [[ 9.97870730e-01 6.31096953e-02 1.64673046e-02 2.76297128e+02] [-6.31118154e-02 9.98006386e-01 -3.91415166e-04 4.34505763e+00] [-1.64591772e-02 -6.48699749e-04 9.99864328e-01 4.06043190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.982320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:276.32, Y:4.34, Z:0.41 [[ 9.98095713e-01 5.94468042e-02 1.64628574e-02 2.76323156e+02] [-5.94423839e-02 9.98231450e-01 -7.58134692e-04 4.34391154e+00] [-1.64788107e-02 -2.21900504e-04 9.99864191e-01 4.05838209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:276.36, Y:4.34, Z:0.41 [[ 9.97768591e-01 6.47045323e-02 1.64670086e-02 2.76357350e+02] [-6.47069588e-02 9.97904234e-01 -3.85960993e-04 4.34448123e+00] [-1.64574710e-02 -6.80430291e-04 9.99864335e-01 4.05668342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:276.39, Y:4.35, Z:0.41 [[ 9.97835089e-01 6.36713479e-02 1.64649577e-02 2.76388695e+02] [-6.36706801e-02 9.97970804e-01 -5.65291977e-04 4.34531992e+00] [-1.64675399e-02 -4.84266882e-04 9.99864284e-01 4.05885538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.42, Y:4.35, Z:0.40 [[ 9.97771262e-01 6.46636861e-02 1.64656130e-02 2.76422665e+02] [-6.46641440e-02 9.97906956e-01 -5.05151509e-04 4.34950513e+00] [-1.64638147e-02 -5.60709111e-04 9.99864305e-01 4.02882965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:276.46, Y:4.35, Z:0.40 [[ 9.97456922e-01 6.93440347e-02 1.64649232e-02 2.76463879e+02] [-6.93440427e-02 9.97592641e-01 -5.71109406e-04 4.35218564e+00] [-1.64648893e-02 -5.72087311e-04 9.99864281e-01 4.03127076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:276.50, Y:4.35, Z:0.40 [[ 9.97557424e-01 6.78846630e-02 1.64577869e-02 2.76496775e+02] [-6.78741892e-02 9.97693173e-01 -1.19478455e-03 4.35144736e+00] [-1.65009291e-02 7.48072581e-05 9.99863848e-01 4.02059503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.52, Y:4.35, Z:0.40 [[ 9.97747440e-01 6.50321197e-02 1.64581151e-02 2.76517144e+02] [-6.50217684e-02 9.97883167e-01 -1.16384212e-03 4.35008293e+00] [-1.64989631e-02 9.10847497e-05 9.99863879e-01 4.02517496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.55, Y:4.35, Z:0.40 [[ 9.97901039e-01 6.26297771e-02 1.64628851e-02 2.76549670e+02] [-6.26293440e-02 9.98036708e-01 -5.42375764e-04 4.35139116e+00] [-1.64645325e-02 -4.89822357e-04 9.99864330e-01 4.03059782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.58, Y:4.35, Z:0.40 [[ 9.97805131e-01 6.41396542e-02 1.64628250e-02 2.76581707e+02] [-6.41392937e-02 9.97940804e-01 -5.50429910e-04 4.35345622e+00] [-1.64642292e-02 -5.06692181e-04 9.99864327e-01 4.01170642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.62, Y:4.36, Z:0.40 [[ 9.97485100e-01 6.89380919e-02 1.64625558e-02 2.76616111e+02] [-6.89377478e-02 9.97620790e-01 -5.89059111e-04 4.35572497e+00] [-1.64639965e-02 -5.47313833e-04 9.99864309e-01 4.02672007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:276.64, Y:4.36, Z:0.40 [[ 9.97649830e-01 6.65118567e-02 1.64617572e-02 2.76644353e+02] [-6.65092893e-02 9.97785558e-01 -7.03983825e-04 4.35677061e+00] [-1.64721268e-02 -3.92530426e-04 9.99864248e-01 4.00808042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.67, Y:4.36, Z:0.39 [[ 9.98887338e-01 4.41934982e-02 1.64626847e-02 2.76666028e+02] [-4.41901789e-02 9.99022977e-01 -5.65519352e-04 4.36309183e+00] [-1.64715925e-02 -1.62598862e-04 9.99864321e-01 3.90458211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:276.70, Y:4.36, Z:0.39 [[ 9.98960823e-01 4.24990114e-02 1.64653680e-02 2.76697933e+02] [-4.25032342e-02 9.99096325e-01 -9.35461568e-05 4.36492279e+00] [-1.64544643e-02 -6.06382447e-04 9.99864432e-01 3.88350713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.372320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:276.73, Y:4.37, Z:0.39 [[ 9.98984483e-01 4.19391938e-02 1.64653322e-02 2.76730533e+02] [-4.19432432e-02 9.99119990e-01 -9.94676194e-05 4.36595963e+00] [-1.64550142e-02 -5.91242826e-04 9.99864432e-01 3.88358673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.76, Y:4.37, Z:0.39 [[ 9.99116473e-01 3.86673870e-02 1.64652882e-02 2.76763283e+02] [-3.86708805e-02 9.99251996e-01 -1.06283221e-04 4.36716734e+00] [-1.64570818e-02 -5.30537875e-04 9.99864432e-01 3.88190903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.80, Y:4.37, Z:0.39 [[ 9.99136052e-01 3.81581731e-02 1.64652416e-02 2.76795617e+02] [-3.81614857e-02 9.99271579e-01 -1.13068385e-04 4.36856330e+00] [-1.64575625e-02 -5.15367383e-04 9.99864432e-01 3.86810361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:276.84, Y:4.37, Z:0.40 [[ 9.97911437e-01 6.24632748e-02 1.64651920e-02 2.76843648e+02] [-6.24697728e-02 9.98046849e-01 -1.19880333e-04 4.37158902e+00] [-1.64405211e-02 -9.08946850e-04 9.99864432e-01 3.97034581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.492320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:276.88, Y:4.37, Z:0.40 [[ 9.97925503e-01 6.22404358e-02 1.64565749e-02 2.76879875e+02] [-6.22308976e-02 9.98061182e-01 -1.09155252e-03 4.37100093e+00] [-1.64926073e-02 6.51806731e-05 9.99863986e-01 3.96418685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52232058799996 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:276.92, Y:4.37, Z:0.40 [[ 9.98177903e-01 5.80525591e-02 1.64552346e-02 2.76915751e+02] [-5.80397064e-02 9.98313483e-01 -1.25796257e-03 4.36904288e+00] [-1.65005105e-02 3.00613453e-04 9.99863812e-01 3.98289218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.92, Y:4.36, Z:0.38 [[ 9.99579386e-01 2.38812106e-02 1.64541447e-02 2.76920538e+02] [-2.38610346e-02 9.99714274e-01 -1.42145184e-03 4.36493411e+00] [-1.64833893e-02 1.02824104e-03 9.99863611e-01 3.83695530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:276.96, Y:4.36, Z:0.40 [[ 9.98879723e-01 4.43667991e-02 1.64586201e-02 2.76959775e+02] [-4.43719269e-02 9.99015080e-01 -5.36675917e-05 4.36302136e+00] [-1.64447908e-02 -6.76693219e-04 9.99864546e-01 3.96542005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.612320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:277.01, Y:4.37, Z:0.40 [[ 9.98583174e-01 5.06044493e-02 1.64570687e-02 2.77009160e+02] [-5.06042936e-02 9.98718691e-01 -4.26154821e-04 4.36625417e+00] [-1.64575474e-02 -4.07247301e-04 9.99864482e-01 3.96631027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.01, Y:4.36, Z:0.38 [[ 9.99729015e-01 1.64718259e-02 1.64491522e-02 2.77012513e+02] [-1.64481264e-02 9.99863480e-01 -1.57503004e-03 4.36236774e+00] [-1.64728502e-02 1.30404550e-03 9.99863463e-01 3.82948362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.05, Y:4.36, Z:0.38 [[ 9.99760670e-01 1.44174913e-02 1.64541582e-02 2.77045062e+02] [-1.44185557e-02 9.99896046e-01 -5.39453186e-05 4.35978392e+00] [-1.64532254e-02 -1.83312788e-04 9.99864620e-01 3.83521078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70232058799996 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:277.08, Y:4.36, Z:0.38 [[ 9.99776920e-01 1.32428250e-02 1.64541331e-02 2.77077750e+02] [-1.32436187e-02 9.99912298e-01 -6.07319303e-05 4.35762021e+00] [-1.64534943e-02 -1.57193882e-04 9.99864620e-01 3.84508819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.11, Y:4.35, Z:0.38 [[ 9.99816700e-01 9.78917295e-03 1.64541052e-02 2.77109915e+02] [-9.78938711e-03 9.99952081e-01 -6.75294684e-05 4.35380987e+00] [-1.64539778e-02 -9.35585152e-05 9.99864620e-01 3.82963367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.14, Y:4.35, Z:0.38 [[ 9.99841520e-01 6.79686325e-03 1.64540787e-02 2.77142526e+02] [-6.79657467e-03 9.99976900e-01 -7.34585172e-05 4.35389242e+00] [-1.64541979e-02 -3.83844993e-05 9.99864620e-01 3.79815742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.18, Y:4.35, Z:0.38 [[ 9.99860255e-01 2.95533234e-03 1.64540455e-02 2.77175186e+02] [-2.95441154e-03 9.99995632e-01 -8.02694641e-05 4.35180541e+00] [-1.64542109e-02 3.16462250e-05 9.99864620e-01 3.76114465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.21, Y:4.35, Z:0.37 [[ 9.99864209e-01 9.10305200e-04 1.64540096e-02 2.77207951e+02] [-9.08995793e-04 9.99999583e-01 -8.70584696e-05 4.34868472e+00] [-1.64540820e-02 7.20900224e-05 9.99864620e-01 3.74955260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85232058799994 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:277.27, Y:4.35, Z:0.39 [[ 9.99150779e-01 3.77754829e-02 1.64539711e-02 2.77268651e+02] [-3.77790546e-02 9.99286112e-01 -9.38159678e-05 4.34976871e+00] [-1.64457687e-02 -5.27879174e-04 9.99864620e-01 3.91235751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.26, Y:4.34, Z:0.37 [[ 9.99857368e-01 -3.90138367e-03 1.64323988e-02 2.77264660e+02] [ 3.93605732e-03 9.99990094e-01 -2.07826535e-03 4.34136119e+00] [-1.64241279e-02 2.14264779e-03 9.99862819e-01 3.74859809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.30, Y:4.34, Z:0.37 [[ 9.99845823e-01 -6.15637392e-03 1.64447170e-02 2.77297256e+02] [ 6.15888809e-03 9.99981029e-01 -1.02246214e-04 4.33863302e+00] [-1.64437755e-02 2.03511622e-04 9.99864771e-01 3.74899786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:277.36, Y:4.34, Z:0.39 [[ 9.99445633e-01 2.89482222e-02 1.64446727e-02 2.77356862e+02] [-2.89503462e-02 9.99580845e-01 -1.08930840e-04 4.33741002e+00] [-1.64409332e-02 -3.67208515e-04 9.99864771e-01 3.90599293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.36, Y:4.33, Z:0.37 [[ 9.99819011e-01 -9.60167503e-03 1.64241517e-02 2.77355681e+02] [ 9.63563554e-03 9.99951596e-01 -1.98983363e-03 4.33099155e+00] [-1.64042509e-02 2.14773063e-03 9.99863135e-01 3.72444912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:277.41, Y:4.33, Z:0.39 [[ 9.99435475e-01 2.93014535e-02 1.64364320e-02 2.77414043e+02] [-2.93036549e-02 9.99570550e-01 -1.06944995e-04 4.32862837e+00] [-1.64325070e-02 -3.74762908e-04 9.99864907e-01 3.89604590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:277.41, Y:4.33, Z:0.37 [[ 9.99838116e-01 -7.36111281e-03 1.64181824e-02 2.77414293e+02] [ 7.39264866e-03 9.99970942e-01 -1.86092394e-03 4.32511510e+00] [-1.64040069e-02 1.98199654e-03 9.99863481e-01 3.73238890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.45, Y:4.32, Z:0.37 [[ 9.99843943e-01 -6.49367380e-03 1.64293174e-02 2.77447251e+02] [ 6.49625722e-03 9.99978894e-01 -1.03881082e-04 4.32305282e+00] [-1.64282961e-02 2.10593943e-04 9.99865024e-01 3.73467218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.48, Y:4.32, Z:0.37 [[ 9.99861383e-01 -2.70070747e-03 1.64292727e-02 2.77479502e+02] [ 2.70288820e-03 9.99996341e-01 -1.10531274e-04 4.32081246e+00] [-1.64289141e-02 1.54922440e-04 9.99865024e-01 3.74452721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:277.51, Y:4.32, Z:0.37 [[ 9.99864933e-01 4.42489221e-04 1.64292252e-02 2.77512513e+02] [-4.40623276e-04 9.99999896e-01 -1.17194323e-04 4.31966521e+00] [-1.64292753e-02 1.09939395e-04 9.99865024e-01 3.74046008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.55, Y:4.32, Z:0.37 [[ 9.99849488e-01 5.57534740e-03 1.64291745e-02 2.77545201e+02] [-5.57406398e-03 9.99984457e-01 -1.23909359e-04 4.31895110e+00] [-1.64296100e-02 3.23134388e-05 9.99865024e-01 3.72755135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.182320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:277.60, Y:4.32, Z:0.39 [[ 9.98880636e-01 4.43571743e-02 1.64291209e-02 2.77600018e+02] [-4.43610168e-02 9.99015557e-01 -1.30648268e-04 4.32212914e+00] [-1.64187426e-02 -5.98310485e-04 9.99865024e-01 3.85050860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:277.63, Y:4.32, Z:0.38 [[ 9.98957551e-01 4.25970696e-02 1.64104085e-02 2.77631673e+02] [-4.25747534e-02 9.99091826e-01 -1.70700631e-03 4.32074493e+00] [-1.64682184e-02 1.00655775e-03 9.99863883e-01 3.83895925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.242320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:277.66, Y:4.32, Z:0.39 [[ 9.98929962e-01 4.32383685e-02 1.64126139e-02 2.77662851e+02] [-4.32208843e-02 9.99064534e-01 -1.41867554e-03 4.31660300e+00] [-1.64586016e-02 7.07789823e-04 9.99864298e-01 3.85159061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.67, Y:4.31, Z:0.37 [[ 9.99821266e-01 9.38270946e-03 1.64134455e-02 2.77670337e+02] [-9.36329278e-03 9.99955370e-01 -1.25942350e-03 4.31269039e+00] [-1.64245298e-02 1.10551450e-03 9.99864497e-01 3.70575901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.302320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:277.70, Y:4.31, Z:0.37 [[ 9.99807978e-01 1.07012803e-02 1.64161427e-02 2.77702835e+02] [-1.07021311e-02 9.99942730e-01 -3.60269852e-05 4.31015475e+00] [-1.64155880e-02 -1.39667643e-04 9.99865245e-01 3.71045220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.74, Y:4.31, Z:0.37 [[ 9.99799007e-01 1.15090093e-02 1.64161250e-02 2.77735395e+02] [-1.15098576e-02 9.99933758e-01 -4.28052387e-05 4.30910290e+00] [-1.64155302e-02 -1.46150627e-04 9.99865245e-01 3.70603384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.77, Y:4.31, Z:0.37 [[ 9.99815268e-01 9.99709732e-03 1.64161046e-02 2.77767922e+02] [-9.99763081e-03 9.99950021e-01 -4.95701483e-05 4.30721920e+00] [-1.64157797e-02 -1.14561162e-04 9.99865245e-01 3.71305986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.80, Y:4.31, Z:0.37 [[ 9.99806424e-01 1.08455648e-02 1.64160813e-02 2.77800564e+02] [-1.08461012e-02 9.99941178e-01 -5.63568691e-05 4.30737845e+00] [-1.64157269e-02 -1.21704519e-04 9.99865245e-01 3.71665324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.422320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:277.83, Y:4.31, Z:0.37 [[ 9.99793908e-01 1.19437936e-02 1.64160552e-02 2.77833139e+02] [-1.19443669e-02 9.99928662e-01 -6.31253339e-05 4.30956640e+00] [-1.64156381e-02 -1.32967062e-04 9.99865245e-01 3.70133686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.87, Y:4.31, Z:0.37 [[ 9.99794175e-01 1.19214435e-02 1.64160264e-02 2.77865358e+02] [-1.19219027e-02 9.99928929e-01 -6.98902112e-05 4.31038116e+00] [-1.64156929e-02 -1.25834444e-04 9.99865246e-01 3.68335208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.90, Y:4.31, Z:0.37 [[ 9.99795181e-01 1.18368342e-02 1.64159947e-02 2.77898398e+02] [-1.18371706e-02 9.99929935e-01 -7.66768962e-05 4.31014601e+00] [-1.64157522e-02 -1.17657740e-04 9.99865246e-01 3.68111990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.93, Y:4.31, Z:0.38 [[ 9.99616488e-01 2.23022984e-02 1.64159603e-02 2.77926469e+02] [-2.23039342e-02 9.99751233e-01 -8.34501982e-05 4.30839893e+00] [-1.64137377e-02 -2.82722304e-04 9.99865246e-01 3.76762969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:277.96, Y:4.31, Z:0.37 [[ 9.99777306e-01 1.32595920e-02 1.64171375e-02 2.77961980e+02] [-1.32636170e-02 9.99912025e-01 1.36306814e-04 4.31197179e+00] [-1.64138858e-02 -3.54027083e-04 9.99865220e-01 3.70221488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.99, Y:4.31, Z:0.37 [[ 9.99743567e-01 1.55989052e-02 1.64156583e-02 2.77994693e+02] [-1.55993338e-02 9.99878318e-01 -1.01946554e-04 4.31323005e+00] [-1.64152511e-02 -1.54152922e-04 9.99865249e-01 3.70179010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:278.02, Y:4.31, Z:0.38 [[ 9.99581608e-01 2.38146177e-02 1.64156135e-02 2.78019084e+02] [-2.38160425e-02 9.99716352e-01 -1.08717274e-04 4.30926019e+00] [-1.64135463e-02 -2.82283161e-04 9.99865249e-01 3.75462525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.06, Y:4.31, Z:0.37 [[ 9.99698159e-01 1.82762767e-02 1.64185423e-02 2.78058696e+02] [-1.82840540e-02 9.99832780e-01 3.23694100e-04 4.31223937e+00] [-1.64098809e-02 -6.23793911e-04 9.99865154e-01 3.71973649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.09, Y:4.31, Z:0.37 [[ 9.99679894e-01 1.92525026e-02 1.64149616e-02 2.78091441e+02] [-1.92529679e-02 9.99814636e-01 -1.29700288e-04 4.31234623e+00] [-1.64144159e-02 -1.86377958e-04 9.99865257e-01 3.71172611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.692320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:278.12, Y:4.31, Z:0.37 [[ 9.99694354e-01 1.84864678e-02 1.64149055e-02 2.78124105e+02] [-1.84867190e-02 9.99829097e-01 -1.36451421e-04 4.31253839e+00] [-1.64146226e-02 -1.67048030e-04 9.99865257e-01 3.71659537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:278.16, Y:4.31, Z:0.37 [[ 9.99715106e-01 1.73279782e-02 1.64148465e-02 2.78157083e+02] [-1.73279623e-02 9.99849849e-01 -1.43208518e-04 4.31353791e+00] [-1.64148633e-02 -1.41268123e-04 9.99865257e-01 3.69232838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.752320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:278.20, Y:4.31, Z:0.38 [[ 9.99211359e-01 3.61554379e-02 1.64147845e-02 2.78195408e+02] [-3.61578486e-02 9.99346080e-01 -1.49992254e-04 4.31353899e+00] [-1.64094736e-02 -4.43649331e-04 9.99865257e-01 3.77258125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.22, Y:4.31, Z:0.37 [[ 9.99721253e-01 1.69741602e-02 1.64101908e-02 2.78218657e+02] [-1.69664421e-02 9.99855874e-01 -6.09444630e-04 4.31130342e+00] [-1.64181705e-02 3.30852197e-04 9.99865158e-01 3.68282329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.25, Y:4.31, Z:0.37 [[ 9.99680884e-01 1.92014835e-02 1.64143967e-02 2.78251414e+02] [-1.92016037e-02 9.99815621e-01 -1.50296326e-04 4.31020303e+00] [-1.64142561e-02 -1.64934376e-04 9.99865263e-01 3.69764130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.28, Y:4.31, Z:0.37 [[ 9.99678718e-01 1.93139872e-02 1.64143321e-02 2.78283768e+02] [-1.93140117e-02 9.99813455e-01 -1.57050784e-04 4.31062919e+00] [-1.64143033e-02 -1.60026274e-04 9.99865263e-01 3.68393717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.872320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:278.33, Y:4.31, Z:0.38 [[ 9.98829163e-01 4.55068712e-02 1.64142645e-02 2.78326824e+02] [-4.55103157e-02 9.98963855e-01 -1.63820947e-04 4.31466499e+00] [-1.64047119e-02 -5.83389219e-04 9.99865263e-01 3.76253233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.34, Y:4.31, Z:0.36 [[ 9.99645905e-01 2.09500309e-02 1.64061508e-02 2.78344952e+02] [-2.09381061e-02 9.99780370e-01 -8.98301928e-04 4.31496520e+00] [-1.64213669e-02 5.54470118e-04 9.99865007e-01 3.64143334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.932320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:278.38, Y:4.31, Z:0.38 [[ 9.99163677e-01 3.74506963e-02 1.64131879e-02 2.78379770e+02] [-3.74531927e-02 9.99298371e-01 -1.55366649e-04 4.31451174e+00] [-1.64074905e-02 -4.59489577e-04 9.99865282e-01 3.75038194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:4.32, Z:0.37 [[ 9.99037331e-01 4.06827403e-02 1.64111249e-02 2.78416350e+02] [-4.06822099e-02 9.99172069e-01 -3.66297263e-04 4.31554372e+00] [-1.64124396e-02 -3.01696188e-04 9.99865261e-01 3.70759449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.992320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:278.44, Y:4.31, Z:0.37 [[ 9.99133263e-01 3.82554798e-02 1.64085772e-02 2.78443595e+02] [-3.82503002e-02 9.99267991e-01 -6.29503844e-04 4.31410651e+00] [-1.64206479e-02 1.32522728e-06 9.99865172e-01 3.74710273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:278.48, Y:4.31, Z:0.37 [[ 9.99131811e-01 3.82922362e-02 1.64112561e-02 2.78475233e+02] [-3.82920298e-02 9.99266538e-01 -3.26922558e-04 4.31367709e+00] [-1.64117377e-02 -3.01781582e-04 9.99865273e-01 3.74451729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.052320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:278.51, Y:4.31, Z:0.37 [[ 9.99218818e-01 3.59503169e-02 1.64112094e-02 2.78510027e+02] [-3.59497087e-02 9.99353545e-01 -3.32163963e-04 4.31447121e+00] [-1.64125417e-02 -2.58073714e-04 9.99865272e-01 3.71344719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:278.54, Y:4.31, Z:0.36 [[ 9.99595066e-01 2.32467364e-02 1.64101678e-02 2.78536045e+02] [-2.32425104e-02 9.99729756e-01 -4.48223612e-04 4.31479654e+00] [-1.64161528e-02 6.66286154e-05 9.99865244e-01 3.63758322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.112320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:278.57, Y:4.32, Z:0.37 [[ 9.99021770e-01 4.10624453e-02 1.64127724e-02 2.78572950e+02] [-4.10657205e-02 9.99156438e-01 -1.37564800e-04 4.31541482e+00] [-1.64045760e-02 -5.36572095e-04 9.99865292e-01 3.73157275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:278.60, Y:4.32, Z:0.37 [[ 9.99173895e-01 3.71785414e-02 1.64098495e-02 2.78603321e+02] [-3.71757254e-02 9.99308630e-01 -4.76721189e-04 4.31573835e+00] [-1.64162280e-02 -1.33720692e-04 9.99865236e-01 3.69842612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.172320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:278.64, Y:4.32, Z:0.37 [[ 9.98880733e-01 4.43618156e-02 1.64106873e-02 2.78643914e+02] [-4.43616199e-02 9.99015468e-01 -3.76127438e-04 4.31664237e+00] [-1.64112162e-02 -3.52298224e-04 9.99865265e-01 3.70968963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:278.67, Y:4.32, Z:0.36 [[ 9.99258603e-01 3.48297168e-02 1.64053464e-02 2.78670625e+02] [-3.48186071e-02 9.99393185e-01 -9.62425570e-04 4.31529513e+00] [-1.64289124e-02 3.90500721e-04 9.99864960e-01 3.63388633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23232058799994 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:278.69, Y:4.31, Z:0.37 [[ 9.99462549e-01 2.83793711e-02 1.64080570e-02 2.78693363e+02] [-2.83737675e-02 9.99597219e-01 -5.74260348e-04 4.31138050e+00] [-1.64177453e-02 1.08393316e-04 9.99865214e-01 3.71295106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:278.72, Y:4.31, Z:0.37 [[ 9.99443628e-01 2.90364650e-02 1.64109443e-02 2.78724032e+02] [-2.90387383e-02 9.99578282e-01 -9.98047258e-05 4.31151862e+00] [-1.64069215e-02 -3.76803920e-04 9.99865326e-01 3.69629567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.76, Y:4.31, Z:0.36 [[ 9.99733860e-01 1.62134804e-02 1.64113205e-02 2.78756965e+02] [-1.62150061e-02 9.99868527e-01 -4.01037237e-05 4.31179233e+00] [-1.64098131e-02 -2.26016611e-04 9.99865324e-01 3.57671718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:278.79, Y:4.31, Z:0.36 [[ 9.99610012e-01 2.25944188e-02 1.64108796e-02 2.78789768e+02] [-2.25956986e-02 9.99744679e-01 -1.07450909e-04 4.30820883e+00] [-1.64091173e-02 -2.63406284e-04 9.99865327e-01 3.63684607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.83, Y:4.31, Z:0.37 [[ 9.99163990e-01 3.74433669e-02 1.64108323e-02 2.78830269e+02] [-3.74465361e-02 9.99298626e-01 -1.14235460e-04 4.31056118e+00] [-1.64035996e-02 -5.00388867e-04 9.99865327e-01 3.70922887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.85, Y:4.31, Z:0.36 [[ 9.99723590e-01 1.68400484e-02 1.64059645e-02 2.78850280e+02] [-1.68308196e-02 9.99858106e-01 -7.00448149e-04 4.30989827e+00] [-1.64154322e-02 4.24128710e-04 9.99865168e-01 3.56095967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.88, Y:4.31, Z:0.37 [[ 9.99425277e-01 2.96618370e-02 1.64100708e-02 2.78882198e+02] [-2.96639445e-02 9.99559922e-01 -1.15024303e-04 4.30848661e+00] [-1.64062609e-02 -3.71829232e-04 9.99865339e-01 3.66356885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442320588 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:278.92, Y:4.31, Z:0.37 [[ 9.99076074e-01 3.97203686e-02 1.64100584e-02 2.78923044e+02] [-3.97238027e-02 9.99210691e-01 -1.16766126e-04 4.31031608e+00] [-1.64017438e-02 -5.35211677e-04 9.99865339e-01 3.66494075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47232058799995 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:278.95, Y:4.31, Z:0.37 [[ 9.99177873e-01 3.70734883e-02 1.64053144e-02 2.78952342e+02] [-3.70668977e-02 9.99312537e-01 -7.05724482e-04 4.30925831e+00] [-1.64202000e-02 9.70501778e-05 9.99865175e-01 3.68365789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:278.99, Y:4.31, Z:0.37 [[ 9.98966735e-01 4.23824410e-02 1.64070355e-02 2.78989050e+02] [-4.23803461e-02 9.99101436e-01 -4.75508309e-04 4.31067859e+00] [-1.64124459e-02 -2.20318860e-04 9.99865282e-01 3.67794948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53232058799995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:279.01, Y:4.31, Z:0.36 [[ 9.99177863e-01 3.70744265e-02 1.64038061e-02 2.79014384e+02] [-3.70651216e-02 9.99312473e-01 -8.71004135e-04 4.30962243e+00] [-1.64248200e-02 2.62278982e-04 9.99865069e-01 3.64962029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562320588 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:279.06, Y:4.31, Z:0.37 [[ 9.98872800e-01 4.45415822e-02 1.64066026e-02 2.79055795e+02] [-4.45401338e-02 9.99007493e-01 -4.53854041e-04 4.31183011e+00] [-1.64105343e-02 -2.77409816e-04 9.99865300e-01 3.65785207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:279.08, Y:4.31, Z:0.36 [[ 9.99068282e-01 3.99191941e-02 1.64020096e-02 2.79080014e+02] [-3.99071415e-02 9.99202829e-01 -1.06160253e-03 4.31061546e+00] [-1.64313127e-02 4.06056094e-04 9.99864914e-01 3.63198009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:279.11, Y:4.31, Z:0.36 [[ 9.99303068e-01 3.35300289e-02 1.64047287e-02 2.79108903e+02] [-3.35256353e-02 9.99437710e-01 -5.42838463e-04 4.31098179e+00] [-1.64137059e-02 -7.51881147e-06 9.99865286e-01 3.59053874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65232058799995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:279.14, Y:4.31, Z:0.35 [[ 9.99608754e-01 2.26538854e-02 1.64055091e-02 2.79135849e+02] [-2.26508298e-02 9.99743368e-01 -3.72068015e-04 4.31120077e+00] [-1.64097277e-02 3.24052255e-07 9.99865351e-01 3.51813399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.682320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:279.17, Y:4.31, Z:0.36 [[ 9.98953759e-01 4.26872871e-02 1.64067991e-02 2.79173803e+02] [-4.26918853e-02 9.99088283e-01 -7.00380708e-05 4.31186267e+00] [-1.63948305e-02 -6.30472392e-04 9.99865397e-01 3.62141290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71232058799995 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:279.21, Y:4.31, Z:0.36 [[ 9.98998184e-01 4.16352984e-02 1.64052013e-02 2.79208417e+02] [-4.16334425e-02 9.99132849e-01 -4.54781653e-04 4.31336734e+00] [-1.64099105e-02 -2.28678959e-04 9.99865322e-01 3.59827790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.742320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:279.24, Y:4.32, Z:0.36 [[ 9.98807850e-01 4.59756705e-02 1.64047737e-02 2.79238572e+02] [-4.59727784e-02 9.98942539e-01 -5.53561163e-04 4.31643659e+00] [-1.64128766e-02 -2.01271790e-04 9.99865279e-01 3.58713177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.26, Y:4.31, Z:0.35 [[ 9.99527882e-01 2.59789748e-02 1.64044427e-02 2.79259304e+02] [-2.59722853e-02 9.99662471e-01 -6.20731453e-04 4.31394673e+00] [-1.64150317e-02 1.94377527e-04 9.99865245e-01 3.49388190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.29, Y:4.31, Z:0.35 [[ 9.99542758e-01 2.53987557e-02 1.64066196e-02 2.79291519e+02] [-2.54011234e-02 9.99677337e-01 -6.40864442e-05 4.31183820e+00] [-1.64029535e-02 -3.52689428e-04 9.99865400e-01 3.50691131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:279.33, Y:4.31, Z:0.36 [[ 9.98874681e-01 4.44993804e-02 1.64065905e-02 2.79329796e+02] [-4.45042096e-02 9.99009194e-01 -7.08209331e-05 4.31156502e+00] [-1.63934863e-02 -6.59421107e-04 9.99865400e-01 3.61347854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.862320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:279.36, Y:4.31, Z:0.36 [[ 9.98868873e-01 4.46303926e-02 1.64043525e-02 2.79364117e+02] [-4.46277870e-02 9.99003546e-01 -5.25049104e-04 4.31215418e+00] [-1.64114394e-02 -2.07634743e-04 9.99865302e-01 3.59096243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:279.40, Y:4.31, Z:0.36 [[ 9.98796844e-01 4.62144938e-02 1.64037819e-02 2.79400508e+02] [-4.62101160e-02 9.98931533e-01 -6.46018344e-04 4.31326985e+00] [-1.64161104e-02 -1.12779581e-04 9.99865240e-01 3.57554916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.922320588 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:279.42, Y:4.31, Z:0.36 [[ 9.98953820e-01 4.26877320e-02 1.64019094e-02 2.79422352e+02] [-4.26772752e-02 9.99088422e-01 -9.87183820e-04 4.31025151e+00] [-1.64290984e-02 2.86162246e-04 9.99864992e-01 3.57494107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:279.45, Y:4.31, Z:0.36 [[ 9.99114884e-01 3.87345468e-02 1.64037539e-02 2.79453717e+02] [-3.87319473e-02 9.99249523e-01 -4.76257541e-04 4.30896505e+00] [-1.64098909e-02 -1.59513335e-04 9.99865336e-01 3.55955868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:279.49, Y:4.31, Z:0.36 [[ 9.98915013e-01 4.35856545e-02 1.64038818e-02 2.79487706e+02] [-4.35844527e-02 9.99049653e-01 -4.30925314e-04 4.30776675e+00] [-1.64070746e-02 -2.84496446e-04 9.99865354e-01 3.59724041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.51, Y:4.31, Z:0.35 [[ 9.99584912e-01 2.36839810e-02 1.64034301e-02 2.79508361e+02] [-2.36774734e-02 9.99719475e-01 -5.90845739e-04 4.30859502e+00] [-1.64128221e-02 2.02208705e-04 9.99865280e-01 3.45879859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.54, Y:4.31, Z:0.35 [[ 9.99551939e-01 2.50362944e-02 1.64044173e-02 2.79541033e+02] [-2.50391925e-02 9.99686470e-01 -2.87335768e-05 4.30950656e+00] [-1.63999934e-02 -3.82032660e-04 9.99865438e-01 3.45355338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.58, Y:4.31, Z:0.35 [[ 9.98657245e-01 4.91386123e-02 1.64044027e-02 2.79580428e+02] [-4.91446438e-02 9.98791671e-01 -3.54839479e-05 4.31190796e+00] [-1.63863244e-02 -7.70752227e-04 9.99865438e-01 3.54636548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:279.61, Y:4.31, Z:0.35 [[ 9.98595887e-01 5.03706021e-02 1.64029272e-02 2.79613801e+02] [-5.03687792e-02 9.98730550e-01 -5.24499173e-04 4.31386094e+00] [-1.64085239e-02 -3.02432703e-04 9.99865325e-01 3.53930713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.63, Y:4.32, Z:0.35 [[ 9.99330207e-01 3.27122052e-02 1.64026989e-02 2.79633698e+02] [-3.27068265e-02 9.99464811e-01 -5.96140972e-04 4.31513117e+00] [-1.64134215e-02 5.92614534e-05 9.99865289e-01 3.46468119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16232058799994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:279.67, Y:4.32, Z:0.36 [[ 9.98443224e-01 5.33108046e-02 1.64038382e-02 2.79673703e+02] [-5.33174360e-02 9.98577613e-01 -3.31181272e-05 4.31556031e+00] [-1.63822712e-02 -8.41544026e-04 9.99865447e-01 3.55967573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.192320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:279.71, Y:4.32, Z:0.35 [[ 9.98332502e-01 5.53459179e-02 1.64025989e-02 2.79707222e+02] [-5.53443438e-02 9.98467176e-01 -5.50227292e-04 4.31709015e+00] [-1.64079094e-02 -3.58481282e-04 9.99865317e-01 3.53160955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.74, Y:4.32, Z:0.35 [[ 9.98358153e-01 5.48813125e-02 1.64024469e-02 2.79738881e+02] [-5.48785759e-02 9.98492845e-01 -6.17239486e-04 4.31950588e+00] [-1.64116008e-02 -2.83916856e-04 9.99865280e-01 3.51413712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.77, Y:4.32, Z:0.35 [[ 9.98626703e-01 4.97560715e-02 1.64024786e-02 2.79767081e+02] [-4.97529914e-02 9.98761375e-01 -5.96043943e-04 4.32050492e+00] [-1.64118189e-02 -2.20846979e-04 9.99865293e-01 3.51116729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:279.80, Y:4.32, Z:0.35 [[ 9.98321125e-01 5.55507655e-02 1.64025638e-02 2.79802323e+02] [-5.55531142e-02 9.98455684e-01 -3.12764866e-04 4.32315471e+00] [-1.63946073e-02 -5.98973724e-04 9.99865420e-01 3.50973444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.83, Y:4.32, Z:0.35 [[ 9.98488761e-01 5.24514697e-02 1.64023875e-02 2.79831800e+02] [-5.24489410e-02 9.98623436e-01 -5.84594842e-04 4.32266120e+00] [-1.64104714e-02 -2.76576476e-04 9.99865301e-01 3.51560542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.85, Y:4.32, Z:0.34 [[ 9.99255117e-01 3.49309872e-02 1.64023837e-02 2.79854776e+02] [-3.49284315e-02 9.99389718e-01 -4.42349998e-04 4.32138369e+00] [-1.64078253e-02 -1.30889035e-04 9.99865374e-01 3.42993246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.372320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:279.89, Y:4.32, Z:0.35 [[ 9.98437638e-01 5.34158930e-02 1.64020244e-02 2.79894292e+02] [-5.34232925e-02 9.98571956e-01 1.30019457e-05 4.32070082e+00] [-1.63779071e-02 -8.89231780e-04 9.99865478e-01 3.51527298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40232058799995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:279.93, Y:4.32, Z:0.35 [[ 9.98522141e-01 5.18121729e-02 1.64022450e-02 2.79929200e+02] [-5.18109352e-02 9.98656786e-01 -5.00672081e-04 4.32295820e+00] [-1.64061541e-02 -3.49883493e-04 9.99865349e-01 3.49389731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.96, Y:4.32, Z:0.35 [[ 9.98668715e-01 4.89056475e-02 1.64023141e-02 2.79959525e+02] [-4.89021624e-02 9.98803385e-01 -6.13729450e-04 4.32263671e+00] [-1.64127017e-02 -1.89196228e-04 9.99865285e-01 3.49201993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.99, Y:4.32, Z:0.35 [[ 9.98847305e-01 4.51113711e-02 1.64019829e-02 2.79992319e+02] [-4.51105473e-02 9.98981913e-01 -4.20387915e-04 4.32221818e+00] [-1.64042485e-02 -3.19999089e-04 9.99865390e-01 3.46702903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.03, Y:4.32, Z:0.34 [[ 9.98879645e-01 4.43895114e-02 1.64020429e-02 2.80027695e+02] [-4.43881346e-02 9.99014260e-01 -4.48163439e-04 4.32120419e+00] [-1.64057685e-02 -2.80394752e-04 9.99865377e-01 3.44367166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.06, Y:4.32, Z:0.35 [[ 9.98901876e-01 4.38861636e-02 1.64026218e-02 2.80055958e+02] [-4.38811212e-02 9.99036537e-01 -6.67364070e-04 4.31958160e+00] [-1.64161066e-02 -5.31342152e-05 9.99865245e-01 3.48840712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.09, Y:4.32, Z:0.34 [[ 9.98962429e-01 4.24859506e-02 1.64015220e-02 2.80090453e+02] [-4.24853594e-02 9.99097015e-01 -3.84635719e-04 4.32082803e+00] [-1.64030533e-02 -3.12587926e-04 9.99865412e-01 3.41339862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.12, Y:4.32, Z:0.34 [[ 9.98877675e-01 4.44338240e-02 1.64020210e-02 2.80123569e+02] [-4.44317376e-02 9.99012302e-01 -4.91766109e-04 4.32079955e+00] [-1.64076718e-02 -2.37556106e-04 9.99865357e-01 3.43603774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.15, Y:4.32, Z:0.35 [[ 9.99148023e-01 3.78706891e-02 1.64024119e-02 2.80148079e+02] [-3.78664028e-02 9.99282647e-01 -5.71926678e-04 4.31737032e+00] [-1.64123049e-02 -4.96609264e-05 9.99865308e-01 3.46738717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.17, Y:4.32, Z:0.33 [[ 9.99631968e-01 2.16097117e-02 1.63996404e-02 2.80174573e+02] [-2.16104728e-02 9.99766458e-01 -1.30821536e-04 4.31587311e+00] [-1.63986374e-02 -2.23630594e-04 9.99865508e-01 3.34972317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.21, Y:4.31, Z:0.34 [[ 9.99657744e-01 2.03837983e-02 1.63980518e-02 2.80207525e+02] [-2.03883227e-02 9.99792131e-01 1.08763065e-04 4.31412604e+00] [-1.63924262e-02 -4.43054612e-04 9.99865537e-01 3.35980285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.24, Y:4.31, Z:0.34 [[ 9.99737054e-01 1.60289042e-02 1.63980940e-02 2.80240146e+02] [-1.60327319e-02 9.99871462e-01 1.01978885e-04 4.31205343e+00] [-1.63943516e-02 -3.64858314e-04 9.99865537e-01 3.35457871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:280.27, Y:4.31, Z:0.33 [[ 9.99783941e-01 1.27738813e-02 1.63981335e-02 2.80272531e+02] [-1.27771597e-02 9.99918364e-01 9.51702509e-05 4.31088304e+00] [-1.63955791e-02 -3.04671259e-04 9.99865537e-01 3.30694865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:280.31, Y:4.31, Z:0.34 [[ 9.99334208e-01 3.25920414e-02 1.63981700e-02 2.80312739e+02] [-3.25978732e-02 9.99468544e-01 8.84042913e-05 4.31010514e+00] [-1.63865738e-02 -6.22890899e-04 9.99865537e-01 3.41689319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:4.31, Z:0.34 [[ 9.99515044e-01 2.64706697e-02 1.64006249e-02 2.80341394e+02] [-2.64661106e-02 9.99649589e-01 -4.95007463e-04 4.30828184e+00] [-1.64079811e-02 6.07066544e-05 9.99865378e-01 3.37613026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.37, Y:4.30, Z:0.33 [[ 9.99851613e-01 5.27381088e-03 1.63993607e-02 2.80366389e+02] [-5.27023316e-03 9.99986078e-01 -2.61372032e-04 4.30365982e+00] [-1.64005109e-02 1.74904793e-04 9.99865487e-01 3.28925044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:280.41, Y:4.30, Z:0.34 [[ 9.99631610e-01 2.16281197e-02 1.63971937e-02 2.80406716e+02] [-2.16326465e-02 9.99765982e-01 9.87270336e-05 4.30255332e+00] [-1.63912211e-02 -4.53405357e-04 9.99865552e-01 3.37834992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.44, Y:4.30, Z:0.34 [[ 9.99697591e-01 1.83236869e-02 1.64002757e-02 2.80439081e+02] [-1.83190575e-02 9.99832098e-01 -4.32472627e-04 4.29655142e+00] [-1.64054466e-02 1.31904249e-04 9.99865413e-01 3.35492858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.47, Y:4.29, Z:0.34 [[ 9.99697237e-01 1.83433024e-02 1.63999038e-02 2.80470624e+02] [-1.83396612e-02 9.99831745e-01 -3.72408695e-04 4.29408272e+00] [-1.64039756e-02 7.15272651e-05 9.99865443e-01 3.36252752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.50, Y:4.29, Z:0.34 [[ 9.99703397e-01 1.80048728e-02 1.63994687e-02 2.80502596e+02] [-1.80022307e-02 9.99837899e-01 -3.08731965e-04 4.29411645e+00] [-1.64023690e-02 1.34133756e-05 9.99865472e-01 3.35783797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:280.54, Y:4.29, Z:0.33 [[ 9.99683315e-01 1.90873584e-02 1.63994476e-02 2.80535429e+02] [-1.90849102e-02 9.99817820e-01 -3.05789126e-04 4.29411103e+00] [-1.64022967e-02 -7.28969726e-06 9.99865473e-01 3.34740992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002320588 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:280.57, Y:4.29, Z:0.34 [[ 9.99551822e-01 2.50441997e-02 1.63994934e-02 2.80573097e+02] [-2.50424508e-02 9.99686340e-01 -3.12020410e-04 4.29494134e+00] [-1.64021639e-02 -9.88029384e-05 9.99865471e-01 3.35909919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.60, Y:4.29, Z:0.33 [[ 9.99606435e-01 2.27582627e-02 1.64023305e-02 2.80599741e+02] [-2.27495859e-02 9.99740939e-01 -7.15419326e-04 4.29246852e+00] [-1.64143630e-02 3.41991537e-04 9.99865217e-01 3.34686745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.63, Y:4.29, Z:0.33 [[ 9.99578365e-01 2.39613542e-02 1.63995817e-02 2.80634031e+02] [-2.39584464e-02 9.99712885e-01 -3.73780935e-04 4.29315191e+00] [-1.64038294e-02 -1.92851635e-05 9.99865448e-01 3.33380256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.65, Y:4.29, Z:0.32 [[ 9.99843506e-01 6.63273674e-03 1.64003104e-02 2.80654046e+02] [-6.62610796e-03 9.99977942e-01 -4.58492546e-04 4.29386588e+00] [-1.64029897e-02 3.49750567e-04 9.99865401e-01 3.22620327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.69, Y:4.30, Z:0.32 [[ 9.99841289e-01 6.97368113e-03 1.63940638e-02 2.80687116e+02] [-6.97731499e-03 9.99975645e-01 1.64469919e-04 4.29569813e+00] [-1.63925176e-02 -2.78830363e-04 9.99865595e-01 3.21353927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.72, Y:4.30, Z:0.32 [[ 9.99835584e-01 7.74838514e-03 1.63941290e-02 2.80719240e+02] [-7.75201205e-03 9.99969940e-01 1.57694722e-04 4.29614558e+00] [-1.63924143e-02 -2.84756280e-04 9.99865595e-01 3.20519823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.76, Y:4.30, Z:0.33 [[ 9.99506177e-01 2.68073427e-02 1.63941835e-02 2.80763139e+02] [-2.68134338e-02 9.99640444e-01 1.51804598e-04 4.29814548e+00] [-1.63842194e-02 -5.91313988e-04 9.99865595e-01 3.31648401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.79, Y:4.30, Z:0.33 [[ 9.99670910e-01 1.97254251e-02 1.64005921e-02 2.80788059e+02] [-1.97181995e-02 9.99805396e-01 -6.02178295e-04 4.29732284e+00] [-1.64092787e-02 2.78589979e-04 9.99865320e-01 3.27405820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:4.30, Z:0.33 [[ 9.99572552e-01 2.42047435e-02 1.63964458e-02 2.80826045e+02] [-2.42049598e-02 9.99707000e-01 -1.85288553e-04 4.29825238e+00] [-1.63961265e-02 -2.11665960e-04 9.99865552e-01 3.27673913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.84, Y:4.30, Z:0.32 [[ 9.99832042e-01 8.18052219e-03 1.64001910e-02 2.80843526e+02] [-8.17186322e-03 9.99966433e-01 -5.94926300e-04 4.29740298e+00] [-1.64045073e-02 4.60806260e-04 9.99865331e-01 3.18174662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.88, Y:4.30, Z:0.32 [[ 9.99816182e-01 9.94551571e-03 1.63917528e-02 2.80876341e+02] [-9.94978397e-03 9.99950484e-01 1.78856926e-04 4.29869112e+00] [-1.63891623e-02 -3.41918448e-04 9.99865630e-01 3.19290500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.92, Y:4.30, Z:0.33 [[ 9.99511381e-01 2.66140539e-02 1.63918237e-02 2.80917827e+02] [-2.66204502e-02 9.99645598e-01 1.72104454e-04 4.30292515e+00] [-1.63814340e-02 -6.08378087e-04 9.99865630e-01 3.26816053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.94, Y:4.30, Z:0.32 [[ 9.99807108e-01 1.08097661e-02 1.63980113e-02 2.80938598e+02] [-1.08041396e-02 9.99941540e-01 -4.31670931e-04 4.30297656e+00] [-1.64017189e-02 2.54421262e-04 9.99865450e-01 3.17256974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39232058799996 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:280.98, Y:4.30, Z:0.33 [[ 9.99382791e-01 3.10704705e-02 1.63909183e-02 2.80980874e+02] [-3.10777211e-02 9.99516953e-01 1.87769018e-04 4.30405901e+00] [-1.63771667e-02 -6.97045514e-04 9.99865642e-01 3.25634384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.00, Y:4.30, Z:0.32 [[ 9.99783774e-01 1.27871001e-02 1.63980581e-02 2.81000330e+02] [-1.27803720e-02 9.99918195e-01 -5.15035409e-04 4.30258746e+00] [-1.64033025e-02 3.05350763e-04 9.99865410e-01 3.16269052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:281.04, Y:4.30, Z:0.33 [[ 9.99467753e-01 2.82061200e-02 1.63897716e-02 2.81042344e+02] [-2.82130571e-02 9.99601914e-01 1.92145084e-04 4.30439880e+00] [-1.63778274e-02 -6.54448378e-04 9.99865660e-01 3.26179308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.06, Y:4.30, Z:0.32 [[ 9.99788922e-01 1.23799839e-02 1.63965713e-02 2.81062266e+02] [-1.23749303e-02 9.99923344e-01 -4.09644125e-04 4.30461987e+00] [-1.64003858e-02 2.06651231e-04 9.99865483e-01 3.17048210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.10, Y:4.31, Z:0.32 [[ 9.99629497e-01 2.17318499e-02 1.63888626e-02 2.81096684e+02] [-2.17381357e-02 9.99763678e-01 2.05470127e-04 4.30658024e+00] [-1.63805243e-02 -5.61657320e-04 9.99865672e-01 3.22017210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.13, Y:4.31, Z:0.32 [[ 9.99794890e-01 1.18967574e-02 1.63903931e-02 2.81126742e+02] [-1.18996594e-02 9.99929193e-01 7.95334683e-05 4.30637790e+00] [-1.63882864e-02 -2.74557250e-04 9.99865665e-01 3.16447897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.16, Y:4.31, Z:0.33 [[ 9.99616649e-01 2.23149822e-02 1.63889133e-02 2.81159146e+02] [-2.23212649e-02 9.99750829e-01 2.00501554e-04 4.30513532e+00] [-1.63803555e-02 -5.66245966e-04 9.99865673e-01 3.25813977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60232058799994 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:281.19, Y:4.30, Z:0.32 [[ 9.99731324e-01 1.63910152e-02 1.63894357e-02 2.81190894e+02] [-1.63957856e-02 9.99865568e-01 1.56729958e-04 4.30230965e+00] [-1.63846635e-02 -4.25405522e-04 9.99865672e-01 3.20238318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.22, Y:4.30, Z:0.32 [[ 9.99795636e-01 1.18357938e-02 1.63890439e-02 2.81223591e+02] [-1.18405050e-02 9.99929881e-01 1.90450592e-04 4.30474111e+00] [-1.63856406e-02 -3.84466227e-04 9.99865672e-01 3.16259059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:281.26, Y:4.30, Z:0.32 [[ 9.99665732e-01 1.99955784e-02 1.63890775e-02 2.81255499e+02] [-2.00013370e-02 9.99799936e-01 1.87510341e-04 4.30403958e+00] [-1.63820493e-02 -5.15251124e-04 9.99865672e-01 3.24727843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.29, Y:4.31, Z:0.33 [[ 9.99573355e-01 2.41765218e-02 1.63891435e-02 2.81288687e+02] [-2.41827441e-02 9.99707538e-01 1.81557884e-04 4.30529228e+00] [-1.63799608e-02 -5.77814885e-04 9.99865672e-01 3.26978776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.32, Y:4.31, Z:0.31 [[ 9.99793883e-01 1.19811423e-02 1.63903467e-02 2.81317829e+02] [-1.19838939e-02 9.99928188e-01 6.96656737e-05 4.30682539e+00] [-1.63883351e-02 -2.66071490e-04 9.99865667e-01 3.14454214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.35, Y:4.30, Z:0.32 [[ 9.99743104e-01 1.56562733e-02 1.63892151e-02 2.81350159e+02] [-1.56612510e-02 9.99877340e-01 1.75409397e-04 4.30476679e+00] [-1.63844585e-02 -4.32039946e-04 9.99865672e-01 3.18156519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.38, Y:4.31, Z:0.31 [[ 9.99783850e-01 1.27924023e-02 1.63892849e-02 2.81382967e+02] [-1.27968844e-02 9.99918102e-01 1.68628862e-04 4.30712568e+00] [-1.63857854e-02 -3.78324197e-04 9.99865672e-01 3.13059922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.812320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:281.42, Y:4.31, Z:0.32 [[ 9.99739806e-01 1.58653748e-02 1.63893145e-02 2.81415387e+02] [-1.58702215e-02 9.99874046e-01 1.65699541e-04 4.30517793e+00] [-1.63846213e-02 -4.25758478e-04 9.99865672e-01 3.16937926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:281.45, Y:4.31, Z:0.32 [[ 9.99673153e-01 1.96208086e-02 1.63893800e-02 2.81445628e+02] [-1.96260488e-02 9.99807378e-01 1.58939644e-04 4.30751444e+00] [-1.63831045e-02 -4.80546467e-04 9.99865672e-01 3.17960307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872320588 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:281.48, Y:4.31, Z:0.32 [[ 9.99603970e-01 2.28763630e-02 1.63882358e-02 2.81476581e+02] [-2.28839887e-02 9.99738089e-01 2.77914296e-04 4.30664155e+00] [-1.63775859e-02 -6.52832437e-04 9.99865665e-01 3.22392654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:4.31, Z:0.32 [[ 9.99570155e-01 2.43093281e-02 1.63878326e-02 2.81513503e+02] [-2.43178467e-02 9.99704226e-01 3.20714436e-04 4.30932304e+00] [-1.63751891e-02 -7.19093379e-04 9.99865659e-01 3.16300738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.55, Y:4.31, Z:0.32 [[ 9.99559918e-01 2.47243824e-02 1.63913205e-02 2.81546853e+02] [-2.47267072e-02 9.99694246e-01 -6.08479795e-05 4.31051055e+00] [-1.63878132e-02 -3.44482181e-04 9.99865651e-01 3.15781969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:281.58, Y:4.31, Z:0.32 [[ 9.99573222e-01 2.41800536e-02 1.63920303e-02 2.81581226e+02] [-2.41809626e-02 9.99707588e-01 -1.42769681e-04 4.31202703e+00] [-1.63906893e-02 -2.53666323e-04 9.99865631e-01 3.15052651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.61, Y:4.31, Z:0.31 [[ 9.99803806e-01 1.11179945e-02 1.63932644e-02 2.81605178e+02] [-1.11147501e-02 9.99938187e-01 -2.89008334e-04 4.30998226e+00] [-1.63954643e-02 1.06744595e-04 9.99865580e-01 3.09900065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:281.65, Y:4.31, Z:0.32 [[ 9.99454023e-01 2.86888413e-02 1.63891834e-02 2.81653560e+02] [-2.86951818e-02 9.99588197e-01 1.51794008e-04 4.31296687e+00] [-1.63780794e-02 -6.22001729e-04 9.99865677e-01 3.15692010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:4.31, Z:0.32 [[ 9.99542345e-01 2.54211783e-02 1.63970587e-02 2.81675288e+02] [-2.54091196e-02 9.99676691e-01 -9.43365561e-04 4.31108658e+00] [-1.64157388e-02 5.26299001e-04 9.99865114e-01 3.15086475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:281.70, Y:4.31, Z:0.31 [[ 9.99784466e-01 1.27439738e-02 1.63894146e-02 2.81700071e+02] [-1.27424471e-02 9.99918792e-01 -1.97579908e-04 4.30874243e+00] [-1.63906016e-02 -1.13039258e-05 9.99865665e-01 3.14832137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.112320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:281.73, Y:4.31, Z:0.31 [[ 9.99798813e-01 1.15696322e-02 1.63852440e-02 2.81732269e+02] [-1.15741464e-02 9.99933001e-01 1.80700019e-04 4.30870133e+00] [-1.63820556e-02 -3.70308878e-04 9.99865737e-01 3.11773287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:281.76, Y:4.31, Z:0.32 [[ 9.99667911e-01 1.98894243e-02 1.63853143e-02 2.81764188e+02] [-1.98949467e-02 9.99802061e-01 1.74085084e-04 4.31360357e+00] [-1.63786086e-02 -5.00012227e-04 9.99865737e-01 3.17027491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:4.32, Z:0.31 [[ 9.99738277e-01 1.59655367e-02 1.63853475e-02 2.81794740e+02] [-1.59704804e-02 9.99872449e-01 1.70903993e-04 4.31599920e+00] [-1.63805289e-02 -4.32541135e-04 9.99865737e-01 3.08418315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.83, Y:4.32, Z:0.31 [[ 9.99734587e-01 1.61948650e-02 1.63854025e-02 2.81827686e+02] [-1.61997503e-02 9.99868762e-01 1.65451316e-04 4.31735158e+00] [-1.63805727e-02 -4.30846832e-04 9.99865737e-01 3.06678199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.86, Y:4.32, Z:0.31 [[ 9.99517224e-01 2.63976363e-02 1.63854678e-02 2.81863744e+02] [-2.64037804e-02 9.99651347e-01 1.58714712e-04 4.31848183e+00] [-1.63755653e-02 -5.91276382e-04 9.99865737e-01 3.12312561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:281.90, Y:4.32, Z:0.31 [[ 9.99508443e-01 2.67263917e-02 1.63881487e-02 2.81895246e+02] [-2.67279660e-02 9.99642737e-01 -1.22992679e-04 4.31979624e+00] [-1.63855809e-02 -3.15089659e-04 9.99865698e-01 3.11438738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.93, Y:4.32, Z:0.31 [[ 9.99532435e-01 2.58136983e-02 1.63879545e-02 2.81927037e+02] [-2.58154730e-02 9.99666720e-01 -1.03280384e-04 4.32136495e+00] [-1.63851587e-02 -3.19830702e-04 9.99865703e-01 3.10159713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:4.32, Z:0.31 [[ 9.99689249e-01 1.87839085e-02 1.63880897e-02 2.81950501e+02] [-1.87845166e-02 9.99823549e-01 -1.16839401e-04 4.32077934e+00] [-1.63873927e-02 -1.91039251e-04 9.99865699e-01 3.10225264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.99, Y:4.32, Z:0.31 [[ 9.99745331e-01 1.55197626e-02 1.63832217e-02 2.81985823e+02] [-1.55273946e-02 9.99879385e-01 3.38730439e-04 4.32056987e+00] [-1.63759886e-02 -5.93032922e-04 9.99865729e-01 3.05626285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:282.02, Y:4.32, Z:0.31 [[ 9.99756286e-01 1.47953124e-02 1.63849713e-02 2.82018481e+02] [-1.47999996e-02 9.99890460e-01 1.64840188e-04 4.31755126e+00] [-1.63807377e-02 -4.07297582e-04 9.99865744e-01 3.11013807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:282.05, Y:4.32, Z:0.31 [[ 9.99597375e-01 2.31650428e-02 1.63850377e-02 2.82050865e+02] [-2.31707405e-02 9.99731510e-01 1.57957628e-04 4.32036962e+00] [-1.63769794e-02 -5.37547486e-04 9.99865744e-01 3.09699380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:4.32, Z:0.30 [[ 9.99746450e-01 1.54438704e-02 1.63866812e-02 2.82079079e+02] [-1.54455642e-02 9.99880710e-01 -2.31975740e-05 4.32139744e+00] [-1.63850847e-02 -2.29909844e-04 9.99865729e-01 3.04343656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.11, Y:4.32, Z:0.31 [[ 9.99732936e-01 1.62967886e-02 1.63850745e-02 2.82111503e+02] [-1.63014519e-02 9.99867111e-01 1.51076910e-04 4.32265044e+00] [-1.63804351e-02 -4.18137067e-04 9.99865744e-01 3.05167062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.15, Y:4.32, Z:0.31 [[ 9.99524573e-01 2.61180993e-02 1.63851339e-02 2.82146066e+02] [-2.61239701e-02 9.99658700e-01 1.44332047e-04 4.32456099e+00] [-1.63757720e-02 -5.72308177e-04 9.99865744e-01 3.08072392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.18, Y:4.33, Z:0.31 [[ 9.99498996e-01 2.70783767e-02 1.63865551e-02 2.82178318e+02] [-2.70817518e-02 9.99633222e-01 -1.59406970e-05 4.32668018e+00] [-1.63809766e-02 -4.27843908e-04 9.99865731e-01 3.07088090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:4.33, Z:0.31 [[ 9.99353114e-01 3.20129855e-02 1.63866737e-02 2.82210754e+02] [-3.20167993e-02 9.99487330e-01 -2.96178147e-05 4.32764820e+00] [-1.63792209e-02 -4.95050188e-04 9.99865729e-01 3.06931274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.24, Y:4.33, Z:0.31 [[ 9.99270033e-01 3.45087281e-02 1.63874839e-02 2.82240309e+02] [-3.45113309e-02 9.99404299e-01 -1.24028781e-04 4.32542702e+00] [-1.63820019e-02 -4.41615634e-04 9.99865708e-01 3.09222359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.27, Y:4.33, Z:0.31 [[ 9.99351618e-01 3.20598202e-02 1.63863520e-02 2.82272082e+02] [-3.20641514e-02 9.99485813e-01 1.59262797e-06 4.32721898e+00] [-1.63778753e-02 -5.27006066e-04 9.99865735e-01 3.06186648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.30, Y:4.33, Z:0.31 [[ 9.99261870e-01 3.47447511e-02 1.63865177e-02 2.82304292e+02] [-3.47491471e-02 9.99396066e-01 -1.64696113e-05 4.32943092e+00] [-1.63771936e-02 -5.52960060e-04 9.99865732e-01 3.06534047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.34, Y:4.33, Z:0.31 [[ 9.99112689e-01 3.87984820e-02 1.63863681e-02 2.82336813e+02] [-3.88036875e-02 9.99246853e-01 -2.77587505e-07 4.33443636e+00] [-1.63740375e-02 -6.35574166e-04 9.99865734e-01 3.05689918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:4.34, Z:0.31 [[ 9.99028308e-01 4.09136117e-02 1.63864661e-02 2.82368746e+02] [-4.09189249e-02 9.99162470e-01 -1.10487006e-05 4.33584773e+00] [-1.63731939e-02 -6.59478609e-04 9.99865733e-01 3.06445832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:4.34, Z:0.31 [[ 9.99060706e-01 4.01144691e-02 1.63870166e-02 2.82400965e+02] [-4.01186932e-02 9.99194919e-01 -7.10106844e-05 4.33689590e+00] [-1.63766723e-02 -5.86481707e-04 9.99865721e-01 3.07446372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.43, Y:4.34, Z:0.30 [[ 9.99387350e-01 3.09254528e-02 1.63872479e-02 2.82427038e+02] [-3.09280264e-02 9.99521610e-01 -9.64224150e-05 4.33789742e+00] [-1.63823903e-02 -4.10461894e-04 9.99865715e-01 3.03782416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.802320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:282.46, Y:4.34, Z:0.31 [[ 9.98869485e-01 4.46238402e-02 1.63848701e-02 2.82462847e+02] [-4.46323682e-02 9.99003467e-01 1.54994499e-04 4.33908843e+00] [-1.63616256e-02 -8.86114832e-04 9.99865747e-01 3.09823999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:282.49, Y:4.34, Z:0.31 [[ 9.98874135e-01 4.45186683e-02 1.63875309e-02 2.82494601e+02] [-4.45224332e-02 9.99008376e-01 -1.35198390e-04 4.33967334e+00] [-1.63772995e-02 -5.94566573e-04 9.99865706e-01 3.09058113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.862320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:282.52, Y:4.34, Z:0.31 [[ 9.99264761e-01 3.46610577e-02 1.63874676e-02 2.82518967e+02] [-3.46636093e-02 9.99399028e-01 -1.28399797e-04 4.34086531e+00] [-1.63820697e-02 -4.39743384e-04 9.99865708e-01 3.07192833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89232058799996 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:282.55, Y:4.34, Z:0.31 [[ 9.99030730e-01 4.08554005e-02 1.63840156e-02 2.82554440e+02] [-4.08647371e-02 9.99164660e-01 2.35333994e-04 4.34196737e+00] [-1.63607147e-02 -9.04634382e-04 9.99865745e-01 3.09752509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.59, Y:4.34, Z:0.30 [[ 9.99163968e-01 3.74544946e-02 1.63867330e-02 2.82585741e+02] [-3.74582915e-02 9.99298189e-01 -7.52731972e-05 4.34338249e+00] [-1.63780519e-02 -5.38608752e-04 9.99865726e-01 3.04713768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:282.62, Y:4.34, Z:0.30 [[ 9.99220212e-01 3.59227332e-02 1.63867592e-02 2.82618526e+02] [-3.59262759e-02 9.99354440e-01 -7.82320966e-05 4.34462397e+00] [-1.63789908e-02 -5.10544138e-04 9.99865725e-01 3.04398462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.65, Y:4.35, Z:0.31 [[ 9.99195415e-01 3.66058728e-02 1.63869432e-02 2.82646654e+02] [-3.66091769e-02 9.99329655e-01 -9.84031835e-05 4.34571230e+00] [-1.63795604e-02 -5.01588493e-04 9.99865720e-01 3.05801595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.68, Y:4.35, Z:0.30 [[ 9.99216630e-01 3.60228280e-02 1.63854228e-02 2.82682387e+02] [-3.60286766e-02 9.99350755e-01 6.17923530e-05 4.34732025e+00] [-1.63725587e-02 -6.52089047e-04 9.99865748e-01 3.02004103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:282.71, Y:4.35, Z:0.31 [[ 9.99047619e-01 4.04387716e-02 1.63878488e-02 2.82711435e+02] [-4.04408936e-02 9.99181912e-01 -2.02021633e-04 4.34714764e+00] [-1.63826116e-02 -4.60910018e-04 9.99865690e-01 3.08299474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:4.35, Z:0.30 [[ 9.99151889e-01 3.77757308e-02 1.63858460e-02 2.82747068e+02] [-3.77809058e-02 9.99286047e-01 6.26782824e-06 4.34970678e+00] [-1.63739105e-02 -6.25334618e-04 9.99865743e-01 3.02863406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10232058799994 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:282.77, Y:4.35, Z:0.31 [[ 9.99146059e-01 3.79287510e-02 1.63878744e-02 2.82772104e+02] [-3.79304987e-02 9.99280359e-01 -2.04269785e-04 4.34881040e+00] [-1.63838287e-02 -4.17504898e-04 9.99865689e-01 3.06783694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.80, Y:4.35, Z:0.31 [[ 9.99009870e-01 4.13625263e-02 1.63835599e-02 2.82804519e+02] [-4.13716958e-02 9.99143800e-01 2.20994167e-04 4.35041137e+00] [-1.63603914e-02 -8.98591010e-04 9.99865756e-01 3.06803981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.84, Y:4.35, Z:0.31 [[ 9.99023864e-01 4.10229736e-02 1.63839972e-02 2.82837140e+02] [-4.10313555e-02 9.99157844e-01 1.75625575e-04 4.35119142e+00] [-1.63629946e-02 -8.47711752e-04 9.99865758e-01 3.05333433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.87, Y:4.35, Z:0.30 [[ 9.99262965e-01 3.47143133e-02 1.63842131e-02 2.82867456e+02] [-3.47214691e-02 9.99397016e-01 1.52410009e-04 4.35273434e+00] [-1.63690429e-02 -7.21181628e-04 9.99865758e-01 2.97494928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.90, Y:4.36, Z:0.30 [[ 9.98791048e-01 4.63465125e-02 1.63842563e-02 2.82899538e+02] [-4.63551504e-02 9.98925011e-01 1.47620622e-04 4.35845348e+00] [-1.63598017e-02 -9.06936819e-04 9.99865758e-01 3.01991927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.252320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:282.94, Y:4.36, Z:0.30 [[ 9.98848856e-01 4.50830196e-02 1.63854896e-02 2.82935562e+02] [-4.50890962e-02 9.98982970e-01 1.42553398e-06 4.36065835e+00] [-1.63687608e-02 -7.40230811e-04 9.99865749e-01 2.98942999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:4.36, Z:0.30 [[ 9.99197061e-01 3.65607241e-02 1.63873669e-02 2.82958948e+02] [-3.65617064e-02 9.99331369e-01 -2.39750490e-04 4.35982937e+00] [-1.63851753e-02 -3.59592113e-04 9.99865689e-01 2.96746203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.00, Y:4.36, Z:0.30 [[ 9.98787761e-01 4.64172908e-02 1.63842188e-02 2.82998746e+02] [-4.64257638e-02 9.98921734e-01 1.36968794e-04 4.36140464e+00] [-1.63601945e-02 -8.97452627e-04 9.99865760e-01 2.98813223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:283.02, Y:4.36, Z:0.30 [[ 9.99192396e-01 3.66876775e-02 1.63880863e-02 2.83020929e+02] [-3.66865275e-02 9.99326754e-01 -3.70899658e-04 4.36186536e+00] [-1.63906605e-02 -2.30621860e-04 9.99865638e-01 2.97299692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.06, Y:4.36, Z:0.30 [[ 9.98741222e-01 4.74082656e-02 1.63837837e-02 2.83057012e+02] [-4.74168955e-02 9.98875177e-01 1.38461036e-04 4.36183155e+00] [-1.63587907e-02 -9.15154906e-04 9.99865767e-01 3.04205324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.09, Y:4.36, Z:0.30 [[ 9.98675408e-01 4.87743696e-02 1.63856879e-02 2.83090066e+02] [-4.87794105e-02 9.98809572e-01 -9.21258346e-05 4.36230162e+00] [-1.63706753e-02 -7.07280393e-04 9.99865741e-01 3.03187250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:4.36, Z:0.30 [[ 9.98870111e-01 4.46095064e-02 1.63857376e-02 2.83122776e+02] [-4.46138990e-02 9.99004300e-01 -9.75478457e-05 4.36392548e+00] [-1.63737739e-02 -6.33594016e-04 9.99865740e-01 3.00655305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.15, Y:4.37, Z:0.29 [[ 9.99260391e-01 3.47876844e-02 1.63855900e-02 2.83149848e+02] [-3.47910192e-02 9.99394606e-01 -8.15732926e-05 4.36615655e+00] [-1.63785080e-02 -4.88558415e-04 9.99865744e-01 2.92241726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:4.37, Z:0.30 [[ 9.98883106e-01 4.43184587e-02 1.63833881e-02 2.83190705e+02] [-4.43269199e-02 9.99017067e-01 1.53494606e-04 4.36998007e+00] [-1.63604817e-02 -8.79548301e-04 9.99865772e-01 2.95483319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.21, Y:4.37, Z:0.29 [[ 9.99285564e-01 3.40556638e-02 1.63881813e-02 2.83212791e+02] [-3.40537145e-02 9.99419925e-01 -3.98070524e-04 4.37104471e+00] [-1.63922315e-02 -1.60292318e-04 9.99865625e-01 2.91614027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.26, Y:4.38, Z:0.30 [[ 9.98668373e-01 4.89191840e-02 1.63827401e-02 2.83258400e+02] [-4.89283655e-02 9.98802277e-01 1.59850221e-04 4.37578743e+00] [-1.63552984e-02 -9.61218055e-04 9.99865781e-01 2.95963123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:4.38, Z:0.29 [[ 9.99236085e-01 3.54770274e-02 1.63898211e-02 2.83273850e+02] [-3.54689336e-02 9.99370472e-01 -7.84345817e-04 4.37774060e+00] [-1.64073295e-02 2.02417168e-04 9.99865370e-01 2.89304950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.32, Y:4.38, Z:0.29 [[ 9.98609156e-01 5.01140748e-02 1.63808773e-02 2.83322703e+02] [-5.01233507e-02 9.98743023e-01 1.55937984e-04 4.38128412e+00] [-1.63524722e-02 -9.76785557e-04 9.99865812e-01 2.93248881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:4.38, Z:0.29 [[ 9.99155110e-01 3.76892134e-02 1.63886855e-02 2.83333606e+02] [-3.76769699e-02 9.99289414e-01 -1.05529806e-03 4.38208132e+00] [-1.64168133e-02 4.36930440e-04 9.99865140e-01 2.90234416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.38, Y:4.39, Z:0.29 [[ 9.98512364e-01 5.20079859e-02 1.63776516e-02 2.83381986e+02] [-5.20174167e-02 9.98646166e-01 1.50081139e-04 4.38697695e+00] [-1.63476736e-02 -1.00178100e-03 9.99865866e-01 2.94394000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.41, Y:4.39, Z:0.29 [[ 9.98691608e-01 4.84419213e-02 1.63845013e-02 2.83406489e+02] [-4.84318928e-02 9.98825978e-01 -1.00854553e-03 4.39310458e+00] [-1.64141214e-02 2.13693545e-04 9.99865256e-01 2.91147695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:283.44, Y:4.39, Z:0.29 [[ 9.98761158e-01 4.69876005e-02 1.63803065e-02 2.83439579e+02] [-4.69850876e-02 9.98895446e-01 -5.38429327e-04 4.39249346e+00] [-1.63875131e-02 -2.31867838e-04 9.99865689e-01 2.92102420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:4.39, Z:0.29 [[ 9.99313019e-01 3.32441453e-02 1.63803789e-02 2.83457280e+02] [-3.32396639e-02 9.99447261e-01 -5.45843295e-04 4.39312908e+00] [-1.63894709e-02 9.90023293e-07 9.99865684e-01 2.88161212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:283.50, Y:4.40, Z:0.30 [[ 9.98620281e-01 4.98947826e-02 1.63721055e-02 2.83500374e+02] [-4.99045012e-02 9.98753977e-01 1.85346574e-04 4.39781359e+00] [-1.63424577e-02 -1.00213261e-03 9.99865951e-01 2.95629025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:4.40, Z:0.29 [[ 9.99293340e-01 3.38308942e-02 1.63795996e-02 2.83518545e+02] [-3.38259439e-02 9.99427571e-01 -5.79254773e-04 4.40114158e+00] [-1.63898202e-02 2.47900171e-05 9.99865678e-01 2.85798764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:283.56, Y:4.41, Z:0.29 [[ 9.98522488e-01 5.18153846e-02 1.63709364e-02 2.83563535e+02] [-5.18253624e-02 9.98656146e-01 1.85544497e-04 4.40606779e+00] [-1.63393222e-02 -1.03370006e-03 9.99865970e-01 2.92973637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:4.41, Z:0.29 [[ 9.99185242e-01 3.68859997e-02 1.63791028e-02 2.83580595e+02] [-3.68799617e-02 9.99319478e-01 -6.70644019e-04 4.40664802e+00] [-1.63926938e-02 6.60369242e-05 9.99865629e-01 2.86330919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:4.41, Z:0.29 [[ 9.99036807e-01 4.07124352e-02 1.63693839e-02 2.83611995e+02] [-4.07209305e-02 9.99170542e-01 1.85859982e-04 4.41271942e+00] [-1.63482394e-02 -8.52257507e-04 9.99865995e-01 2.85795642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:4.42, Z:0.29 [[ 9.98369280e-01 5.46883997e-02 1.63694483e-02 2.83653698e+02] [-5.46986700e-02 9.98502891e-01 1.80005572e-04 4.41702870e+00] [-1.63350972e-02 -1.07509908e-03 9.99865995e-01 2.93604045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:283.68, Y:4.42, Z:0.29 [[ 9.98992246e-01 4.17892729e-02 1.63752577e-02 2.83675475e+02] [-4.17886729e-02 9.99126400e-01 -3.78961109e-04 4.42007426e+00] [-1.63767888e-02 -3.05721080e-04 9.99865845e-01 2.85891022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:283.72, Y:4.42, Z:0.29 [[ 9.98309957e-01 5.57610380e-02 1.63687809e-02 2.83716635e+02] [-5.57715703e-02 9.98443537e-01 1.87299006e-04 4.42276389e+00] [-1.63328596e-02 -1.09989508e-03 9.99866005e-01 2.94257205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:4.43, Z:0.29 [[ 9.98483146e-01 5.25669420e-02 1.63745151e-02 2.83748712e+02] [-5.25684987e-02 9.98617264e-01 -3.35639732e-04 4.42589203e+00] [-1.63695171e-02 -5.25653062e-04 9.99865872e-01 2.91711110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:283.79, Y:4.43, Z:0.29 [[ 9.98238043e-01 5.70326191e-02 1.63734662e-02 2.83785110e+02] [-5.70362547e-02 9.98372078e-01 -2.45219898e-04 4.43273250e+00] [-1.63607970e-02 -6.89093357e-04 9.99865916e-01 2.91687118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.80, Y:4.43, Z:0.28 [[ 9.99143596e-01 3.79984589e-02 1.63765338e-02 2.83803715e+02] [-3.79949937e-02 9.99277793e-01 -5.22789002e-04 4.43475905e+00] [-1.63845717e-02 -9.98850149e-05 9.99865759e-01 2.82413742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.84, Y:4.44, Z:0.28 [[ 9.99288077e-01 3.39918644e-02 1.63674007e-02 2.83836756e+02] [-3.39997778e-02 9.99421819e-01 2.05384905e-04 4.43797561e+00] [-1.63509560e-02 -7.61726673e-04 9.99866024e-01 2.82466477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.87, Y:4.44, Z:0.29 [[ 9.98843010e-01 4.52188838e-02 1.63674825e-02 2.83871961e+02] [-4.52281895e-02 9.98976662e-01 1.98642463e-04 4.43961597e+00] [-1.63417507e-02 -9.38684236e-04 9.99866024e-01 2.92541403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.182320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:283.91, Y:4.45, Z:0.29 [[ 9.98961346e-01 4.25236644e-02 1.63696918e-02 2.83907289e+02] [-4.25296045e-02 9.99095207e-01 1.47662039e-05 4.44520078e+00] [-1.63542527e-02 -7.10947385e-04 9.99866008e-01 2.90971635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.94, Y:4.45, Z:0.29 [[ 9.99014622e-01 4.12524652e-02 1.63713169e-02 2.83938646e+02] [-4.12559786e-02 9.99148602e-01 -1.23207277e-04 4.44659415e+00] [-1.63624610e-02 -5.52328829e-04 9.99865973e-01 2.91907099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.242320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:283.97, Y:4.45, Z:0.29 [[ 9.99183976e-01 3.69241243e-02 1.63704067e-02 2.83966402e+02] [-3.69282783e-02 9.99317917e-01 -4.85647710e-05 4.44799607e+00] [-1.63610339e-02 -5.56005792e-04 9.99865995e-01 2.88901280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:284.00, Y:4.45, Z:0.29 [[ 9.99165468e-01 3.74229983e-02 1.63672541e-02 2.84003587e+02] [-3.74313511e-02 9.99299181e-01 2.04182678e-04 4.45254103e+00] [-1.63481425e-02 -8.16660717e-04 9.99866027e-01 2.90929663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.03, Y:4.46, Z:0.28 [[ 9.99603986e-01 2.28881408e-02 1.63708214e-02 2.84030320e+02] [-2.28896451e-02 9.99737993e-01 -9.55019174e-05 4.45560925e+00] [-1.63687180e-02 -2.79258195e-04 9.99865985e-01 2.80113922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:284.07, Y:4.46, Z:0.29 [[ 9.99381902e-01 3.11115707e-02 1.63671759e-02 2.84066448e+02] [-3.11190293e-02 9.99515665e-01 2.01162828e-04 4.45812664e+00] [-1.63529903e-02 -7.10369118e-04 9.99866029e-01 2.88351632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.09, Y:4.46, Z:0.28 [[ 9.99720415e-01 1.70623686e-02 1.63696826e-02 2.84094166e+02] [-1.70645025e-02 9.99854391e-01 -9.32674729e-06 4.46006003e+00] [-1.63674581e-02 -2.70016349e-04 9.99866008e-01 2.78264582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.13, Y:4.46, Z:0.28 [[ 9.99606361e-01 2.27868185e-02 1.63671395e-02 2.84126569e+02] [-2.27931343e-02 9.99740183e-01 1.99419385e-04 4.45894712e+00] [-1.63583429e-02 -5.72399296e-04 9.99866030e-01 2.83397767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.16, Y:4.46, Z:0.29 [[ 9.99444153e-01 2.90430421e-02 1.63672194e-02 2.84163745e+02] [-2.90500843e-02 9.99577939e-01 1.92630973e-04 4.46175553e+00] [-1.63547169e-02 -6.67993004e-04 9.99866030e-01 2.87960894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.19, Y:4.46, Z:0.28 [[ 9.99778348e-01 1.32379518e-02 1.63710441e-02 2.84190079e+02] [-1.32372617e-02 9.99912372e-01 -1.50518513e-04 4.46210401e+00] [-1.63716021e-02 -6.62226439e-05 9.99865974e-01 2.77881773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.22, Y:4.46, Z:0.28 [[ 9.99777359e-01 1.33172554e-02 1.63671106e-02 2.84222305e+02] [-1.33221397e-02 9.99911238e-01 1.89427780e-04 4.46378393e+00] [-1.63631351e-02 -4.07430540e-04 9.99866032e-01 2.75150171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.25, Y:4.47, Z:0.27 [[ 9.99782840e-01 1.28991118e-02 1.63671866e-02 2.84254608e+02] [-1.29038288e-02 9.99916725e-01 1.82618501e-04 4.46505355e+00] [-1.63634680e-02 -3.93778217e-04 9.99866032e-01 2.74149553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.29, Y:4.46, Z:0.27 [[ 9.99772168e-01 1.37012738e-02 1.63672592e-02 2.84287234e+02] [-1.37059875e-02 9.99906053e-01 1.75854411e-04 4.46458640e+00] [-1.63633121e-02 -4.00143797e-04 9.99866032e-01 2.74166927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:4.46, Z:0.27 [[ 9.99779964e-01 1.31199750e-02 1.63673294e-02 2.84318768e+02] [-1.31244997e-02 9.99913856e-01 1.69061033e-04 4.46362818e+00] [-1.63637014e-02 -3.83836844e-04 9.99866032e-01 2.72971371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.35, Y:4.46, Z:0.27 [[ 9.99786074e-01 1.26457529e-02 1.63673882e-02 2.84351587e+02] [-1.26501176e-02 9.99919971e-01 1.63161309e-04 4.46282637e+00] [-1.63640150e-02 -3.70175790e-04 9.99866032e-01 2.71953489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.38, Y:4.46, Z:0.27 [[ 9.99789201e-01 1.23959918e-02 1.63674528e-02 2.84384384e+02] [-1.24002124e-02 9.99923102e-01 1.56397139e-04 4.46269264e+00] [-1.63642555e-02 -3.59324062e-04 9.99866032e-01 2.71761604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.42, Y:4.46, Z:0.27 [[ 9.99798781e-01 1.15975149e-02 1.63675147e-02 2.84416785e+02] [-1.16015178e-02 9.99932689e-01 1.49628058e-04 4.46147222e+00] [-1.63646777e-02 -3.39485963e-04 9.99866032e-01 2.71345119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.45, Y:4.46, Z:0.27 [[ 9.99823836e-01 9.18687025e-03 1.63675739e-02 2.84448315e+02] [-9.19043930e-03 9.99957757e-01 1.42850466e-04 4.45732473e+00] [-1.63655701e-02 -2.93250495e-04 9.99866032e-01 2.72121838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.48, Y:4.46, Z:0.27 [[ 9.99837732e-01 7.52398860e-03 1.63676233e-02 2.84480823e+02] [-7.52723829e-03 9.99971661e-01 1.36946740e-04 4.45580551e+00] [-1.63661290e-02 -2.60127518e-04 9.99866032e-01 2.71130671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.51, Y:4.46, Z:0.27 [[ 9.99834541e-01 7.93658119e-03 1.63676773e-02 2.84514020e+02] [-7.93977501e-03 9.99968471e-01 1.30155679e-04 4.45643959e+00] [-1.63661282e-02 -2.60089818e-04 9.99866032e-01 2.70582032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.55, Y:4.45, Z:0.27 [[ 9.99854467e-01 4.81061292e-03 1.63677282e-02 2.84547129e+02] [-4.81327746e-03 9.99988409e-01 1.23402283e-04 4.45229649e+00] [-1.63669448e-02 -2.02166741e-04 9.99866032e-01 2.69900458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:4.45, Z:0.27 [[ 9.99858150e-01 3.97193695e-03 1.63677764e-02 2.84579667e+02] [-3.97437843e-03 9.99992095e-01 1.16637979e-04 4.45018649e+00] [-1.63671837e-02 -1.81673171e-04 9.99866032e-01 2.70621943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.61, Y:4.45, Z:0.27 [[ 9.99859631e-01 3.57953894e-03 1.63678219e-02 2.84612760e+02] [-3.58181690e-03 9.99993579e-01 1.09860284e-04 4.44787349e+00] [-1.63673235e-02 -1.68471404e-04 9.99866032e-01 2.71434085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.64, Y:4.44, Z:0.27 [[ 9.99859429e-01 3.63536116e-03 1.63678644e-02 2.84644672e+02] [-3.63753614e-03 9.99993379e-01 1.03111694e-04 4.44394432e+00] [-1.63673812e-02 -1.62635897e-04 9.99866032e-01 2.70201331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.68, Y:4.44, Z:0.27 [[ 9.99855358e-01 4.62129644e-03 1.63678774e-02 2.84677561e+02] [-4.62356892e-03 9.99989306e-01 1.00998548e-04 4.44292135e+00] [-1.63672357e-02 -1.76661948e-04 9.99866032e-01 2.67910557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.932320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:284.71, Y:4.44, Z:0.27 [[ 9.99844790e-01 6.51821823e-03 1.63679168e-02 2.84710076e+02] [-6.52063288e-03 9.99978736e-01 9.41593121e-05 4.43824800e+00] [-1.63669550e-02 -2.00873874e-04 9.99866032e-01 2.67705952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.74, Y:4.44, Z:0.27 [[ 9.99836878e-01 7.63588068e-03 1.63679531e-02 2.84742328e+02] [-7.63833379e-03 9.99970824e-01 8.73607484e-05 4.43617104e+00] [-1.63668084e-02 -2.12370387e-04 9.99866032e-01 2.67159575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.992320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:284.78, Y:4.43, Z:0.27 [[ 9.99807904e-01 1.07816987e-02 1.63679865e-02 2.84775224e+02] [-1.07844622e-02 9.99941843e-01 8.05805337e-05 4.43338519e+00] [-1.63661657e-02 -2.57084986e-04 9.99866032e-01 2.69017293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:284.81, Y:4.43, Z:0.27 [[ 9.99788190e-01 1.24764941e-02 1.63680170e-02 2.84808266e+02] [-1.24793738e-02 9.99922127e-01 7.38088003e-05 4.43309748e+00] [-1.63658215e-02 -2.78055770e-04 9.99866032e-01 2.68332499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.84, Y:4.43, Z:0.27 [[ 9.99753965e-01 1.49698871e-02 1.63680448e-02 2.84840688e+02] [-1.49729899e-02 9.99887896e-01 6.70261085e-05 4.43212036e+00] [-1.63652065e-02 -3.12088187e-04 9.99866032e-01 2.68140964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.87, Y:4.43, Z:0.27 [[ 9.99691248e-01 1.86947684e-02 1.63680696e-02 2.84872940e+02] [-1.86982598e-02 9.99825170e-01 6.02774338e-05 4.42890431e+00] [-1.63640811e-02 -3.66313241e-04 9.99866032e-01 2.67423787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.91, Y:4.43, Z:0.27 [[ 9.99650838e-01 2.07433697e-02 1.63680917e-02 2.84905346e+02] [-2.07470249e-02 9.99784756e-01 5.35238881e-05 4.42736855e+00] [-1.63634583e-02 -3.93094406e-04 9.99866032e-01 2.66651950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.94, Y:4.42, Z:0.27 [[ 9.99586923e-01 2.36234606e-02 1.63681110e-02 2.84937888e+02] [-2.36273913e-02 9.99720833e-01 4.67787615e-05 4.42462056e+00] [-1.63624365e-02 -4.33495201e-04 9.99866032e-01 2.66862500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.172320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:284.97, Y:4.42, Z:0.27 [[ 9.99314342e-01 3.32104061e-02 1.63681275e-02 2.84972514e+02] [-3.32155106e-02 9.99448212e-01 4.00252009e-05 4.42374812e+00] [-1.63577665e-02 -5.83673470e-04 9.99866032e-01 2.74651849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.00, Y:4.42, Z:0.27 [[ 9.99593242e-01 2.33542900e-02 1.63685038e-02 2.85001803e+02] [-2.33555100e-02 9.99727216e-01 -1.16647590e-04 4.42278750e+00] [-1.63667629e-02 -2.65694611e-04 9.99866020e-01 2.66956161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23232058799994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:285.04, Y:4.42, Z:0.28 [[ 9.99303502e-01 3.35349898e-02 1.63680945e-02 2.85035195e+02] [-3.35401733e-02 9.99437369e-01 4.21974396e-05 4.41979606e+00] [-1.63574702e-02 -5.91156775e-04 9.99866033e-01 2.75684626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26232058799997 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:285.06, Y:4.42, Z:0.28 [[ 9.99390429e-01 3.08357951e-02 1.63683752e-02 2.85064519e+02] [-3.08389096e-02 9.99524366e-01 -6.21552746e-05 4.41579237e+00] [-1.63625065e-02 -4.42665458e-04 9.99866027e-01 2.75564212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:285.10, Y:4.41, Z:0.28 [[ 9.99331696e-01 3.26841815e-02 1.63678525e-02 2.85096333e+02] [-3.26906612e-02 9.99465509e-01 1.28408103e-04 4.41464035e+00] [-1.63549071e-02 -6.63398208e-04 9.99866029e-01 2.76917205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:4.41, Z:0.27 [[ 9.99591512e-01 2.34286385e-02 1.63679152e-02 2.85127675e+02] [-2.34334903e-02 9.99725393e-01 1.04665415e-04 4.41433037e+00] [-1.63609683e-02 -4.88180043e-04 9.99866031e-01 2.67402941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:4.41, Z:0.27 [[ 9.99605285e-01 2.28333178e-02 1.63680724e-02 2.85160689e+02] [-2.28370220e-02 9.99739200e-01 3.94104200e-05 4.41098027e+00] [-1.63629037e-02 -4.13192893e-04 9.99866033e-01 2.68349384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:285.19, Y:4.41, Z:0.27 [[ 9.99608894e-01 2.26747724e-02 1.63680861e-02 2.85193835e+02] [-2.26783423e-02 9.99742813e-01 3.24959186e-05 4.40977507e+00] [-1.63631396e-02 -4.03684268e-04 9.99866033e-01 2.67790514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41232058799994 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:285.22, Y:4.41, Z:0.27 [[ 9.99409367e-01 3.02159353e-02 1.63680967e-02 2.85223830e+02] [-3.02204047e-02 9.99543259e-01 2.57265975e-05 4.40614773e+00] [-1.63598434e-02 -5.20361909e-04 9.99866033e-01 2.73303621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442320588 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:285.25, Y:4.40, Z:0.27 [[ 9.99344924e-01 3.22770921e-02 1.63680275e-02 2.85254798e+02] [-3.22828127e-02 9.99478771e-01 8.53284533e-05 4.40382572e+00] [-1.63567419e-02 -6.13678523e-04 9.99866031e-01 2.74099446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:4.40, Z:0.27 [[ 9.99616497e-01 2.23372114e-02 1.63679106e-02 2.85287420e+02] [-2.23430900e-02 9.99750346e-01 1.76353825e-04 4.40386122e+00] [-1.63598851e-02 -5.41995894e-04 9.99866021e-01 2.65505325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:285.32, Y:4.40, Z:0.27 [[ 9.99371324e-01 3.14490704e-02 1.63680233e-02 2.85316174e+02] [-3.14534664e-02 9.99505217e-01 1.11440623e-05 4.39908268e+00] [-1.63595742e-02 -5.25968128e-04 9.99866035e-01 2.73539942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:4.40, Z:0.27 [[ 9.99614661e-01 2.24191927e-02 1.63679508e-02 2.85349589e+02] [-2.24243919e-02 9.99748533e-01 1.34156774e-04 4.39877652e+00] [-1.63608271e-02 -5.01146423e-04 9.99866027e-01 2.65431060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.38, Y:4.39, Z:0.27 [[ 9.99648579e-01 2.08520687e-02 1.63679642e-02 2.85381935e+02] [-2.08548891e-02 9.99782513e-01 1.62796031e-06 4.39409974e+00] [-1.63643704e-02 -3.42979466e-04 9.99866036e-01 2.66272650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:285.41, Y:4.39, Z:0.28 [[ 9.99378894e-01 3.12076287e-02 1.63679620e-02 2.85414611e+02] [-3.12117259e-02 9.99512795e-01 -5.13642024e-06 4.39152849e+00] [-1.63601478e-02 -5.05739115e-04 9.99866036e-01 2.75137336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:4.39, Z:0.27 [[ 9.99425142e-01 2.96896726e-02 1.63679439e-02 2.85447131e+02] [-2.96923065e-02 9.99559083e-01 -8.21253054e-05 4.38991890e+00] [-1.63631652e-02 -4.03923912e-04 9.99866033e-01 2.73793542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65232058799995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:285.47, Y:4.39, Z:0.27 [[ 9.99576242e-01 2.40712973e-02 1.63679393e-02 2.85473163e+02] [-2.40726581e-02 9.99710205e-01 -1.13912013e-04 4.38536809e+00] [-1.63659379e-02 -2.80156064e-04 9.99866030e-01 2.72058812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.682320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:285.51, Y:4.39, Z:0.26 [[ 9.99719671e-01 1.71077122e-02 1.63678286e-02 2.85507214e+02] [-1.71137075e-02 9.99853524e-01 2.26279956e-04 4.38623342e+00] [-1.63615600e-02 -5.06330755e-04 9.99866013e-01 2.64726818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:4.38, Z:0.26 [[ 9.99730859e-01 1.64409587e-02 1.63677781e-02 2.85539870e+02] [-1.64431021e-02 9.99864803e-01 -3.62695269e-06 4.38259325e+00] [-1.63656249e-02 -2.65511070e-04 9.99866039e-01 2.64081570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:4.38, Z:0.27 [[ 9.99591727e-01 2.34195509e-02 1.63677738e-02 2.85567843e+02] [-2.34225190e-02 9.99725655e-01 -1.03695143e-05 4.37842679e+00] [-1.63635263e-02 -3.73009212e-04 9.99866039e-01 2.68676139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:285.60, Y:4.37, Z:0.27 [[ 9.99568661e-01 2.43840758e-02 1.63678953e-02 2.85601007e+02] [-2.43898391e-02 9.99702512e-01 1.52553084e-04 4.37332549e+00] [-1.63593061e-02 -5.51697613e-04 9.99866025e-01 2.70871520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.802320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:285.63, Y:4.37, Z:0.27 [[ 9.99601805e-01 2.29854605e-02 1.63676274e-02 2.85632156e+02] [-2.29877009e-02 9.99735747e-01 -5.12748119e-05 4.37116446e+00] [-1.63644808e-02 -3.24999729e-04 9.99866040e-01 2.71423274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:4.37, Z:0.26 [[ 9.99801405e-01 1.13688783e-02 1.63676352e-02 2.85661669e+02] [-1.13696541e-02 9.99935362e-01 -4.56550075e-05 4.36858502e+00] [-1.63670963e-02 -1.40448410e-04 9.99866040e-01 2.63793245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.862320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:285.69, Y:4.36, Z:0.27 [[ 9.99724850e-01 1.68025127e-02 1.63676670e-02 2.85690129e+02] [-1.68044035e-02 9.99858796e-01 -2.20170572e-05 4.36295463e+00] [-1.63657257e-02 -2.53037880e-04 9.99866041e-01 2.70641127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:4.36, Z:0.27 [[ 9.99678650e-01 1.93569052e-02 1.63678407e-02 2.85724552e+02] [-1.93608343e-02 9.99812558e-01 8.16114215e-05 4.36130360e+00] [-1.63631929e-02 -3.98480247e-04 9.99866035e-01 2.69108638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:4.35, Z:0.27 [[ 9.99713020e-01 1.74924624e-02 1.63673789e-02 2.85757281e+02] [-1.74927146e-02 9.99846983e-01 -1.27764056e-04 4.35492909e+00] [-1.63671093e-02 -1.58582498e-04 9.99866037e-01 2.68251975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:285.79, Y:4.35, Z:0.27 [[ 9.99713327e-01 1.74750797e-02 1.63672171e-02 2.85790947e+02] [-1.74741781e-02 9.99847295e-01 -1.98105797e-04 4.35275229e+00] [-1.63681796e-02 -8.79546609e-05 9.99866029e-01 2.68847720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98232058799994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:285.83, Y:4.35, Z:0.27 [[ 9.99694919e-01 1.84984767e-02 1.63668745e-02 2.85825732e+02] [-1.84955828e-02 9.99828888e-01 -3.28174430e-04 4.35041817e+00] [-1.63701447e-02 2.53594269e-05 9.99866000e-01 2.67169608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:4.34, Z:0.26 [[ 9.99835364e-01 7.83529664e-03 1.63662442e-02 2.85847962e+02] [-7.82738146e-03 9.99969216e-01 -5.47629758e-04 4.34059961e+00] [-1.63700313e-02 4.19434761e-04 9.99865914e-01 2.64845853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:285.89, Y:4.34, Z:0.27 [[ 9.99770315e-01 1.38359775e-02 1.63671481e-02 2.85886493e+02] [-1.38374518e-02 9.99904258e-01 -2.31688484e-05 4.33853935e+00] [-1.63659017e-02 -2.03316097e-04 9.99866049e-01 2.68236812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:285.91, Y:4.33, Z:0.26 [[ 9.99863862e-01 -2.10173517e-03 1.63658386e-02 2.85910112e+02] [ 2.11042285e-03 9.99997641e-01 -5.13589714e-04 4.33260178e+00] [-1.63647206e-02 5.48058635e-04 9.99865939e-01 2.58838680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:4.34, Z:0.26 [[ 9.99807930e-01 1.07813138e-02 1.63666441e-02 2.85940159e+02] [-1.07823157e-02 9.99941869e-01 -2.70272742e-05 4.33512833e+00] [-1.63659840e-02 -1.49448240e-04 9.99866057e-01 2.63256016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13232058799997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:285.97, Y:4.34, Z:0.26 [[ 9.99772884e-01 1.36495863e-02 1.63667111e-02 2.85974931e+02] [-1.36516080e-02 9.99906812e-01 1.18021044e-05 4.33741408e+00] [-1.63650248e-02 -2.35231348e-04 9.99866056e-01 2.63227435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:286.01, Y:4.34, Z:0.26 [[ 9.99679132e-01 1.93334062e-02 1.63662230e-02 2.86008056e+02] [-1.93325880e-02 9.99813086e-01 -2.08218139e-04 4.33824031e+00] [-1.63671895e-02 -1.08250119e-04 9.99866043e-01 2.63037261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.192320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:286.04, Y:4.34, Z:0.27 [[ 9.99716455e-01 1.72962448e-02 1.63661075e-02 2.86036181e+02] [-1.72942310e-02 9.99850409e-01 -2.64578581e-04 4.33714624e+00] [-1.63682355e-02 -1.85356834e-05 9.99866031e-01 2.65009659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22232058799995 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:286.07, Y:4.34, Z:0.26 [[ 9.99651198e-01 2.07272638e-02 1.63665106e-02 2.86069302e+02] [-2.07296788e-02 9.99785117e-01 -2.20982510e-05 4.33924332e+00] [-1.63634517e-02 -3.17181963e-04 9.99866059e-01 2.63004826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.252320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:286.10, Y:4.34, Z:0.26 [[ 9.99666825e-01 1.99594415e-02 1.63664463e-02 2.86096847e+02] [-1.99611976e-02 9.99800754e-01 -5.60675698e-05 4.34056670e+00] [-1.63643045e-02 -2.70644980e-04 9.99866059e-01 2.61065093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:286.13, Y:4.34, Z:0.26 [[ 9.99626244e-01 2.18975614e-02 1.63667237e-02 2.86132179e+02] [-2.19017165e-02 9.99760126e-01 7.46556287e-05 4.34385873e+00] [-1.63611630e-02 -4.33087068e-04 9.99866053e-01 2.61847231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.312320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:286.16, Y:4.34, Z:0.26 [[ 9.99602305e-01 2.29647984e-02 1.63661036e-02 2.86164297e+02] [-2.29653853e-02 9.99736249e-01 -1.52104950e-04 4.34468953e+00] [-1.63652801e-02 -2.23809416e-04 9.99866055e-01 2.60670844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:286.20, Y:4.34, Z:0.26 [[ 9.99557582e-01 2.48352225e-02 1.63662149e-02 2.86196909e+02] [-2.48366890e-02 9.99691515e-01 -1.13677359e-04 4.34456777e+00] [-1.63639894e-02 -2.92855523e-04 9.99866058e-01 2.61166456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.372320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:286.23, Y:4.34, Z:0.26 [[ 9.99561117e-01 2.46925771e-02 1.63661455e-02 2.86229506e+02] [-2.46936442e-02 9.99695056e-01 -1.36906608e-04 4.34446456e+00] [-1.63645353e-02 -2.67293251e-04 9.99866056e-01 2.58330283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.27, Y:4.35, Z:0.26 [[ 9.99405914e-01 3.03310662e-02 1.63659906e-02 2.86267816e+02] [-3.03321273e-02 9.99539858e-01 -1.83440870e-04 4.34527924e+00] [-1.63640239e-02 -3.13083422e-04 9.99866051e-01 2.59622544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.432320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:286.30, Y:4.34, Z:0.26 [[ 9.99501818e-01 2.69875135e-02 1.63642729e-02 2.86295362e+02] [-2.69810542e-02 9.99635756e-01 -6.15409324e-04 4.34431582e+00] [-1.63749207e-02 1.73577403e-04 9.99865907e-01 2.58217577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:286.32, Y:4.34, Z:0.26 [[ 9.99500432e-01 2.70383155e-02 1.63650867e-02 2.86324812e+02] [-2.70362979e-02 9.99634393e-01 -3.44553626e-04 4.34364389e+00] [-1.63684197e-02 -9.80698628e-05 9.99866024e-01 2.58441337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.492320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:286.36, Y:4.34, Z:0.26 [[ 9.99490912e-01 2.73877966e-02 1.63653705e-02 2.86357796e+02] [-2.73876383e-02 9.99624861e-01 -2.33838017e-04 4.34394321e+00] [-1.63656355e-02 -2.14489874e-04 9.99866051e-01 2.57599194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:286.39, Y:4.34, Z:0.26 [[ 9.99554623e-01 2.49546074e-02 1.63652842e-02 2.86387196e+02] [-2.49535712e-02 9.99688575e-01 -2.67547047e-04 4.34431711e+00] [-1.63668641e-02 -1.40944395e-04 9.99866044e-01 2.56717769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.552320588 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:286.42, Y:4.34, Z:0.26 [[ 9.99547349e-01 2.52440227e-02 1.63656849e-02 2.86419325e+02] [-2.52458854e-02 9.99681268e-01 -9.28051742e-05 4.34437399e+00] [-1.63628114e-02 -3.20403040e-04 9.99866069e-01 2.56528559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:286.46, Y:4.34, Z:0.26 [[ 9.99434878e-01 2.93613343e-02 1.63657245e-02 2.86456330e+02] [-2.93640135e-02 9.99568781e-01 -7.66195212e-05 4.34430288e+00] [-1.63609170e-02 -4.03987133e-04 9.99866070e-01 2.55293372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.612320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:286.49, Y:4.34, Z:0.26 [[ 9.99490987e-01 2.73854455e-02 1.63647283e-02 2.86487033e+02] [-2.73820847e-02 9.99624948e-01 -4.29437554e-04 4.34167140e+00] [-1.63703510e-02 -1.88814120e-05 9.99865997e-01 2.55522082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64232058799996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:286.52, Y:4.34, Z:0.26 [[ 9.99494927e-01 2.72411457e-02 1.63649333e-02 2.86518835e+02] [-2.72393733e-02 9.99628885e-01 -3.31234384e-04 4.34151698e+00] [-1.63678832e-02 -1.14703442e-04 9.99866031e-01 2.55087904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.672320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:286.55, Y:4.34, Z:0.26 [[ 9.99522914e-01 2.61941575e-02 1.63649338e-02 2.86550386e+02] [-2.61922491e-02 9.99656869e-01 -3.30973645e-04 4.33892567e+00] [-1.63679881e-02 -9.78186813e-05 9.99866031e-01 2.56784214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:286.59, Y:4.34, Z:0.26 [[ 9.99457019e-01 2.85981079e-02 1.63650502e-02 2.86588030e+02] [-2.85976154e-02 9.99590970e-01 -2.64154536e-04 4.33988503e+00] [-1.63659107e-02 -2.03990308e-04 9.99866049e-01 2.56100368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.62, Y:4.34, Z:0.25 [[ 9.99452110e-01 2.87697324e-02 1.63640663e-02 2.86617547e+02] [-2.87631919e-02 9.99586052e-01 -6.34952657e-04 4.33936676e+00] [-1.63755598e-02 1.63921994e-04 9.99865898e-01 2.53107867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76232058799997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:286.65, Y:4.34, Z:0.25 [[ 9.99431752e-01 2.94682742e-02 1.63643959e-02 2.86650956e+02] [-2.94648185e-02 9.99565716e-01 -4.52288870e-04 4.33769793e+00] [-1.63706173e-02 -3.01420966e-05 9.99865992e-01 2.52974889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:286.68, Y:4.34, Z:0.25 [[ 9.99475125e-01 2.79586172e-02 1.63642745e-02 2.86682234e+02] [-2.79536241e-02 9.99609079e-01 -5.33818563e-04 4.33535673e+00] [-1.63728022e-02 7.60975970e-05 9.99865954e-01 2.52026776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:4.33, Z:0.24 [[ 9.99841160e-01 7.06138111e-03 1.63643113e-02 2.86704967e+02] [-7.05411566e-03 9.99974994e-01 -5.01661335e-04 4.33278817e+00] [-1.63674445e-02 3.86145907e-04 9.99865970e-01 2.41233282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:286.75, Y:4.33, Z:0.25 [[ 9.99625557e-01 2.19306638e-02 1.63643210e-02 2.86745161e+02] [-2.19335967e-02 9.99759430e-01 -2.49697230e-07 4.33308745e+00] [-1.63603897e-02 -3.58678814e-04 9.99866096e-01 2.50274870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88232058799997 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:286.78, Y:4.33, Z:0.25 [[ 9.99564411e-01 2.45602177e-02 1.63641075e-02 2.86776328e+02] [-2.45556498e-02 9.99698349e-01 -4.80040816e-04 4.33120379e+00] [-1.63709612e-02 7.80004214e-05 9.99865984e-01 2.49868408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:286.81, Y:4.33, Z:0.25 [[ 9.99641670e-01 2.11836676e-02 1.63640976e-02 2.86807613e+02] [-2.11798808e-02 9.99775599e-01 -4.04697086e-04 4.33067813e+00] [-1.63689985e-02 5.79624333e-05 9.99866017e-01 2.48065734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:286.84, Y:4.33, Z:0.25 [[ 9.99567118e-01 2.44498238e-02 1.63640436e-02 2.86840254e+02] [-2.44475524e-02 9.99701056e-01 -3.38866119e-04 4.33111680e+00] [-1.63674369e-02 -6.13413829e-05 9.99866043e-01 2.47330081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:286.87, Y:4.33, Z:0.25 [[ 9.99585795e-01 2.36739690e-02 1.63640309e-02 2.86873567e+02] [-2.36717756e-02 9.99719731e-01 -3.27748227e-04 4.33149440e+00] [-1.63672037e-02 -5.97531949e-05 9.99866047e-01 2.45904835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:286.90, Y:4.33, Z:0.25 [[ 9.99600428e-01 2.30477901e-02 1.63640722e-02 2.86902295e+02] [-2.30450944e-02 9.99734364e-01 -3.53309076e-04 4.33012426e+00] [-1.63678683e-02 -2.39436853e-05 9.99866037e-01 2.46466484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.93, Y:4.33, Z:0.24 [[ 9.99845781e-01 6.37536249e-03 1.63636410e-02 2.86930815e+02] [-6.37416030e-03 9.99979677e-01 -1.25622225e-04 4.32764376e+00] [-1.63641093e-02 2.12983810e-05 9.99866099e-01 2.38344151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:286.97, Y:4.33, Z:0.25 [[ 9.99514440e-01 2.65165213e-02 1.63633058e-02 2.86971093e+02] [-2.65206334e-02 9.99648266e-01 3.43135568e-05 4.32794373e+00] [-1.63566404e-02 -4.68262131e-04 9.99866112e-01 2.50075440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:287.01, Y:4.33, Z:0.25 [[ 9.99418223e-01 2.99237998e-02 1.63640240e-02 2.87008199e+02] [-2.99199170e-02 9.99552183e-01 -4.82103558e-04 4.33151020e+00] [-1.63711222e-02 -7.78715661e-06 9.99865984e-01 2.47966632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.02, Y:4.33, Z:0.23 [[ 9.99836853e-01 7.64700174e-03 1.63643012e-02 2.87024030e+02] [-7.63400866e-03 9.99970494e-01 -8.56309258e-04 4.33063284e+00] [-1.63703665e-02 7.31244337e-04 9.99865729e-01 2.32841902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:4.33, Z:0.23 [[ 9.99823057e-01 9.28141584e-03 1.63618212e-02 2.87056328e+02] [-9.28339697e-03 9.99956907e-01 4.51332452e-05 4.33100407e+00] [-1.63606973e-02 -1.97018541e-04 9.99866135e-01 2.31683387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:4.33, Z:0.24 [[ 9.99567375e-01 2.44407886e-02 1.63618371e-02 2.87095967e+02] [-2.44446887e-02 9.99701183e-01 3.83822807e-05 4.33284879e+00] [-1.63560098e-02 -4.38325689e-04 9.99866135e-01 2.42001320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:4.33, Z:0.23 [[ 9.99821321e-01 9.46505602e-03 1.63627395e-02 2.87119543e+02] [-9.45866762e-03 9.99955156e-01 -4.67771559e-04 4.33278860e+00] [-1.63664332e-02 3.12918263e-04 9.99866012e-01 2.32156371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:4.33, Z:0.23 [[ 9.99826027e-01 8.95678678e-03 1.63612845e-02 2.87151136e+02] [-8.95874457e-03 9.99959869e-01 4.63690826e-05 4.33390923e+00] [-1.63602126e-02 -1.92937585e-04 9.99866144e-01 2.29249190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.18, Y:4.33, Z:0.23 [[ 9.99835844e-01 7.78414490e-03 1.63612992e-02 2.87184055e+02] [-7.78584874e-03 9.99969689e-01 4.04423775e-05 4.33376051e+00] [-1.63604885e-02 -1.67822339e-04 9.99866144e-01 2.28921806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.302320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:287.22, Y:4.33, Z:0.23 [[ 9.99838996e-01 7.36812850e-03 1.63613131e-02 2.87216811e+02] [-7.36966611e-03 9.99972843e-01 3.36867620e-05 4.33199344e+00] [-1.63606206e-02 -1.54258753e-04 9.99866144e-01 2.30357624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:287.26, Y:4.33, Z:0.24 [[ 9.99427032e-01 2.96296282e-02 1.63613242e-02 2.87261548e+02] [-2.96340354e-02 9.99560815e-01 2.69408693e-05 4.33414767e+00] [-1.63533403e-02 -5.11777495e-04 9.99866144e-01 2.43103893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.362320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:287.28, Y:4.33, Z:0.24 [[ 9.99626940e-01 2.18699667e-02 1.63611116e-02 2.87283521e+02] [-2.18593331e-02 9.99760713e-01 -8.28506490e-04 4.33295837e+00] [-1.63753160e-02 4.70554419e-04 9.99865805e-01 2.38196406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:4.34, Z:0.24 [[ 9.99667097e-01 1.99510694e-02 1.63600009e-02 2.87319413e+02] [-1.99500484e-02 9.99800953e-01 -2.25629109e-04 4.33576374e+00] [-1.63612461e-02 -1.00828814e-04 9.99866141e-01 2.35209797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:4.34, Z:0.22 [[ 9.99852906e-01 5.14822785e-03 1.63603679e-02 2.87342272e+02] [-5.14109269e-03 9.99986670e-01 -4.78153081e-04 4.33510143e+00] [-1.63626115e-02 3.93972580e-04 9.99866046e-01 2.23338380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:287.39, Y:4.34, Z:0.24 [[ 9.99484041e-01 2.76411075e-02 1.63591000e-02 2.87386135e+02] [-2.76454626e-02 9.99617790e-01 4.00949440e-05 4.33639384e+00] [-1.63517391e-02 -4.92329142e-04 9.99866180e-01 2.36901125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:287.41, Y:4.34, Z:0.23 [[ 9.99715752e-01 1.73427949e-02 1.63597759e-02 2.87414414e+02] [-1.73326794e-02 9.99849489e-01 -7.59912454e-04 4.33557137e+00] [-1.63704926e-02 4.76137699e-04 9.99865881e-01 2.31161951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:4.33, Z:0.22 [[ 9.99861421e-01 3.08571967e-03 1.63589997e-02 2.87437082e+02] [-3.07861675e-03 9.99995156e-01 -4.59356040e-04 4.33163382e+00] [-1.63603379e-02 4.08929292e-04 9.99866077e-01 2.23531068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:4.33, Z:0.22 [[ 9.99861381e-01 3.10828974e-03 1.63571912e-02 2.87468854e+02] [-3.10964341e-03 9.99995163e-01 5.73229882e-05 4.33064195e+00] [-1.63569339e-02 -1.08180074e-04 9.99866211e-01 2.23096770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.50, Y:4.33, Z:0.22 [[ 9.99863976e-01 2.11467441e-03 1.63572097e-02 2.87500290e+02] [-2.11579871e-03 9.99997760e-01 5.14288544e-05 4.33110605e+00] [-1.63570643e-02 -8.60304221e-05 9.99866211e-01 2.23237128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:4.33, Z:0.22 [[ 9.99863536e-01 2.31311142e-03 1.63572261e-02 2.87533039e+02] [-2.31416591e-03 9.99997321e-01 4.55385521e-05 4.33336187e+00] [-1.63570770e-02 -8.33856728e-05 9.99866211e-01 2.19562023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:4.33, Z:0.22 [[ 9.99861926e-01 2.92752761e-03 1.63572421e-02 2.87565812e+02] [-2.92855391e-03 9.99995711e-01 3.87894841e-05 4.33360043e+00] [-1.63570584e-02 -8.66871936e-05 9.99866211e-01 2.18571927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.60, Y:4.33, Z:0.22 [[ 9.99857811e-01 4.09866890e-03 1.63572487e-02 2.87598583e+02] [-4.09980303e-03 9.99991595e-01 3.58023156e-05 4.33308308e+00] [-1.63569644e-02 -1.02858723e-04 9.99866211e-01 2.18576454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:4.33, Z:0.22 [[ 9.99851141e-01 5.48964570e-03 1.63572608e-02 2.87631695e+02] [-5.49085340e-03 9.99984925e-01 2.89226755e-05 4.33443035e+00] [-1.63568555e-02 -1.18733691e-04 9.99866211e-01 2.17059760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:4.33, Z:0.22 [[ 9.99852110e-01 5.31012626e-03 1.63572701e-02 2.87664256e+02] [-5.31119740e-03 9.99985895e-01 2.20430315e-05 4.33458727e+00] [-1.63569223e-02 -1.08916462e-04 9.99866211e-01 2.15310273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:4.33, Z:0.22 [[ 9.99855725e-01 4.57916167e-03 1.63572727e-02 2.87696709e+02] [-4.58010006e-03 9.99989511e-01 1.99072712e-05 4.33387007e+00] [-1.63570100e-02 -9.48223448e-05 9.99866211e-01 2.16309345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:4.33, Z:0.22 [[ 9.99854197e-01 4.90142556e-03 1.63572782e-02 2.87729716e+02] [-4.90229596e-03 9.99987984e-01 1.31156055e-05 4.33268237e+00] [-1.63570173e-02 -9.33019119e-05 9.99866211e-01 2.17170512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:4.33, Z:0.22 [[ 9.99857038e-01 4.28278706e-03 1.63572808e-02 2.87761900e+02] [-4.28346424e-03 9.99990826e-01 6.36408939e-06 4.33133556e+00] [-1.63571035e-02 -7.64290069e-05 9.99866211e-01 2.17758312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.79, Y:4.33, Z:0.22 [[ 9.99856892e-01 4.31683123e-03 1.63572806e-02 2.87794127e+02] [-4.31740264e-03 9.99990680e-01 -3.80135635e-07 4.33219214e+00] [-1.63571298e-02 -7.02408853e-05 9.99866211e-01 2.15874127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:4.33, Z:0.21 [[ 9.99860123e-01 3.48924043e-03 1.63572777e-02 2.87827133e+02] [-3.48959060e-03 9.99993911e-01 -7.13408447e-06 4.33267366e+00] [-1.63572030e-02 -4.99471159e-05 9.99866211e-01 2.12091339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:4.33, Z:0.21 [[ 9.99860231e-01 3.45805197e-03 1.63572720e-02 2.87859959e+02] [-3.45828760e-03 9.99994020e-01 -1.38807345e-05 4.33227688e+00] [-1.63572221e-02 -4.26893564e-05 9.99866211e-01 2.11519363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.89, Y:4.33, Z:0.21 [[ 9.99856164e-01 4.48226720e-03 1.63572634e-02 2.87891904e+02] [-4.48252889e-03 9.99989953e-01 -2.06650162e-05 4.33252361e+00] [-1.63571917e-02 -5.26598619e-05 9.99866211e-01 2.12657460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:4.33, Z:0.21 [[ 9.99854331e-01 4.87415107e-03 1.63572538e-02 2.87924084e+02] [-4.87436900e-03 9.99988120e-01 -2.65456881e-05 4.33329275e+00] [-1.63571889e-02 -5.31894698e-05 9.99866211e-01 2.11581311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:4.33, Z:0.21 [[ 9.99857163e-01 4.25379012e-03 1.63572401e-02 2.87957163e+02] [-4.25381437e-03 9.99990952e-01 -3.33105180e-05 4.33444264e+00] [-1.63572338e-02 -3.62749027e-05 9.99866211e-01 2.10609238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:4.33, Z:0.21 [[ 9.99859207e-01 3.74256331e-03 1.63572235e-02 2.87989610e+02] [-3.74240838e-03 9.99992996e-01 -4.00813759e-05 4.33443862e+00] [-1.63572589e-02 -2.11396775e-05 9.99866211e-01 2.07646206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:4.33, Z:0.22 [[ 9.99749257e-01 1.52926182e-02 1.63572041e-02 2.88022548e+02] [-1.52938982e-02 9.99883040e-01 -4.68388713e-05 4.33333318e+00] [-1.63560073e-02 -2.03338289e-04 9.99866211e-01 2.20191055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:4.33, Z:0.21 [[ 9.99861400e-01 3.10375173e-03 1.63569028e-02 2.88052359e+02] [-3.10173302e-03 9.99995179e-01 -1.48784315e-04 4.33343036e+00] [-1.63572857e-02 9.80289484e-05 9.99866206e-01 2.10410283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:4.34, Z:0.22 [[ 9.99707716e-01 1.78023696e-02 1.63572037e-02 2.88090895e+02] [-1.78039401e-02 9.99841496e-01 -4.96098085e-05 4.33547102e+00] [-1.63554941e-02 -2.41627366e-04 9.99866211e-01 2.22032573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:288.12, Y:4.34, Z:0.22 [[ 9.99749041e-01 1.53080462e-02 1.63560025e-02 2.88118851e+02] [-1.53024389e-02 9.99882801e-01 -4.67931966e-04 4.33525628e+00] [-1.63612487e-02 2.17527805e-04 9.99866122e-01 2.19578314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.172320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:288.15, Y:4.34, Z:0.22 [[ 9.99721981e-01 1.69830977e-02 1.63565189e-02 2.88153041e+02] [-1.69815560e-02 9.99855776e-01 -2.33149945e-04 4.33542223e+00] [-1.63581195e-02 -4.46740177e-05 9.99866196e-01 2.17330117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:288.19, Y:4.34, Z:0.22 [[ 9.99677350e-01 1.94336727e-02 1.63563120e-02 2.88187982e+02] [-1.94310714e-02 9.99811148e-01 -3.17956380e-04 4.33520541e+00] [-1.63594021e-02 3.31244782e-08 9.99866176e-01 2.17794617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:288.22, Y:4.33, Z:0.22 [[ 9.99654932e-01 2.05548350e-02 1.63558970e-02 2.88222302e+02] [-2.05496500e-02 9.99788716e-01 -4.85034074e-04 4.33498720e+00] [-1.63624111e-02 1.48758745e-04 9.99866116e-01 2.17998648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:4.33, Z:0.20 [[ 9.99862084e-01 2.88248836e-03 1.63555725e-02 2.88243474e+02] [-2.87300240e-03 9.99995691e-01 -6.03450313e-04 4.33395878e+00] [-1.63572414e-02 5.56377488e-04 9.99866057e-01 2.03719114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:4.34, Z:0.20 [[ 9.99862940e-01 2.56304596e-03 1.63564261e-02 2.88276152e+02] [-2.56299598e-03 9.99996715e-01 -2.40181494e-05 4.33542574e+00] [-1.63564339e-02 -1.79065968e-05 9.99866224e-01 2.03204825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32232058799997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:288.32, Y:4.34, Z:0.22 [[ 9.99497379e-01 2.71561592e-02 1.63564134e-02 2.88323002e+02] [-2.71592892e-02 9.99631118e-01 -3.07717413e-05 4.33798035e+00] [-1.63512154e-02 -4.13472287e-04 9.99866224e-01 2.19461975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:288.36, Y:4.34, Z:0.22 [[ 9.99565583e-01 2.45205399e-02 1.63520382e-02 2.88357683e+02] [-2.45068762e-02 9.99699125e-01 -1.03548578e-03 4.33700832e+00] [-1.63725089e-02 6.34298575e-04 9.99865760e-01 2.17180628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:4.33, Z:0.22 [[ 9.99767519e-01 1.40546913e-02 1.63515893e-02 2.88374785e+02] [-1.40378119e-02 9.99900808e-01 -1.14660443e-03 4.33309897e+00] [-1.63660825e-02 9.16797328e-04 9.99865646e-01 2.15026526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:4.33, Z:0.21 [[ 9.99768541e-01 1.39811701e-02 1.63520782e-02 2.88409369e+02] [-1.39791863e-02 9.99902259e-01 -2.35618762e-04 4.33256922e+00] [-1.63537742e-02 6.97547708e-06 9.99866268e-01 2.13686861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:4.33, Z:0.21 [[ 9.99749381e-01 1.52901253e-02 1.63520087e-02 2.88442921e+02] [-1.52863831e-02 9.99883094e-01 -3.53826453e-04 4.33376212e+00] [-1.63555071e-02 1.03774709e-04 9.99866234e-01 2.12891663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:288.48, Y:4.33, Z:0.21 [[ 9.99721597e-01 1.70100177e-02 1.63520060e-02 2.88475632e+02] [-1.70064315e-02 9.99855316e-01 -3.58355023e-04 4.33396861e+00] [-1.63557357e-02 8.01659870e-05 9.99866233e-01 2.14634879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:4.33, Z:0.20 [[ 9.99866253e-01 2.96185281e-04 1.63519947e-02 2.88500115e+02] [-2.89848367e-04 9.99999882e-01 -3.89900130e-04 4.33232615e+00] [-1.63521082e-02 3.85108383e-04 9.99866221e-01 2.03181107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:288.53, Y:4.33, Z:0.21 [[ 9.99800765e-01 1.14475874e-02 1.63518359e-02 2.88534316e+02] [-1.14492260e-02 9.99934455e-01 6.59845013e-06 4.33180816e+00] [-1.63506886e-02 -1.93813001e-04 9.99866300e-01 2.14486124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:288.57, Y:4.33, Z:0.21 [[ 9.99799274e-01 1.15770633e-02 1.63518538e-02 2.88566714e+02] [-1.15759945e-02 9.99932983e-01 -1.60015889e-04 4.33213726e+00] [-1.63526104e-02 -2.93051998e-05 9.99866287e-01 2.13808002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:288.60, Y:4.33, Z:0.21 [[ 9.99807881e-01 1.08082136e-02 1.63518538e-02 2.88599049e+02] [-1.08070362e-02 9.99941589e-01 -1.60370611e-04 4.33167480e+00] [-1.63526320e-02 -1.63752748e-05 9.99866287e-01 2.11088655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:288.62, Y:4.33, Z:0.21 [[ 9.99839975e-01 7.25538396e-03 1.63518626e-02 2.88624889e+02] [-7.25234538e-03 9.99973671e-01 -2.45116125e-04 4.33015521e+00] [-1.63532105e-02 1.26487545e-04 9.99866269e-01 2.10198113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:4.33, Z:0.21 [[ 9.99814988e-01 1.01298347e-02 1.63516514e-02 2.88660917e+02] [-1.01327559e-02 9.99948658e-01 9.58078158e-05 4.33172269e+00] [-1.63498413e-02 -2.61477382e-04 9.99866298e-01 2.09497834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:4.33, Z:0.21 [[ 9.99822999e-01 9.30544776e-03 1.63517139e-02 2.88689381e+02] [-9.30323717e-03 9.99956702e-01 -2.11254047e-04 4.33277234e+00] [-1.63529717e-02 5.90927825e-05 9.99866279e-01 2.08013240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:288.70, Y:4.33, Z:0.20 [[ 9.99837846e-01 -7.54364163e-03 1.63516397e-02 2.88702178e+02] [ 7.54504960e-03 9.99971535e-01 -2.44152483e-05 4.32722776e+00] [-1.63509901e-02 1.47785222e-04 9.99866303e-01 2.01762146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:4.33, Z:0.20 [[ 9.99864563e-01 1.88789560e-03 1.63490415e-02 2.88747897e+02] [-1.90353683e-03 9.99997745e-01 9.41197186e-04 4.33284238e+00] [-1.63472278e-02 -9.72190716e-04 9.99865903e-01 1.98315413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:4.34, Z:0.20 [[ 9.99857601e-01 4.17941479e-03 1.63496243e-02 2.88781024e+02] [-4.18013880e-03 9.99991263e-01 1.01088868e-05 4.33541409e+00] [-1.63494392e-02 -7.84511462e-05 9.99866336e-01 1.98162352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:4.34, Z:0.20 [[ 9.99853514e-01 5.06357202e-03 1.63496257e-02 2.88813548e+02] [-5.06430370e-03 9.99987176e-01 3.34964735e-06 4.33602886e+00] [-1.63493991e-02 -8.61486266e-05 9.99866336e-01 1.98109436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:288.84, Y:4.34, Z:0.21 [[ 9.99802630e-01 1.12867961e-02 1.63496243e-02 2.88843023e+02] [-1.12882495e-02 9.99936286e-01 -3.38543566e-06 4.33536179e+00] [-1.63486208e-02 -1.81173872e-04 9.99866336e-01 2.07673860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.862320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:288.88, Y:4.34, Z:0.21 [[ 9.99636586e-01 2.14332711e-02 1.63496543e-02 2.88882881e+02] [-2.14370688e-02 9.99770198e-01 5.70344815e-05 4.33871463e+00] [-1.63446747e-02 -4.07502417e-04 9.99866334e-01 2.09670951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:4.34, Z:0.19 [[ 9.99861239e-01 3.19768130e-03 1.63486102e-02 2.88905532e+02] [-3.19034623e-03 9.99994798e-01 -4.74726909e-04 4.33934034e+00] [-1.63500432e-02 4.22503308e-04 9.99866240e-01 1.94825882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.922320588 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:288.94, Y:4.34, Z:0.21 [[ 9.99720412e-01 1.70822250e-02 1.63491464e-02 2.88940228e+02] [-1.70841948e-02 9.99854054e-01 -1.91832621e-05 4.33803895e+00] [-1.63470880e-02 -2.60134103e-04 9.99866344e-01 2.07318395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:288.97, Y:4.34, Z:0.21 [[ 9.99807481e-01 1.08497004e-02 1.63488508e-02 2.88965938e+02] [-1.08470714e-02 9.99941138e-01 -2.49473161e-04 4.33593229e+00] [-1.63505952e-02 7.20879801e-05 9.99866317e-01 2.05112460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:289.00, Y:4.34, Z:0.21 [[ 9.99720995e-01 1.70481172e-02 1.63491417e-02 2.89004684e+02] [-1.70511016e-02 9.99854618e-01 4.31539179e-05 4.33755890e+00] [-1.63460291e-02 -3.21912753e-04 9.99866343e-01 2.08961508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01232058799997 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:289.04, Y:4.34, Z:0.21 [[ 9.99726852e-01 1.67020043e-02 1.63482028e-02 2.89040899e+02] [-1.66976848e-02 9.99860504e-01 -4.00691626e-04 4.33959008e+00] [-1.63526147e-02 1.27605041e-04 9.99866279e-01 2.07247167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:289.06, Y:4.34, Z:0.20 [[ 9.99854266e-01 4.91942551e-03 1.63476539e-02 2.89058946e+02] [-4.90942085e-03 9.99987736e-01 -6.52069345e-04 4.33531343e+00] [-1.63506612e-02 5.71716804e-04 9.99866156e-01 2.01574055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:289.10, Y:4.34, Z:0.21 [[ 9.99757044e-01 1.47847043e-02 1.63482528e-02 2.89102148e+02] [-1.47881549e-02 9.99890645e-01 9.01925014e-05 4.33691188e+00] [-1.63451316e-02 -3.31931084e-04 9.99866354e-01 2.06705072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:289.13, Y:4.34, Z:0.21 [[ 9.99778835e-01 1.32316652e-02 1.63464019e-02 2.89133956e+02] [-1.32226644e-02 9.99912360e-01 -6.58590311e-04 4.33697581e+00] [-1.63536835e-02 4.42301668e-04 9.99866172e-01 2.06205020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:289.17, Y:4.34, Z:0.20 [[ 9.99797649e-01 1.17240133e-02 1.63464994e-02 2.89167857e+02] [-1.17156738e-02 9.99931186e-01 -6.05844197e-04 4.33730578e+00] [-1.63524774e-02 4.14211349e-04 9.99866204e-01 2.04880400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:289.19, Y:4.34, Z:0.20 [[ 9.99853016e-01 5.17116883e-03 1.63464327e-02 2.89192704e+02] [-5.16116207e-03 9.99986467e-01 -6.54294999e-04 4.33587287e+00] [-1.63495949e-02 5.69832240e-04 9.99866174e-01 2.03842799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:4.34, Z:0.19 [[ 9.99850101e-01 -5.70717509e-03 1.63463604e-02 2.89219097e+02] [ 5.71214527e-03 9.99983652e-01 -2.57380524e-04 4.33520318e+00] [-1.63446243e-02 3.50714728e-04 9.99866356e-01 1.88346949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:4.34, Z:0.20 [[ 9.99770916e-01 1.38172977e-02 1.63461775e-02 2.89259456e+02] [-1.38193266e-02 9.99904508e-01 1.11676006e-05 4.33683829e+00] [-1.63444623e-02 -2.37058209e-04 9.99866392e-01 2.04319013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.252320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:289.28, Y:4.34, Z:0.20 [[ 9.99827675e-01 8.79883253e-03 1.63462857e-02 2.89283765e+02] [-8.79059204e-03 9.99961196e-01 -5.75904496e-04 4.33539069e+00] [-1.63507187e-02 4.32111724e-04 9.99866225e-01 1.98895683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28232058799995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:289.32, Y:4.34, Z:0.20 [[ 9.99821419e-01 9.48424665e-03 1.63456114e-02 2.89319132e+02] [-9.48351440e-03 9.99955023e-01 -1.22311093e-04 4.33645982e+00] [-1.63460362e-02 -3.27245905e-05 9.99866394e-01 1.98312362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.312320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:289.35, Y:4.34, Z:0.20 [[ 9.99783274e-01 1.28926137e-02 1.63458290e-02 2.89351099e+02] [-1.28895596e-02 9.99916883e-01 -2.92186579e-04 4.33776910e+00] [-1.63482374e-02 8.14327184e-05 9.99866355e-01 1.96641334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:289.38, Y:4.34, Z:0.20 [[ 9.99791895e-01 1.22058021e-02 1.63458037e-02 2.89383413e+02] [-1.22029192e-02 9.99925503e-01 -2.76102195e-04 4.33771338e+00] [-1.63479561e-02 7.65782157e-05 9.99866360e-01 1.96838736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.372320588 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:289.42, Y:4.34, Z:0.20 [[ 9.99657626e-01 2.04314940e-02 1.63457669e-02 2.89422967e+02] [-2.04300766e-02 9.99791252e-01 -2.53711249e-04 4.33993654e+00] [-1.63475385e-02 -8.03208846e-05 9.99866367e-01 1.98685557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:289.45, Y:4.34, Z:0.19 [[ 9.99748407e-01 1.53597107e-02 1.63462868e-02 2.89449460e+02] [-1.53498565e-02 9.99881919e-01 -7.28143243e-04 4.33844889e+00] [-1.63555407e-02 4.77046892e-04 9.99866125e-01 1.94630581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:4.34, Z:0.18 [[ 9.99865348e-01 1.45412967e-03 1.63453802e-02 2.89473321e+02] [-1.44832103e-03 9.99998884e-01 -3.67200425e-04 4.33744904e+00] [-1.63458959e-02 3.43477623e-04 9.99866338e-01 1.84981197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:289.51, Y:4.34, Z:0.19 [[ 9.99757499e-01 1.47587102e-02 1.63439412e-02 2.89507306e+02] [-1.47615918e-02 9.99891040e-01 5.56739197e-05 4.33859234e+00] [-1.63413387e-02 -2.96923006e-04 9.99866427e-01 1.93235851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.55, Y:4.34, Z:0.20 [[ 9.99504326e-01 2.69065864e-02 1.63443491e-02 2.89549102e+02] [-2.69088520e-02 9.99637888e-01 -8.13254372e-05 4.34164089e+00] [-1.63406188e-02 -3.58522545e-04 9.99866419e-01 1.97277209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52232058799996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:289.58, Y:4.34, Z:0.20 [[ 9.99465416e-01 2.83144330e-02 1.63455134e-02 2.89582916e+02] [-2.83061234e-02 9.99599028e-01 -7.39549492e-04 4.34269160e+00] [-1.63598992e-02 2.76476022e-04 9.99866130e-01 1.96805111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.552320588 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:289.61, Y:4.34, Z:0.20 [[ 9.99485515e-01 2.75957624e-02 1.63456066e-02 2.89612947e+02] [-2.75866899e-02 9.99619110e-01 -7.80301456e-04 4.34201421e+00] [-1.63609137e-02 3.28978822e-04 9.99866097e-01 1.95863430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:289.64, Y:4.34, Z:0.19 [[ 9.99680448e-01 1.92832523e-02 1.63449477e-02 2.89635933e+02] [-1.92758280e-02 9.99814017e-01 -6.11658590e-04 4.34050151e+00] [-1.63537025e-02 2.96400734e-04 9.99866225e-01 1.91262953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.67, Y:4.34, Z:0.19 [[ 9.99703507e-01 1.80508136e-02 1.63421586e-02 2.89667865e+02] [-1.80512726e-02 9.99837055e-01 -1.19429746e-04 4.34239557e+00] [-1.63416515e-02 -1.75602424e-04 9.99866451e-01 1.90764460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:289.70, Y:4.34, Z:0.19 [[ 9.99641447e-01 2.12112682e-02 1.63419605e-02 2.89701426e+02] [-2.12127106e-02 9.99774982e-01 -8.50929107e-05 4.34401655e+00] [-1.63400882e-02 -2.61594879e-04 9.99866458e-01 1.89461678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.672320588 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:289.73, Y:4.34, Z:0.18 [[ 9.99820690e-01 9.56633416e-03 1.63423928e-02 2.89729534e+02] [-9.56501383e-03 9.99954242e-01 -1.58954658e-04 4.34472414e+00] [-1.63431656e-02 2.61094337e-06 9.99866442e-01 1.81053985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:4.35, Z:0.19 [[ 9.99530200e-01 2.59298427e-02 1.63408169e-02 2.89772576e+02] [-2.59349327e-02 9.99663628e-01 9.96200649e-05 4.34651122e+00] [-1.63327372e-02 -5.23371251e-04 9.99866475e-01 1.89603933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:289.80, Y:4.35, Z:0.19 [[ 9.99610002e-01 2.26427435e-02 1.63447319e-02 2.89799173e+02] [-2.26362084e-02 9.99743597e-01 -5.84747437e-04 4.34594218e+00] [-1.63537813e-02 2.14536630e-04 9.99866245e-01 1.88612118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76232058799997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:289.83, Y:4.34, Z:0.19 [[ 9.99526467e-01 2.60724715e-02 1.63422123e-02 2.89832185e+02] [-2.60720569e-02 9.99660038e-01 -2.38455231e-04 4.34480515e+00] [-1.63428737e-02 -1.87732775e-04 9.99866429e-01 1.90639224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:289.87, Y:4.35, Z:0.19 [[ 9.99634384e-01 2.15414097e-02 1.63421272e-02 2.89865788e+02] [-2.15405686e-02 9.99767949e-01 -2.27511730e-04 4.34526761e+00] [-1.63432359e-02 -1.24590163e-04 9.99866433e-01 1.88401527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82232058799997 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:289.90, Y:4.35, Z:0.19 [[ 9.99685150e-01 1.90401390e-02 1.63423989e-02 2.89898882e+02] [-1.90384490e-02 9.99818719e-01 -2.58995094e-04 4.34699634e+00] [-1.63443677e-02 -5.22203792e-05 9.99866421e-01 1.85532074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:4.35, Z:0.18 [[ 9.99857585e-01 4.20907731e-03 1.63430193e-02 2.89921882e+02] [-4.20420967e-03 9.99991107e-01 -3.32188348e-04 4.34606474e+00] [-1.63442722e-02 2.63431559e-04 9.99866389e-01 1.75253344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:289.96, Y:4.35, Z:0.19 [[ 9.99705286e-01 1.79553728e-02 1.63384997e-02 2.89962457e+02] [-1.79602602e-02 9.99838690e-01 1.52438876e-04 4.34639976e+00] [-1.63331270e-02 -4.45837655e-04 9.99866506e-01 1.85852199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91232058799994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:290.00, Y:4.35, Z:0.19 [[ 9.99707370e-01 1.78347744e-02 1.63430651e-02 2.89995096e+02] [-1.78317454e-02 9.99840947e-01 -3.31049710e-04 4.34548390e+00] [-1.63463699e-02 3.95274584e-05 9.99866388e-01 1.86985942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:4.34, Z:0.17 [[ 9.99865596e-01 -1.30263120e-03 1.63429910e-02 2.90017125e+02] [ 1.30808817e-03 9.99999092e-01 -3.23217471e-04 4.34471280e+00] [-1.63425551e-02 3.44552102e-04 9.99866392e-01 1.74690358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:4.34, Z:0.17 [[ 9.99863874e-01 -2.30378075e-03 1.63379004e-02 2.90049847e+02] [ 2.30132635e-03 9.99997338e-01 1.69026723e-04 4.34450588e+00] [-1.63382463e-02 -1.31404873e-04 9.99866513e-01 1.73862656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:290.09, Y:4.34, Z:0.19 [[ 9.99767185e-01 1.40941946e-02 1.63379675e-02 2.90090636e+02] [-1.40987271e-02 9.99900595e-01 1.62267424e-04 4.34465627e+00] [-1.63340564e-02 -3.92574191e-04 9.99866513e-01 1.85454111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:4.34, Z:0.17 [[ 9.99852753e-01 -5.23223494e-03 1.63430505e-02 2.90113108e+02] [ 5.23882308e-03 9.99986212e-01 -3.60329793e-04 4.34106766e+00] [-1.63409398e-02 4.45895086e-04 9.99866379e-01 1.73540126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.15, Y:4.34, Z:0.17 [[ 9.99846706e-01 -6.29716765e-03 1.63373563e-02 2.90146121e+02] [ 6.29516295e-03 9.99980170e-01 1.74130316e-04 4.34098602e+00] [-1.63381288e-02 -7.12573026e-05 9.99866521e-01 1.71967119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:4.34, Z:0.17 [[ 9.99847155e-01 -6.22540174e-03 1.63374253e-02 2.90178623e+02] [ 6.22349754e-03 9.99980620e-01 1.67394279e-04 4.34172912e+00] [-1.63381508e-02 -6.56927677e-05 9.99866521e-01 1.70684391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:4.34, Z:0.17 [[ 9.99852105e-01 -5.37163331e-03 1.63374916e-02 2.90211228e+02] [ 5.36972528e-03 9.99985570e-01 1.60653362e-04 4.34200692e+00] [-1.63381188e-02 -7.29017610e-05 9.99866521e-01 1.69821693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:4.34, Z:0.17 [[ 9.99857167e-01 -4.32769526e-03 1.63375551e-02 2.90244109e+02] [ 4.32575806e-03 9.99990632e-01 1.53909990e-04 4.34226272e+00] [-1.63380681e-02 -8.32156961e-05 9.99866521e-01 1.69712332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:4.34, Z:0.17 [[ 9.99859633e-01 -3.71428401e-03 1.63376158e-02 2.90276195e+02] [ 3.71237508e-03 9.99993098e-01 1.47169022e-04 4.34399452e+00] [-1.63380497e-02 -8.64970067e-05 9.99866521e-01 1.68067799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:290.31, Y:4.34, Z:0.17 [[ 9.99862489e-01 -2.84329018e-03 1.63376666e-02 2.90309285e+02] [ 2.84136092e-03 9.99995953e-01 1.41297302e-04 4.34431425e+00] [-1.63380023e-02 -9.48566649e-05 9.99866521e-01 1.66874978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.34, Y:4.34, Z:0.17 [[ 9.99861781e-01 -3.08169222e-03 1.63377223e-02 2.90341662e+02] [ 3.07990519e-03 9.99995248e-01 1.34540546e-04 4.34397379e+00] [-1.63380592e-02 -8.42033148e-05 9.99866521e-01 1.68321423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:4.34, Z:0.17 [[ 9.99866439e-01 -4.24799238e-04 1.63377750e-02 2.90373929e+02] [ 4.22767781e-04 9.99999902e-01 1.27794652e-04 4.34429816e+00] [-1.63378277e-02 -1.20870499e-04 9.99866521e-01 1.67600886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.41, Y:4.35, Z:0.17 [[ 9.99859165e-01 3.83729277e-03 1.63378249e-02 2.90406159e+02] [-3.83978323e-03 9.99992621e-01 1.21069269e-04 4.34693602e+00] [-1.63372397e-02 -1.83785924e-04 9.99866522e-01 1.67190008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:4.35, Z:0.17 [[ 9.99847456e-01 6.17569806e-03 1.63378720e-02 2.90438701e+02] [-6.17839058e-03 9.99980907e-01 1.14333048e-04 4.34979572e+00] [-1.63368540e-02 -2.15257362e-04 9.99866522e-01 1.65660586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:4.35, Z:0.16 [[ 9.99826140e-01 8.98678935e-03 1.63379163e-02 2.90471591e+02] [-8.98974712e-03 9.99959586e-01 1.07602790e-04 4.35329246e+00] [-1.63362890e-02 -2.54457818e-04 9.99866522e-01 1.63185109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:290.51, Y:4.36, Z:0.17 [[ 9.99601493e-01 2.30201336e-02 1.63379579e-02 2.90512136e+02] [-2.30248544e-02 9.99734888e-01 1.00879768e-04 4.35533843e+00] [-1.63313042e-02 -4.77018667e-04 9.99866522e-01 1.72800539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.53, Y:4.36, Z:0.16 [[ 9.99826633e-01 8.92630570e-03 1.63409188e-02 2.90534989e+02] [-8.92070894e-03 9.99960123e-01 -4.15360457e-04 4.35529631e+00] [-1.63439748e-02 2.69515866e-04 9.99866392e-01 1.64081966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:4.36, Z:0.16 [[ 9.99822988e-01 9.33183309e-03 1.63373890e-02 2.90568147e+02] [-9.33487375e-03 9.99956423e-01 1.09865906e-04 4.35539931e+00] [-1.63356518e-02 -2.62353922e-04 9.99866530e-01 1.63998548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:4.36, Z:0.16 [[ 9.99817933e-01 9.85844280e-03 1.63374317e-02 2.90600660e+02] [-9.86144318e-03 9.99951369e-01 1.03098351e-04 4.35842614e+00] [-1.63356208e-02 -2.64190235e-04 9.99866530e-01 1.62948483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:4.36, Z:0.16 [[ 9.99829096e-01 8.65252529e-03 1.63374716e-02 2.90633248e+02] [-8.65525425e-03 9.99962538e-01 9.63356716e-05 4.35975569e+00] [-1.63360260e-02 -2.37724178e-04 9.99866530e-01 1.63889865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:4.36, Z:0.16 [[ 9.99827086e-01 8.88171422e-03 1.63375086e-02 2.90665568e+02] [-8.88436360e-03 9.99960529e-01 8.95923187e-05 4.36089865e+00] [-1.63360680e-02 -2.34725193e-04 9.99866530e-01 1.63749394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:290.71, Y:4.37, Z:0.17 [[ 9.99415203e-01 3.00389041e-02 1.63375427e-02 2.90714100e+02] [-3.00442669e-02 9.99548566e-01 8.28513809e-05 4.36529322e+00] [-1.63276787e-02 -5.73652425e-04 9.99866530e-01 1.73935406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:290.73, Y:4.37, Z:0.17 [[ 9.99693195e-01 1.86143062e-02 1.63408513e-02 2.90734198e+02] [-1.86009922e-02 9.99826520e-01 -9.66388635e-04 4.36696142e+00] [-1.63560051e-02 6.62136094e-04 9.99866012e-01 1.68132124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:4.37, Z:0.16 [[ 9.99857269e-01 4.30782958e-03 1.63366159e-02 2.90759880e+02] [-4.30477012e-03 9.99990710e-01 -2.22436848e-04 4.36635477e+00] [-1.63374223e-02 1.52079724e-04 9.99866524e-01 1.57938815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:4.37, Z:0.16 [[ 9.99866211e-01 8.60387550e-04 1.63346426e-02 2.90791429e+02] [-8.62136118e-04 9.99999623e-01 1.00005078e-04 4.36596418e+00] [-1.63345504e-02 -1.14074384e-04 9.99866576e-01 1.57079761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.692320588 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:290.84, Y:4.37, Z:0.17 [[ 9.99647956e-01 2.09079495e-02 1.63346767e-02 2.90836493e+02] [-2.09122763e-02 9.99781310e-01 9.40977612e-05 4.36855072e+00] [-1.63291370e-02 -4.35659906e-04 9.99866576e-01 1.70962604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:4.37, Z:0.16 [[ 9.99859981e-01 -3.61429567e-03 1.63387532e-02 2.90852875e+02] [ 3.62789289e-03 9.99993097e-01 -8.02644059e-04 4.36765293e+00] [-1.63357395e-02 8.61806921e-04 9.99866192e-01 1.55975215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:290.89, Y:4.37, Z:0.17 [[ 9.99817751e-01 9.88438165e-03 1.63328983e-02 2.90894197e+02] [-9.88742238e-03 9.99951113e-01 1.05429683e-04 4.36851275e+00] [-1.63310577e-02 -2.66900733e-04 9.99866604e-01 1.68513915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.92, Y:4.37, Z:0.15 [[ 9.99820178e-01 -9.63027956e-03 1.63361537e-02 2.90916048e+02] [ 9.63899051e-03 9.99953441e-01 -4.54576077e-04 4.36612209e+00] [-1.63310154e-02 6.11958364e-04 9.99866453e-01 1.54260481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:4.36, Z:0.15 [[ 9.99790418e-01 -1.23441821e-02 1.63322146e-02 2.90947626e+02] [ 1.23439773e-02 9.99923804e-01 1.13352637e-04 4.36345743e+00] [-1.63323694e-02 8.82756073e-05 9.99866614e-01 1.54567334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:4.36, Z:0.15 [[ 9.99772784e-01 -1.36980864e-02 1.63322532e-02 2.90980346e+02] [ 1.36981579e-02 9.99906170e-01 1.07496250e-04 4.36344797e+00] [-1.63321932e-02 1.16249957e-04 9.99866614e-01 1.53925135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.01, Y:4.36, Z:0.15 [[ 9.99771689e-01 -1.37777724e-02 1.63322944e-02 2.91012562e+02] [ 1.37779634e-02 9.99905074e-01 1.00827961e-04 4.36421150e+00] [-1.63321332e-02 1.24220813e-04 9.99866614e-01 1.51820897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90232058799995 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:291.05, Y:4.36, Z:0.17 [[ 9.99857607e-01 4.24508002e-03 1.63323281e-02 2.91051274e+02] [-4.24719848e-03 9.99990976e-01 9.50264220e-05 4.36473978e+00] [-1.63317773e-02 -1.64379530e-04 9.99866614e-01 1.66128747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:4.36, Z:0.15 [[ 9.99738424e-01 -1.60076044e-02 1.63352437e-02 2.91073385e+02] [ 1.60172657e-02 9.99871609e-01 -4.60768989e-04 4.36366933e+00] [-1.63257706e-02 7.22294401e-04 9.99866465e-01 1.48775307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:4.36, Z:0.15 [[ 9.99727103e-01 -1.67031702e-02 1.63316815e-02 2.91104559e+02] [ 1.67037123e-02 9.99860478e-01 1.03225638e-04 4.36107778e+00] [-1.63311271e-02 1.69602241e-04 9.99866624e-01 1.48102352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:4.36, Z:0.15 [[ 9.99703372e-01 -1.80677677e-02 1.63316867e-02 2.91135426e+02] [ 1.80685053e-02 9.99836746e-01 1.02398640e-04 4.35957095e+00] [-1.63308706e-02 1.92720902e-04 9.99866624e-01 1.48716223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:4.36, Z:0.15 [[ 9.99694717e-01 -1.85404465e-02 1.63316918e-02 2.91165745e+02] [ 1.85412607e-02 9.99828091e-01 1.01572255e-04 4.35782214e+00] [-1.63307675e-02 2.01268909e-04 9.99866624e-01 1.48401457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:4.36, Z:0.15 [[ 9.99657325e-01 -2.04574821e-02 1.63316918e-02 2.91195935e+02] [ 2.04585520e-02 9.99790697e-01 1.01572255e-04 4.35584477e+00] [-1.63303515e-02 2.32585319e-04 9.99866624e-01 1.49151777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:4.36, Z:0.16 [[ 9.99851047e-01 -5.58202925e-03 1.63316867e-02 2.91233251e+02] [ 5.58110129e-03 9.99984420e-01 1.02396480e-04 4.35624729e+00] [-1.63320038e-02 -1.12324305e-05 9.99866624e-01 1.60838689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:4.35, Z:0.15 [[ 9.99621756e-01 -2.21252963e-02 1.63344913e-02 2.91256200e+02] [ 2.21338166e-02 9.99754959e-01 -3.40993178e-04 4.35499887e+00] [-1.63229441e-02 7.02408833e-04 9.99866525e-01 1.46491962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:4.35, Z:0.15 [[ 9.99629837e-01 -2.17596641e-02 1.63311405e-02 2.91285131e+02] [ 2.17606228e-02 9.99763203e-01 1.19018947e-04 4.35367684e+00] [-1.63298631e-02 2.36400897e-04 9.99866631e-01 1.47501888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:4.35, Z:0.15 [[ 9.99646571e-01 -2.09768305e-02 1.63311283e-02 2.91314264e+02] [ 2.09776578e-02 9.99779937e-01 1.20664269e-04 4.35215832e+00] [-1.63300656e-02 2.21967198e-04 9.99866631e-01 1.46807333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20232058799996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:291.36, Y:4.35, Z:0.16 [[ 9.99864070e-01 2.26618773e-03 1.63311159e-02 2.91358312e+02] [-2.26848798e-03 9.99997419e-01 1.22327567e-04 4.35383722e+00] [-1.63307965e-02 -1.59357879e-04 9.99866631e-01 1.64289277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:291.39, Y:4.35, Z:0.16 [[ 9.99853995e-01 -5.01157472e-03 1.63362524e-02 2.91385300e+02] [ 5.02425909e-03 9.99987108e-01 -7.35506467e-04 4.35322800e+00] [-1.63323557e-02 8.17476644e-04 9.99866284e-01 1.58509592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.41, Y:4.35, Z:0.14 [[ 9.99652675e-01 -2.06823007e-02 1.63331513e-02 2.91408833e+02] [ 2.06907236e-02 9.99785864e-01 -3.46859691e-04 4.35158924e+00] [-1.63224799e-02 6.84683936e-04 9.99866545e-01 1.42944257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:291.44, Y:4.35, Z:0.14 [[ 9.99668716e-01 -1.98954354e-02 1.63287807e-02 2.91437760e+02] [ 1.98957185e-02 9.99802050e-01 1.45123506e-04 4.35085726e+00] [-1.63284357e-02 1.79797396e-04 9.99866666e-01 1.44705633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.47, Y:4.35, Z:0.14 [[ 9.99670157e-01 -1.98229223e-02 1.63287658e-02 2.91466308e+02] [ 1.98231687e-02 9.99803491e-01 1.46776167e-04 4.34971217e+00] [-1.63284666e-02 1.76960127e-04 9.99866666e-01 1.44713806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35232058799994 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:291.50, Y:4.35, Z:0.16 [[ 9.99823826e-01 -9.25677424e-03 1.63287507e-02 2.91497916e+02] [ 9.25558436e-03 9.99957155e-01 1.48441703e-04 4.34935366e+00] [-1.63294252e-02 2.71657767e-06 9.99866666e-01 1.60852146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:4.35, Z:0.14 [[ 9.99671451e-01 -1.97565178e-02 1.63300454e-02 2.91526083e+02] [ 1.97590586e-02 9.99804771e-01 5.75632654e-06 4.34591835e+00] [-1.63269710e-02 3.16911889e-04 9.99866656e-01 1.44344690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:291.56, Y:4.35, Z:0.16 [[ 9.99845249e-01 -6.54610243e-03 1.63287267e-02 2.91563863e+02] [ 6.54453124e-03 9.99978573e-01 1.49656629e-04 4.34855836e+00] [-1.63293565e-02 -4.27696078e-05 9.99866666e-01 1.56806508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:291.60, Y:4.35, Z:0.16 [[ 9.99833362e-01 -8.15354503e-03 1.63330422e-02 2.91596208e+02] [ 8.16061467e-03 9.99966635e-01 -3.66239695e-04 4.34803130e+00] [-1.63295111e-02 4.99466329e-04 9.99866540e-01 1.55748322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:291.62, Y:4.35, Z:0.14 [[ 9.99594607e-01 -2.33209396e-02 1.63326490e-02 2.91618872e+02] [ 2.33293204e-02 9.99727782e-01 -3.22768798e-04 4.34552275e+00] [-1.63206757e-02 7.03667552e-04 9.99866561e-01 1.41483360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:291.66, Y:4.34, Z:0.15 [[ 9.99793033e-01 -1.21365975e-02 1.63276980e-02 2.91656340e+02] [ 1.21355115e-02 9.99926348e-01 1.65595836e-04 4.34451524e+00] [-1.63285052e-02 3.25834037e-05 9.99866681e-01 1.52180519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:291.69, Y:4.34, Z:0.15 [[ 9.99816006e-01 -1.00608929e-02 1.63319784e-02 2.91688453e+02] [ 1.00665358e-02 9.99949296e-01 -2.63338250e-04 4.34223774e+00] [-1.63285008e-02 4.27696242e-04 9.99866590e-01 1.53806854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562320588 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:291.72, Y:4.34, Z:0.15 [[ 9.99852925e-01 -5.23541404e-03 1.63315097e-02 2.91724682e+02] [ 5.23965832e-03 9.99986249e-01 -2.17104739e-04 4.34382287e+00] [-1.63301485e-02 3.02644339e-04 9.99866608e-01 1.54261789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59232058799995 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:291.75, Y:4.34, Z:0.16 [[ 9.99855536e-01 -4.69853558e-03 1.63349618e-02 2.91754514e+02] [ 4.70848471e-03 9.99988752e-01 -5.70663964e-04 4.34282074e+00] [-1.63320968e-02 6.47494441e-04 9.99866413e-01 1.58492972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:291.79, Y:4.34, Z:0.15 [[ 9.99856700e-01 -4.45146130e-03 1.63329193e-02 2.91789504e+02] [ 4.45830024e-03 9.99989989e-01 -3.82333673e-04 4.34271080e+00] [-1.63310538e-02 4.55095942e-04 9.99866536e-01 1.53681623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:291.82, Y:4.34, Z:0.15 [[ 9.99847742e-01 -6.13751454e-03 1.63347131e-02 2.91821528e+02] [ 6.14724801e-03 9.99980957e-01 -5.45732941e-04 4.34256352e+00] [-1.63310526e-02 6.46063382e-04 9.99866431e-01 1.51953940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.84, Y:4.34, Z:0.15 [[ 9.99819276e-01 -9.72778233e-03 1.63335696e-02 2.91844803e+02] [ 9.73651088e-03 9.99952496e-01 -4.54954868e-04 4.33912437e+00] [-1.63283680e-02 6.13904625e-04 9.99866495e-01 1.48874970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:4.34, Z:0.14 [[ 9.99751668e-01 -1.51680950e-02 1.63257589e-02 2.91873657e+02] [ 1.51686002e-02 9.99884946e-01 9.28868234e-05 4.34010448e+00] [-1.63252894e-02 1.54775153e-04 9.99866722e-01 1.40300590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.742320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:291.91, Y:4.34, Z:0.15 [[ 9.99858219e-01 -4.13235050e-03 1.63237652e-02 2.91906885e+02] [ 4.12910150e-03 9.99991448e-01 2.32733483e-04 4.34204151e+00] [-1.63245873e-02 -1.65298003e-04 9.99866731e-01 1.49404837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:4.34, Z:0.14 [[ 9.99744116e-01 -1.56567330e-02 1.63269359e-02 2.91935193e+02] [ 1.56585770e-02 9.99877397e-01 1.48956473e-05 4.34294976e+00] [-1.63251674e-02 2.40764748e-04 9.99866707e-01 1.37052659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.802320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:291.97, Y:4.34, Z:0.15 [[ 9.99848405e-01 -6.05873875e-03 1.63235745e-02 2.91967698e+02] [ 6.05559804e-03 9.99981635e-01 2.41824756e-04 4.34238087e+00] [-1.63247399e-02 -1.42939091e-04 9.99866732e-01 1.48133541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83232058799996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:292.00, Y:4.34, Z:0.15 [[ 9.99838833e-01 -7.46743531e-03 1.63262124e-02 2.91996810e+02] [ 7.46732526e-03 9.99972117e-01 6.77020639e-05 4.34039473e+00] [-1.63262627e-02 5.42219855e-05 9.99866716e-01 1.47863935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.03, Y:4.34, Z:0.14 [[ 9.99727005e-01 -1.67170498e-02 1.63234658e-02 2.92027660e+02] [ 1.67152296e-02 9.99860260e-01 2.47946851e-04 4.34047477e+00] [-1.63253297e-02 2.49713151e-05 9.99866733e-01 1.36181450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:4.34, Z:0.13 [[ 9.99714997e-01 -1.74203509e-02 1.63234742e-02 2.92058335e+02] [ 1.74186335e-02 9.99848253e-01 2.47390834e-04 4.34285787e+00] [-1.63253068e-02 3.70122877e-05 9.99866733e-01 1.34428031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:4.34, Z:0.13 [[ 9.99730225e-01 -1.65233579e-02 1.63234742e-02 2.92089035e+02] [ 1.65215209e-02 9.99863480e-01 2.47390834e-04 4.34451597e+00] [-1.63253335e-02 2.23645270e-05 9.99866733e-01 1.32419664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.12, Y:4.34, Z:0.13 [[ 9.99746334e-01 -1.55181226e-02 1.63234742e-02 2.92120399e+02] [ 1.55161516e-02 9.99879587e-01 2.47390834e-04 4.34497699e+00] [-1.63253477e-02 5.94942199e-06 9.99866733e-01 1.31160869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98232058799994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:292.16, Y:4.35, Z:0.15 [[ 9.99865054e-01 1.84879963e-03 1.63234869e-02 2.92156012e+02] [-1.85307106e-03 9.99998253e-01 2.46552278e-04 4.34500626e+00] [-1.63230025e-02 -2.76767588e-04 9.99866733e-01 1.49202950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:292.19, Y:4.35, Z:0.15 [[ 9.99865665e-01 -1.42888572e-03 1.63281915e-02 2.92186065e+02] [ 1.43005669e-03 9.99998976e-01 -6.00385545e-05 4.34514835e+00] [-1.63280889e-02 8.33807287e-05 9.99866684e-01 1.47019993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:4.35, Z:0.13 [[ 9.99726087e-01 -1.67681202e-02 1.63273192e-02 2.92212136e+02] [ 1.67704099e-02 9.99859367e-01 -3.32226334e-06 4.34562691e+00] [-1.63249674e-02 2.77137190e-04 9.99866700e-01 1.29619292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:292.24, Y:4.35, Z:0.13 [[ 9.99704845e-01 -1.79938519e-02 1.63231187e-02 2.92242466e+02] [ 1.79920016e-02 9.99838097e-01 2.60212633e-04 4.34660205e+00] [-1.63251582e-02 3.35497481e-05 9.99866735e-01 1.28955073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:4.35, Z:0.13 [[ 9.99704098e-01 -1.80353089e-02 1.63231187e-02 2.92271783e+02] [ 1.80334641e-02 9.99837350e-01 2.60212633e-04 4.34709074e+00] [-1.63251568e-02 3.42267401e-05 9.99866735e-01 1.28045217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13232058799997 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:292.30, Y:4.35, Z:0.14 [[ 9.99828557e-01 -8.74148925e-03 1.63231053e-02 2.92301076e+02] [ 8.73839220e-03 9.99961785e-01 2.61049956e-04 4.34706215e+00] [-1.63247635e-02 -1.18367504e-04 9.99866735e-01 1.40291551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16232058799994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:292.34, Y:4.35, Z:0.15 [[ 9.99862747e-01 2.84053976e-03 1.63223399e-02 2.92340366e+02] [-2.84596445e-03 9.99995902e-01 3.09128759e-04 4.35042714e+00] [-1.63213949e-02 -3.55539129e-04 9.99866734e-01 1.45062608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.36, Y:4.35, Z:0.13 [[ 9.99762771e-01 -1.44119772e-02 1.63308627e-02 2.92362525e+02] [ 1.44182023e-02 9.99896018e-01 -2.63501073e-04 4.34948669e+00] [-1.63253670e-02 4.98900244e-04 9.99866608e-01 1.25486480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22232058799995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:292.40, Y:4.35, Z:0.14 [[ 9.99863975e-01 2.36795082e-03 1.63225238e-02 2.92399676e+02] [-2.37251143e-03 9.99997152e-01 2.60047935e-04 4.35135092e+00] [-1.63218615e-02 -2.98737937e-04 9.99866745e-01 1.43408881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:4.35, Z:0.12 [[ 9.99754605e-01 -1.49694150e-02 1.63292930e-02 2.92423239e+02] [ 1.49742661e-02 9.99887864e-01 -1.74849441e-04 4.35100322e+00] [-1.63248445e-02 4.19325712e-04 9.99866653e-01 1.24890091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:292.46, Y:4.35, Z:0.14 [[ 9.99841994e-01 -7.04120846e-03 1.63220173e-02 2.92456035e+02] [ 7.03776933e-03 9.99975199e-01 2.68134926e-04 4.35058974e+00] [-1.63235005e-02 -1.53221966e-04 9.99866751e-01 1.36445929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:4.35, Z:0.12 [[ 9.99705282e-01 -1.79685375e-02 1.63242140e-02 2.92485374e+02] [ 1.79687211e-02 9.99838540e-01 1.35435577e-04 4.35088283e+00] [-1.63240119e-02 1.57929587e-04 9.99866742e-01 1.24341449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.51, Y:4.35, Z:0.12 [[ 9.99692735e-01 -1.86555225e-02 1.63219669e-02 2.92514911e+02] [ 1.86535866e-02 9.99825970e-01 2.70855278e-04 4.35170354e+00] [-1.63241794e-02 3.36911703e-05 9.99866751e-01 1.23380606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:4.35, Z:0.12 [[ 9.99691769e-01 -1.87072154e-02 1.63219530e-02 2.92545110e+02] [ 1.87052726e-02 9.99825004e-01 2.71694694e-04 4.35218012e+00] [-1.63241793e-02 3.36956315e-05 9.99866751e-01 1.22888251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.58, Y:4.35, Z:0.14 [[ 9.99840566e-01 -7.24132484e-03 1.63219389e-02 2.92577929e+02] [ 7.23784050e-03 9.99973769e-01 2.72538570e-04 4.35293485e+00] [-1.63234843e-02 -1.54359528e-04 9.99866751e-01 1.36003280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:4.35, Z:0.12 [[ 9.99662303e-01 -2.02183457e-02 1.63248111e-02 2.92605813e+02] [ 2.02193623e-02 9.99795563e-01 1.02791243e-04 4.35236778e+00] [-1.63235520e-02 2.27320739e-04 9.99866736e-01 1.23819390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:292.63, Y:4.35, Z:0.12 [[ 9.99638389e-01 -2.13702884e-02 1.63218211e-02 2.92634913e+02] [ 2.13685941e-02 9.99771627e-01 2.78214851e-04 4.35286801e+00] [-1.63240392e-02 7.06601262e-05 9.99866751e-01 1.24668151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.492320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:292.68, Y:4.36, Z:0.14 [[ 9.99863739e-01 -2.47047843e-03 1.63217925e-02 2.92677429e+02] [ 2.46623867e-03 9.99996920e-01 2.79883932e-04 4.35661883e+00] [-1.63224337e-02 -2.39592359e-04 9.99866751e-01 1.42056719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:292.70, Y:4.36, Z:0.12 [[ 9.99602369e-01 -2.29852007e-02 1.63335281e-02 2.92695671e+02] [ 2.29954503e-02 9.99735473e-01 -4.39958264e-04 4.35547994e+00] [-1.63190949e-02 8.15380156e-04 9.99866502e-01 1.22312362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:4.36, Z:0.12 [[ 9.99555876e-01 -2.49337512e-02 1.63204759e-02 2.92724233e+02] [ 2.49323170e-02 9.99689099e-01 2.91371190e-04 4.35507746e+00] [-1.63226668e-02 1.15665493e-04 9.99866770e-01 1.22631378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:4.36, Z:0.12 [[ 9.99533889e-01 -2.58001583e-02 1.63204460e-02 2.92752884e+02] [ 2.57988124e-02 9.99667112e-01 2.93036640e-04 4.35551681e+00] [-1.63225735e-02 1.28148073e-04 9.99866770e-01 1.23465636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.612320588 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:292.80, Y:4.36, Z:0.14 [[ 9.99829360e-01 -8.65418736e-03 1.63204234e-02 2.92800323e+02] [ 8.65053635e-03 9.99962540e-01 2.94291317e-04 4.35860926e+00] [-1.63223589e-02 -1.53060683e-04 9.99866770e-01 1.36805123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64232058799996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:292.82, Y:4.36, Z:0.14 [[ 9.99643277e-01 -2.11280584e-02 1.63377941e-02 2.92815269e+02] [ 2.11432082e-02 9.99776172e-01 -7.55096375e-04 4.35521121e+00] [-1.63181836e-02 1.10026040e-03 9.99866244e-01 1.36164182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.672320588 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:292.85, Y:4.36, Z:0.13 [[ 9.99585159e-01 -2.37319649e-02 1.63187910e-02 2.92846214e+02] [ 2.37311893e-02 9.99718347e-01 2.41200627e-04 4.35586760e+00] [-1.63199190e-02 1.46163751e-04 9.99866811e-01 1.34314968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:4.36, Z:0.12 [[ 9.99213676e-01 -3.61339377e-02 1.63207808e-02 2.92872697e+02] [ 3.61365223e-02 9.99346853e-01 1.36614499e-04 4.35571727e+00] [-1.63150573e-02 4.53269183e-04 9.99866798e-01 1.22528448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73232058799994 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:292.92, Y:4.36, Z:0.14 [[ 9.99741022e-01 -1.58630304e-02 1.63172416e-02 2.92916911e+02] [ 1.58599505e-02 9.99874172e-01 3.18146359e-04 4.35868728e+00] [-1.63202352e-02 -5.92733221e-05 9.99866814e-01 1.42975791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:4.36, Z:0.12 [[ 9.99197361e-01 -3.65773202e-02 1.63319848e-02 2.92934037e+02] [ 3.65900196e-02 9.99330246e-01 -4.79339888e-04 4.35715678e+00] [-1.63035134e-02 1.07654279e-03 9.99866509e-01 1.23067976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:292.96, Y:4.36, Z:0.12 [[ 9.99224595e-01 -3.58331294e-02 1.63155271e-02 2.92963097e+02] [ 3.58324946e-02 9.99357755e-01 3.31333136e-04 4.35900101e+00] [-1.63169212e-02 2.53549818e-04 9.99866838e-01 1.22011197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82232058799997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:293.01, Y:4.36, Z:0.14 [[ 9.99787091e-01 -1.26323705e-02 1.63154936e-02 2.93009093e+02] [ 1.26286186e-02 9.99920200e-01 3.32972521e-04 4.36292109e+00] [-1.63183979e-02 -1.26859482e-04 9.99866838e-01 1.38012019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85232058799994 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:293.04, Y:4.36, Z:0.13 [[ 9.99719735e-01 -1.71371431e-02 1.63330715e-02 2.93038131e+02] [ 1.71494791e-02 9.99852747e-01 -6.15503096e-04 4.36221214e+00] [-1.63201184e-02 8.95434261e-04 9.99866417e-01 1.33510033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88232058799997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:293.06, Y:4.36, Z:0.13 [[ 9.99504719e-01 -2.69019342e-02 1.63279687e-02 2.93060632e+02] [ 2.69115239e-02 9.99637752e-01 -3.67845179e-04 4.36042775e+00] [-1.63121582e-02 8.07073514e-04 9.99866622e-01 1.30457270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91232058799994 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:293.10, Y:4.36, Z:0.14 [[ 9.99750100e-01 -1.52808853e-02 1.63166109e-02 2.93103405e+02] [ 1.52804953e-02 9.99883235e-01 1.48580450e-04 4.36267444e+00] [-1.63169761e-02 1.00782576e-04 9.99866864e-01 1.38494000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.942320588 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:293.13, Y:4.36, Z:0.13 [[ 9.99682475e-01 -1.91888157e-02 1.63321072e-02 2.93132822e+02] [ 1.92010051e-02 9.99815470e-01 -5.89852873e-04 4.36214739e+00] [-1.63177749e-02 9.03258455e-04 9.99866448e-01 1.34859970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:293.15, Y:4.36, Z:0.12 [[ 9.99035047e-01 -4.07724184e-02 1.63274212e-02 2.93148860e+02] [ 4.07840708e-02 9.99167911e-01 -3.81192807e-04 4.36026278e+00] [-1.62982932e-02 1.04672368e-03 9.99866626e-01 1.17197010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.002320588 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:293.19, Y:4.36, Z:0.13 [[ 9.99536260e-01 -2.57156602e-02 1.63085752e-02 2.93185909e+02] [ 2.57126264e-02 9.99669297e-01 3.95712768e-04 4.36065411e+00] [-1.63133580e-02 2.38070418e-05 9.99866928e-01 1.29790100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03232058799995 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:293.23, Y:4.36, Z:0.13 [[ 9.99705182e-01 -1.79796989e-02 1.63180539e-02 2.93226267e+02] [ 1.79821399e-02 9.99838308e-01 -2.86159080e-06 4.36435112e+00] [-1.63153640e-02 2.96294276e-04 9.99866852e-01 1.34254377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.062320588 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:293.24, Y:4.36, Z:0.11 [[ 9.99116711e-01 -3.87176609e-02 1.63322155e-02 2.93238513e+02] [ 3.87329579e-02 9.99249404e-01 -6.21219225e-04 4.36327344e+00] [-1.62959044e-02 1.25326552e-03 9.99866427e-01 1.13970906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09232058799995 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:293.28, Y:4.36, Z:0.13 [[ 9.99672318e-01 -1.97323378e-02 1.63062047e-02 2.93276228e+02] [ 1.97282581e-02 9.99805294e-01 4.11025535e-04 4.36496411e+00] [-1.63111403e-02 -8.91978337e-05 9.99866961e-01 1.27939594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122320588 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:293.31, Y:4.37, Z:0.13 [[ 9.99784293e-01 -1.28507790e-02 1.63163785e-02 2.93310557e+02] [ 1.28524080e-02 9.99917404e-01 5.02086590e-06 4.36597357e+00] [-1.63150954e-02 2.04684971e-04 9.99866879e-01 1.32513288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15232058799995 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:293.34, Y:4.37, Z:0.13 [[ 9.99785484e-01 -1.27512300e-02 1.63215536e-02 2.93342280e+02] [ 1.27561932e-02 9.99918616e-01 -2.00012937e-04 4.36772176e+00] [-1.63176749e-02 4.08170921e-04 9.99866775e-01 1.29690446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.182320588 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:293.37, Y:4.37, Z:0.13 [[ 9.99790125e-01 -1.23847484e-02 1.63194360e-02 2.93374987e+02] [ 1.23883420e-02 9.99923254e-01 -1.19127265e-04 4.36972527e+00] [-1.63167082e-02 3.21273018e-04 9.99866822e-01 1.27022092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21232058799995 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:293.41, Y:4.37, Z:0.13 [[ 9.99803650e-01 -1.12400162e-02 1.63194218e-02 2.93406578e+02] [ 1.12434488e-02 9.99936783e-01 -1.18601973e-04 4.37107197e+00] [-1.63170571e-02 3.02065269e-04 9.99866822e-01 1.25994148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.242320588 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:293.44, Y:4.37, Z:0.12 [[ 9.99730030e-01 -1.65404964e-02 1.63180711e-02 2.93435198e+02] [ 1.65438335e-02 9.99863139e-01 -6.95226945e-05 4.37090421e+00] [-1.63146879e-02 3.39467377e-04 9.99866849e-01 1.22857219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27232058799996 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:293.47, Y:4.37, Z:0.12 [[ 9.99758580e-01 -1.47197999e-02 1.63128514e-02 2.93466854e+02] [ 1.47199142e-02 9.99891650e-01 1.13069341e-04 4.37260658e+00] [-1.63127482e-02 1.27081728e-04 9.99866930e-01 1.21741467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.302320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:293.50, Y:4.37, Z:0.12 [[ 9.99709589e-01 -1.77370317e-02 1.63136480e-02 2.93500093e+02] [ 1.77379983e-02 9.99842666e-01 8.54566869e-05 4.37459140e+00] [-1.63125971e-02 2.03939591e-04 9.99866920e-01 1.17309475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33232058799996 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:293.53, Y:4.37, Z:0.12 [[ 9.99765499e-01 -1.42387815e-02 1.63157654e-02 2.93533160e+02] [ 1.42404633e-02 9.99898599e-01 1.31020611e-05 4.37412363e+00] [-1.63142976e-02 2.19245070e-04 9.99866889e-01 1.21439296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.362320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:293.55, Y:4.37, Z:0.11 [[ 9.99234380e-01 -3.55566044e-02 1.63212077e-02 2.93552958e+02] [ 3.55641560e-02 9.99367380e-01 -1.72585419e-04 4.37215963e+00] [-1.63047461e-02 7.52903262e-04 9.99866785e-01 1.06792674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:293.58, Y:4.37, Z:0.11 [[ 9.99199016e-01 -3.65461382e-02 1.63005244e-02 2.93581359e+02] [ 3.65428312e-02 9.99331962e-01 5.00781697e-04 4.37261279e+00] [-1.63079366e-02 9.52867319e-05 9.99867012e-01 1.06985945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.422320588 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:293.63, Y:4.38, Z:0.12 [[ 9.99739802e-01 -1.59569296e-02 1.63004469e-02 2.93626933e+02] [ 1.59508440e-02 9.99872651e-01 5.03290121e-04 4.37624440e+00] [-1.63064020e-02 -2.43153280e-04 9.99867012e-01 1.23678053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:293.64, Y:4.37, Z:0.10 [[ 9.99051885e-01 -4.03575202e-02 1.63279322e-02 2.93642425e+02] [ 4.03700308e-02 9.99184702e-01 -4.37201125e-04 4.37364149e+00] [-1.62969757e-02 1.09594573e-03 9.99866595e-01 1.04217015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:293.67, Y:4.37, Z:0.11 [[ 9.99022115e-01 -4.10996634e-02 1.62982215e-02 2.93671597e+02] [ 4.10967974e-02 9.99155039e-01 5.10877049e-04 4.37223106e+00] [-1.63054470e-02 1.59427236e-04 9.99867045e-01 1.05270045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51232058799997 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:293.71, Y:4.37, Z:0.11 [[ 9.99529289e-01 -2.59917311e-02 1.62981692e-02 2.93709407e+02] [ 2.59868287e-02 9.99662154e-01 5.12539465e-04 4.37462153e+00] [-1.63059847e-02 -8.87604765e-05 9.99867045e-01 1.14931161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:4.37, Z:0.10 [[ 9.98923406e-01 -4.34271854e-02 1.63128056e-02 2.93731364e+02] [ 4.34322405e-02 9.99056374e-01 4.44277862e-05 4.37496674e+00] [-1.62993417e-02 6.64121738e-04 9.99866936e-01 1.01907468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:293.76, Y:4.37, Z:0.10 [[ 9.98841982e-01 -4.52669159e-02 1.62972797e-02 2.93760239e+02] [ 4.52643616e-02 9.98974905e-01 5.25754042e-04 4.37356361e+00] [-1.63043728e-02 2.12540754e-04 9.99867052e-01 1.03467509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60232058799994 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:293.80, Y:4.37, Z:0.12 [[ 9.99423600e-01 -2.97803911e-02 1.62970915e-02 2.93796620e+02] [ 2.97756828e-02 9.99556465e-01 5.31525157e-04 4.37266181e+00] [-1.63056922e-02 -4.59617581e-05 9.99867052e-01 1.16239745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63232058799997 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:293.82, Y:4.37, Z:0.10 [[ 9.98768823e-01 -4.68484224e-02 1.63114348e-02 2.93818992e+02] [ 4.68531815e-02 9.98901783e-01 9.04710519e-05 4.37011259e+00] [-1.62977597e-02 6.73882948e-04 9.99866956e-01 1.04201892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66232058799994 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:293.86, Y:4.37, Z:0.11 [[ 9.99377026e-01 -3.13049078e-02 1.62960630e-02 2.93855999e+02] [ 3.13001368e-02 9.99509881e-01 5.47802006e-04 4.37190481e+00] [-1.63052249e-02 -3.73917370e-05 9.99867060e-01 1.14596614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.692320588 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:293.88, Y:4.37, Z:0.11 [[ 9.99352654e-01 -3.20653109e-02 1.63122029e-02 2.93884237e+02] [ 3.20685867e-02 9.99485669e-01 6.07825137e-05 4.37442154e+00] [-1.63057621e-02 4.62366128e-04 9.99866945e-01 1.10953053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72232058799995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:293.91, Y:4.37, Z:0.10 [[ 9.98706557e-01 -4.81583126e-02 1.63091979e-02 2.93906150e+02] [ 4.81622973e-02 9.98839512e-01 1.48589575e-04 4.37448411e+00] [-1.62974271e-02 6.37091054e-04 9.99866985e-01 9.81245627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.752320588 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:293.96, Y:4.38, Z:0.11 [[ 9.99646018e-01 -2.10317383e-02 1.62942877e-02 2.93955030e+02] [ 2.10251951e-02 9.99778782e-01 5.72786527e-04 4.37754183e+00] [-1.63027298e-02 -2.29993193e-04 9.99867075e-01 1.14458049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78232058799995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:293.99, Y:4.38, Z:0.12 [[ 9.99663768e-01 -2.01406294e-02 1.63311389e-02 2.93986046e+02] [ 2.01522398e-02 9.99796774e-01 -5.46665563e-04 4.37612295e+00] [-1.63168098e-02 8.75590784e-04 9.99866489e-01 1.17514432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.812320588 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:294.00, Y:4.37, Z:0.10 [[ 9.98674717e-01 -4.88073903e-02 1.63293740e-02 2.93996379e+02] [ 4.88219687e-02 9.98807374e-01 -4.95082021e-04 4.37226668e+00] [-1.62857355e-02 1.29165808e-03 9.99866544e-01 9.92312723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84232058799995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:294.03, Y:4.37, Z:0.10 [[ 9.98776011e-01 -4.67027571e-02 1.62890557e-02 2.94025549e+02] [ 4.66991831e-02 9.98908818e-01 5.99916202e-04 4.37137870e+00] [-1.62992991e-02 1.61503682e-04 9.99867145e-01 1.02217311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.872320588 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:294.05, Y:4.37, Z:0.10 [[ 9.98856825e-01 -4.49412538e-02 1.62888401e-02 2.94053447e+02] [ 4.49373511e-02 9.98989623e-01 6.05712433e-04 4.37374767e+00] [-1.62996037e-02 1.26957329e-04 9.99867145e-01 9.96657543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90232058799995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:294.09, Y:4.38, Z:0.11 [[ 9.99623850e-01 -2.20644376e-02 1.62885906e-02 2.94092556e+02] [ 2.20573879e-02 9.99756519e-01 6.12350699e-04 4.37852557e+00] [-1.62981358e-02 -2.52836603e-04 9.99867145e-01 1.10758901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.932320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:294.11, Y:4.38, Z:0.10 [[ 9.99087183e-01 -3.94810256e-02 1.63110136e-02 2.94114149e+02] [ 3.94861246e-02 9.99220119e-01 9.44293907e-06 4.37841533e+00] [-1.62986658e-02 6.34624398e-04 9.99866967e-01 9.76933988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96232058799995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:294.14, Y:4.38, Z:0.10 [[ 9.99180769e-01 -3.70474057e-02 1.62874219e-02 2.94142679e+02] [ 3.70421450e-02 9.99313509e-01 6.24657766e-04 4.37844945e+00] [-1.62993827e-02 -2.08249826e-05 9.99867156e-01 9.97144478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.992320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:294.17, Y:4.38, Z:0.10 [[ 9.99268054e-01 -3.46132775e-02 1.62873252e-02 2.94172001e+02] [ 3.46076525e-02 9.99400779e-01 6.27169091e-04 4.38098558e+00] [-1.62992739e-02 -6.30439460e-05 9.99867156e-01 9.92816526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:294.20, Y:4.38, Z:0.10 [[ 9.99363912e-01 -3.17253231e-02 1.62872604e-02 2.94201090e+02] [ 3.17192872e-02 9.99496619e-01 6.28846734e-04 4.38375308e+00] [-1.62990121e-02 -1.11826441e-04 9.99867156e-01 9.76983483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.052320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:294.23, Y:4.39, Z:0.10 [[ 9.99505204e-01 -2.69086389e-02 1.62871952e-02 2.94229709e+02] [ 2.69019361e-02 9.99637879e-01 6.30530751e-04 4.38783708e+00] [-1.62982640e-02 -1.92061682e-04 9.99867156e-01 9.74748188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:294.27, Y:4.39, Z:0.11 [[ 9.99816189e-01 -1.01151772e-02 1.62871304e-02 2.94267621e+02] [ 1.01062195e-02 9.99948731e-01 6.32202574e-04 4.39147718e+00] [-1.62926902e-02 -4.67485055e-04 9.99867156e-01 1.07004545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.112320588 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:294.29, Y:4.40, Z:0.10 [[ 9.99679845e-01 -1.93486935e-02 1.63044866e-02 2.94291674e+02] [ 1.93483028e-02 9.99812788e-01 1.81721134e-04 4.39520753e+00] [-1.63049503e-02 1.33801190e-04 9.99867057e-01 9.89171298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:294.32, Y:4.40, Z:0.10 [[ 9.99722156e-01 -1.70400707e-02 1.62863971e-02 2.94320945e+02] [ 1.70318845e-02 9.99854741e-01 6.41221040e-04 4.39805087e+00] [-1.62949578e-02 -3.63654845e-04 9.99867162e-01 9.86723549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.172320588 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:294.37, Y:4.40, Z:0.11 [[ 9.99863835e-01 2.65852789e-03 1.62863310e-02 2.94365147e+02] [-2.66935178e-03 9.99996231e-01 6.42897326e-04 4.40426849e+00] [-1.62845604e-02 -6.86283732e-04 9.99867162e-01 1.06488621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:294.38, Y:4.41, Z:0.10 [[ 9.99781781e-01 -1.30411299e-02 1.63193099e-02 2.94380883e+02] [ 1.30464368e-02 9.99914868e-01 -2.18768205e-04 4.40807035e+00] [-1.63150676e-02 4.31629312e-04 9.99866807e-01 9.53531703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:294.41, Y:4.41, Z:0.10 [[ 9.99815548e-01 -1.01831575e-02 1.62841710e-02 2.94413170e+02] [ 1.01738388e-02 9.99948031e-01 6.54994762e-04 4.41330428e+00] [-1.62899946e-02 -4.89201416e-04 9.99867190e-01 9.72392249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:294.45, Y:4.41, Z:0.10 [[ 9.99819663e-01 -9.77027655e-03 1.62844391e-02 2.94446285e+02] [ 9.76101277e-03 9.99952150e-01 6.48260047e-04 4.41498610e+00] [-1.62899935e-02 -4.89190524e-04 9.99867190e-01 9.66929738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:294.48, Y:4.42, Z:0.10 [[ 9.99836524e-01 -7.85707359e-03 1.62847040e-02 2.94479280e+02] [ 7.84766571e-03 9.99969001e-01 6.41536070e-04 4.41866689e+00] [-1.62892397e-02 -5.13634282e-04 9.99867190e-01 9.75263613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:4.42, Z:0.10 [[ 9.99844864e-01 -6.71173684e-03 1.62849659e-02 2.94512166e+02] [ 6.70228653e-03 9.99977338e-01 6.34816830e-04 4.42281107e+00] [-1.62888576e-02 -5.25571840e-04 9.99867190e-01 9.70817551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:294.55, Y:4.43, Z:0.10 [[ 9.99827189e-01 8.96568387e-03 1.62852245e-02 2.94554698e+02] [-8.97710110e-03 9.99959508e-01 6.28110694e-04 4.43256411e+00] [-1.62789337e-02 -7.74196257e-04 9.99867190e-01 1.02913529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:294.58, Y:4.44, Z:0.10 [[ 9.99841494e-01 7.12608254e-03 1.63158422e-02 2.94583993e+02] [-7.12402546e-03 9.99974607e-01 -1.84197465e-04 4.43645639e+00] [-1.63167405e-02 6.79337927e-05 9.99866871e-01 1.02387214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:4.44, Z:0.09 [[ 9.99805447e-01 -1.10974624e-02 1.63068947e-02 2.94603851e+02] [ 1.10981777e-02 9.99938412e-01 4.66290685e-05 4.43587886e+00] [-1.63064078e-02 1.34356819e-04 9.99867033e-01 9.46131755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.442320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:294.64, Y:4.44, Z:0.10 [[ 9.99792769e-01 -1.22187931e-02 1.62825040e-02 2.94636164e+02] [ 1.22097615e-02 9.99925244e-01 6.53975236e-04 4.43791860e+00] [-1.62892776e-02 -4.55034221e-04 9.99867217e-01 9.61707842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:294.68, Y:4.45, Z:0.10 [[ 9.99866927e-01 1.00004196e-03 1.62827707e-02 2.94677590e+02] [-1.01071505e-03 9.99999280e-01 6.47267699e-04 4.44580472e+00] [-1.62821117e-02 -6.63638806e-04 9.99867217e-01 1.03104153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:4.45, Z:0.09 [[ 9.99685143e-01 -1.90658544e-02 1.63128431e-02 2.94694541e+02] [ 1.90705985e-02 9.99818130e-01 -1.35294321e-04 4.44570123e+00] [-1.63072968e-02 4.46347403e-04 9.99866928e-01 9.20002103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:294.74, Y:4.45, Z:0.10 [[ 9.99840374e-01 -7.35860428e-03 1.62812141e-02 2.94735684e+02] [ 7.34894224e-03 9.99972783e-01 6.53197173e-04 4.44936730e+00] [-1.62855776e-02 -5.33443203e-04 9.99867239e-01 1.02217888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:4.45, Z:0.09 [[ 9.99541082e-01 -2.55279033e-02 1.63080517e-02 2.94754816e+02] [ 2.55319393e-02 9.99674006e-01 -3.92960806e-05 4.44946355e+00] [-1.63017322e-02 4.55654232e-04 9.99867014e-01 9.20240422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:4.45, Z:0.09 [[ 9.99482106e-01 -2.77573970e-02 1.62802326e-02 2.94783620e+02] [ 2.77504311e-02 9.99614669e-01 6.53665207e-04 4.45123157e+00] [-1.62921034e-02 -2.01543203e-04 9.99867255e-01 9.22356991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:294.82, Y:4.46, Z:0.10 [[ 9.99753995e-01 -1.50633689e-02 1.62801650e-02 2.94824221e+02] [ 1.50546930e-02 9.99886457e-01 6.55345179e-04 4.45730561e+00] [-1.62881882e-02 -4.10091076e-04 9.99867255e-01 9.94012766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:294.86, Y:4.46, Z:0.10 [[ 9.99694596e-01 -1.85670936e-02 1.63088107e-02 2.94856106e+02] [ 1.85707695e-02 9.99827546e-01 -7.39684599e-05 4.45943838e+00] [-1.63046248e-02 3.76813035e-04 9.99867000e-01 9.67818616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:4.46, Z:0.09 [[ 9.99209948e-01 -3.62439796e-02 1.63050393e-02 2.94874807e+02] [ 3.62484655e-02 9.99342808e-01 2.04250906e-05 4.45909582e+00] [-1.62950641e-02 5.70623703e-04 9.99867064e-01 8.91211690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:4.46, Z:0.09 [[ 9.99119768e-01 -3.86615454e-02 1.62780371e-02 2.94903698e+02] [ 3.86557063e-02 9.99252362e-01 6.73314188e-04 4.46026951e+00] [-1.62918984e-02 -4.34824920e-05 9.99867277e-01 8.80329746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:4.46, Z:0.09 [[ 9.99039887e-01 -4.06734785e-02 1.62779677e-02 2.94932333e+02] [ 4.06678792e-02 9.99172492e-01 6.74988353e-04 4.46138489e+00] [-1.62919517e-02 -1.23498633e-05 9.99867277e-01 8.71799220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:4.46, Z:0.09 [[ 9.98784100e-01 -4.65333331e-02 1.62778981e-02 2.94961469e+02] [ 4.65284844e-02 9.98916734e-01 6.76663771e-04 4.46109949e+00] [-1.62917522e-02 8.15449118e-05 9.99867277e-01 8.81940378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.802320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:295.00, Y:4.46, Z:0.10 [[ 9.99370787e-01 -3.15129028e-02 1.62778283e-02 2.95003646e+02] [ 3.15060335e-02 9.99503332e-01 6.78337921e-04 4.46352979e+00] [-1.62911200e-02 -1.65061298e-04 9.99867277e-01 9.97699285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:295.02, Y:4.46, Z:0.09 [[ 9.98328137e-01 -5.54518630e-02 1.63101642e-02 2.95021245e+02] [ 5.54613424e-02 9.98460827e-01 -1.29099077e-04 4.46253482e+00] [-1.62779012e-02 1.03346684e-03 9.99866972e-01 8.63261217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.862320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:295.05, Y:4.46, Z:0.09 [[ 9.98136560e-01 -5.88088858e-02 1.62764601e-02 2.95049255e+02] [ 5.88056300e-02 9.98269221e-01 6.78979529e-04 4.46142034e+00] [-1.62882192e-02 2.79433201e-04 9.99867299e-01 8.56975684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:4.46, Z:0.09 [[ 9.97943517e-01 -6.19985741e-02 1.62761825e-02 2.95077388e+02] [ 6.19956348e-02 9.98076185e-01 6.85571909e-04 4.46012843e+00] [-1.62873746e-02 3.24890222e-04 9.99867299e-01 8.59450902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:4.46, Z:0.09 [[ 9.97625018e-01 -6.69284525e-02 1.62759030e-02 2.95106884e+02] [ 6.69260616e-02 9.97757698e-01 6.92143412e-04 4.45655046e+00] [-1.62857316e-02 3.98782503e-04 9.99867299e-01 8.57190839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:4.46, Z:0.09 [[ 9.97491981e-01 -6.88828738e-02 1.62756600e-02 2.95134846e+02] [ 6.88806504e-02 9.97624663e-01 6.97810204e-04 4.45574340e+00] [-1.62850670e-02 4.25017966e-04 9.99867299e-01 8.52966044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:295.16, Y:4.45, Z:0.09 [[ 9.97141250e-01 -7.37864488e-02 1.62753803e-02 2.95163669e+02] [ 7.37847724e-02 9.97273940e-01 7.04274960e-04 4.45425034e+00] [-1.62829786e-02 4.98613618e-04 9.99867299e-01 8.50902181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:295.19, Y:4.45, Z:0.08 [[ 9.97056487e-01 -7.49231758e-02 1.62751345e-02 2.95191568e+02] [ 7.49215588e-02 9.97189178e-01 7.09909456e-04 4.45342798e+00] [-1.62825767e-02 5.11538620e-04 9.99867299e-01 8.41762714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:295.22, Y:4.45, Z:0.08 [[ 9.96868345e-01 -7.73862543e-02 1.62748525e-02 2.95220781e+02] [ 7.73848606e-02 9.97001038e-01 7.16317688e-04 4.45232446e+00] [-1.62814780e-02 5.45352762e-04 9.99867299e-01 8.29611161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07232058799997 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:295.25, Y:4.45, Z:0.08 [[ 9.96837999e-01 -7.77762200e-02 1.62746037e-02 2.95248796e+02] [ 7.77747868e-02 9.96970692e-01 7.21925554e-04 4.44938504e+00] [-1.62814516e-02 5.46111009e-04 9.99867299e-01 8.32848594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:4.45, Z:0.08 [[ 9.96832207e-01 -7.78504782e-02 1.62743174e-02 2.95278281e+02] [ 7.78489505e-02 9.96964899e-01 7.28323749e-04 4.44870772e+00] [-1.62816235e-02 5.40921957e-04 9.99867299e-01 8.39528773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:4.45, Z:0.08 [[ 9.96642118e-01 -8.02473899e-02 1.62740658e-02 2.95307987e+02] [ 8.02460903e-02 9.96774812e-01 7.33903431e-04 4.44519790e+00] [-1.62804727e-02 5.74491080e-04 9.99867299e-01 8.31017723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:4.44, Z:0.08 [[ 9.96479307e-01 -8.22444702e-02 1.62738117e-02 2.95336852e+02] [ 8.22433453e-02 9.96612003e-01 7.39495218e-04 4.44337220e+00] [-1.62794954e-02 6.01521029e-04 9.99867299e-01 8.25078212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.192320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:295.37, Y:4.44, Z:0.08 [[ 9.96279647e-01 -8.46288254e-02 1.62735213e-02 2.95365748e+02] [ 8.46279147e-02 9.96412344e-01 7.45831458e-04 4.43904611e+00] [-1.62782563e-02 6.34137468e-04 9.99867299e-01 8.11032063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:295.39, Y:4.44, Z:0.08 [[ 9.96188657e-01 -8.56933054e-02 1.62732294e-02 2.95393845e+02] [ 8.56924335e-02 9.96321354e-01 7.52146255e-04 4.43653679e+00] [-1.62778198e-02 6.45213060e-04 9.99867299e-01 8.11021574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.252320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:295.42, Y:4.43, Z:0.08 [[ 9.96062643e-01 -8.71458748e-02 1.62729352e-02 2.95421869e+02] [ 8.71450935e-02 9.96195341e-01 7.58458798e-04 4.43386021e+00] [-1.62771188e-02 6.62633983e-04 9.99867299e-01 8.19735443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:4.43, Z:0.08 [[ 9.96118380e-01 -8.65064920e-02 1.62726541e-02 2.95451548e+02] [ 8.65055279e-02 9.96251077e-01 7.64442566e-04 4.43031124e+00] [-1.62777784e-02 6.46199239e-04 9.99867299e-01 8.18302745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:4.43, Z:0.08 [[ 9.96417247e-01 -8.29932525e-02 1.62723870e-02 2.95480619e+02] [ 8.29917284e-02 9.96549939e-01 7.70085006e-04 4.43164475e+00] [-1.62801582e-02 5.83147545e-04 9.99867299e-01 7.99008502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:295.53, Y:4.43, Z:0.09 [[ 9.98560356e-01 -5.11119774e-02 1.62721218e-02 2.95532223e+02] [ 5.11061235e-02 9.98692927e-01 7.75650164e-04 4.43328402e+00] [-1.62904979e-02 5.70715608e-05 9.99867299e-01 9.37142522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:4.43, Z:0.08 [[ 9.97400240e-01 -7.01862568e-02 1.63294428e-02 2.95540454e+02] [ 7.02035766e-02 9.97532565e-01 -4.89137963e-04 4.42968097e+00] [-1.62548202e-02 1.63425161e-03 9.99866546e-01 8.02960050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:295.59, Y:4.43, Z:0.09 [[ 9.99034809e-01 -4.08020759e-02 1.62677855e-02 2.95585235e+02] [ 4.07946780e-02 9.99167241e-01 7.86477885e-04 4.43381581e+00] [-1.62863283e-02 -1.22079710e-04 9.99867362e-01 9.30116431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.432320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:295.61, Y:4.44, Z:0.09 [[ 9.98992793e-01 -4.18029281e-02 1.63068852e-02 2.95610425e+02] [ 4.18090236e-02 9.99125620e-01 -3.29192017e-05 4.43564732e+00] [-1.62912506e-02 7.14660993e-04 9.99867033e-01 8.85619817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:4.44, Z:0.09 [[ 9.99292749e-01 -3.38924777e-02 1.62880630e-02 2.95647996e+02] [ 3.38913080e-02 9.99425464e-01 3.47914106e-04 4.43906362e+00] [-1.62904966e-02 2.04355716e-04 9.99867280e-01 8.80931353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.492320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:295.67, Y:4.44, Z:0.09 [[ 9.99222845e-01 -3.58853834e-02 1.63078139e-02 2.95668560e+02] [ 3.58909677e-02 9.99355710e-01 -4.97937982e-05 4.43853085e+00] [-1.62955201e-02 6.35058324e-04 9.99867018e-01 8.71891122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:295.70, Y:4.44, Z:0.09 [[ 9.99427328e-01 -2.96680165e-02 1.62734153e-02 2.95701886e+02] [ 2.96620253e-02 9.99559800e-01 6.09460226e-04 4.44145099e+00] [-1.62843332e-02 -1.26408750e-04 9.99867393e-01 8.83386549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.552320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:295.73, Y:4.44, Z:0.09 [[ 9.99516380e-01 -2.64930243e-02 1.62826791e-02 2.95728172e+02] [ 2.64894732e-02 9.99648998e-01 4.33766082e-04 4.44378033e+00] [-1.62884556e-02 -2.23671343e-06 9.99867334e-01 8.66823960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:4.45, Z:0.08 [[ 9.99153649e-01 -3.77797159e-02 1.62689507e-02 2.95753434e+02] [ 3.77734608e-02 9.99286089e-01 6.91709492e-04 4.44513878e+00] [-1.62834687e-02 -7.65894925e-05 9.99867413e-01 7.63643051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:4.45, Z:0.08 [[ 9.99390378e-01 -3.08950574e-02 1.62594206e-02 2.95782573e+02] [ 3.08849920e-02 9.99522566e-01 8.69851644e-04 4.44630205e+00] [-1.62785320e-02 -3.67149287e-04 9.99867429e-01 8.26534019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:4.45, Z:0.09 [[ 9.99690291e-01 -1.88405245e-02 1.62590764e-02 2.95815012e+02] [ 1.88287619e-02 9.99822339e-01 8.76238796e-04 4.45033644e+00] [-1.62726966e-02 -5.69829138e-04 9.99867429e-01 8.87245105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:4.45, Z:0.08 [[ 9.99336579e-01 -3.25831263e-02 1.62708685e-02 2.95841419e+02] [ 3.25767576e-02 9.99469021e-01 6.56375042e-04 4.45327750e+00] [-1.62836158e-02 -1.25887450e-04 9.99867405e-01 7.85559664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:295.87, Y:4.46, Z:0.09 [[ 9.99711188e-01 -1.76971958e-02 1.62588245e-02 2.95873220e+02] [ 1.76852353e-02 9.99843218e-01 8.79127902e-04 4.45882801e+00] [-1.62718335e-02 -5.91332863e-04 9.99867430e-01 8.65382757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:295.90, Y:4.46, Z:0.09 [[ 9.99769585e-01 -1.40066040e-02 1.62662615e-02 2.95904231e+02] [ 1.39963792e-02 9.99901770e-01 7.42268782e-04 4.46250640e+00] [-1.62750604e-02 -5.14428987e-04 9.99867420e-01 8.66524663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:4.47, Z:0.08 [[ 9.99472819e-01 -2.80954732e-02 1.62704605e-02 2.95930184e+02] [ 2.80883717e-02 9.99605223e-01 6.64865874e-04 4.46733929e+00] [-1.62827170e-02 -2.07504628e-04 9.99867406e-01 7.55637781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:295.96, Y:4.47, Z:0.08 [[ 9.99467455e-01 -2.82926016e-02 1.62583949e-02 2.95957750e+02] [ 2.82819259e-02 9.99599593e-01 8.86225162e-04 4.46949038e+00] [-1.62769585e-02 -4.25934489e-04 9.99867431e-01 7.55316893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:4.47, Z:0.08 [[ 9.99433766e-01 -2.94587263e-02 1.62582576e-02 2.95986125e+02] [ 2.94481639e-02 9.99565914e-01 8.88735412e-04 4.47288219e+00] [-1.62773812e-02 -4.09456343e-04 9.99867431e-01 7.51207217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:4.48, Z:0.08 [[ 9.99660107e-01 -2.03800093e-02 1.62581199e-02 2.96020820e+02] [ 2.03682064e-02 9.99792149e-01 8.91247164e-04 4.47600978e+00] [-1.62729043e-02 -5.59795493e-04 9.99867431e-01 8.10020628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:4.48, Z:0.08 [[ 9.99669863e-01 -1.98814700e-02 1.62754787e-02 2.96045595e+02] [ 1.98747433e-02 9.99802312e-01 5.74956940e-04 4.47590917e+00] [-1.62836922e-02 -2.51296165e-04 9.99867380e-01 8.24793801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:4.48, Z:0.08 [[ 9.99642870e-01 -2.12100834e-02 1.62562489e-02 2.96079861e+02] [ 2.11978818e-02 9.99774874e-01 9.22541359e-04 4.48118673e+00] [-1.62721564e-02 -5.77613847e-04 9.99867433e-01 8.20710710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:4.48, Z:0.07 [[ 9.99201031e-01 -3.65022727e-02 1.62752350e-02 2.96106115e+02] [ 3.64977322e-02 9.99333570e-01 5.76015619e-04 4.48343466e+00] [-1.62854146e-02 1.84537692e-05 9.99867384e-01 7.04404582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:4.48, Z:0.08 [[ 9.99420334e-01 -2.99114677e-02 1.62573313e-02 2.96135854e+02] [ 2.99007889e-02 9.99552467e-01 8.99586678e-04 4.48371661e+00] [-1.62769636e-02 -4.12958186e-04 9.99867436e-01 8.00429178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:296.17, Y:4.49, Z:0.08 [[ 9.99493569e-01 -2.73546860e-02 1.62581399e-02 2.96168130e+02] [ 2.73439057e-02 9.99625694e-01 8.85033285e-04 4.48503077e+00] [-1.62762642e-02 -4.40024031e-04 9.99867436e-01 7.97944267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:4.49, Z:0.08 [[ 9.99591223e-01 -2.35100298e-02 1.62685248e-02 2.96206901e+02] [ 2.35017968e-02 9.99723552e-01 6.97092146e-04 4.48870550e+00] [-1.62804161e-02 -3.14467625e-04 9.99867416e-01 8.27874933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:4.49, Z:0.08 [[ 9.99104003e-01 -3.90590468e-02 1.62966803e-02 2.96225368e+02] [ 3.90612754e-02 9.99236801e-01 1.81650280e-04 4.48707017e+00] [-1.62913377e-02 4.55081595e-04 9.99867184e-01 7.53060336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.26, Y:4.49, Z:0.08 [[ 9.99406930e-01 -3.03571924e-02 1.62551355e-02 2.96263550e+02] [ 3.03461963e-02 9.99539022e-01 9.22752810e-04 4.48898244e+00] [-1.62756544e-02 -4.28924021e-04 9.99867451e-01 7.97214808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:4.49, Z:0.07 [[ 9.98552318e-01 -5.12650680e-02 1.62837762e-02 2.96284863e+02] [ 5.12652968e-02 9.98684989e-01 4.03649215e-04 4.48690992e+00] [-1.62830559e-02 4.31727759e-04 9.99867329e-01 6.64827326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:4.49, Z:0.07 [[ 9.98821903e-01 -4.57229311e-02 1.62548420e-02 2.96314167e+02] [ 4.57140659e-02 9.98954145e-01 9.16728866e-04 4.48580484e+00] [-1.62797573e-02 -1.72573951e-04 9.99867461e-01 7.28746413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:4.49, Z:0.07 [[ 9.98802885e-01 -4.61366159e-02 1.62545038e-02 2.96342982e+02] [ 4.61277085e-02 9.98935125e-01 9.22686384e-04 4.48705062e+00] [-1.62797645e-02 -1.71798808e-04 9.99867461e-01 7.24102240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:4.49, Z:0.06 [[ 9.98472297e-01 -5.28098040e-02 1.62541189e-02 2.96371274e+02] [ 5.28016709e-02 9.98604586e-01 9.29417775e-04 4.48981269e+00] [-1.62805201e-02 -6.97532618e-05 9.99867461e-01 6.29259389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:4.49, Z:0.06 [[ 9.98411094e-01 -5.39546271e-02 1.62537829e-02 2.96399807e+02] [ 5.39465506e-02 9.98543387e-01 9.35258229e-04 4.49045346e+00] [-1.62805689e-02 -5.69366716e-05 9.99867461e-01 6.07634288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:296.44, Y:4.49, Z:0.07 [[ 9.99018644e-01 -4.12016566e-02 1.62533916e-02 2.96438261e+02] [ 4.11917818e-02 9.99150814e-01 9.42008684e-04 4.49288573e+00] [-1.62784018e-02 -2.71578077e-04 9.99867461e-01 7.10707806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.302320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:296.47, Y:4.49, Z:0.08 [[ 9.99235374e-01 -3.55455228e-02 1.62844556e-02 2.96474927e+02] [ 3.55437115e-02 9.99368042e-01 4.00727156e-04 4.49316176e+00] [-1.62884086e-02 1.78389243e-04 9.99867319e-01 7.68576589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:4.49, Z:0.06 [[ 9.98117314e-01 -5.91268786e-02 1.63046072e-02 2.96490668e+02] [ 5.91339598e-02 9.98250055e-01 4.78835759e-05 4.49016700e+00] [-1.62789062e-02 9.16362558e-04 9.99867070e-01 6.07349831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:4.49, Z:0.06 [[ 9.98014480e-01 -6.08523927e-02 1.62506896e-02 2.96519093e+02] [ 6.08448217e-02 9.98146775e-01 9.60361207e-04 4.48987455e+00] [-1.62790137e-02 3.03159214e-05 9.99867488e-01 6.03503697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:296.56, Y:4.49, Z:0.07 [[ 9.98719236e-01 -4.79146732e-02 1.62502905e-02 2.96556480e+02] [ 4.79052793e-02 9.98851415e-01 9.67068044e-04 4.49352328e+00] [-1.62779624e-02 -1.87354753e-04 9.99867488e-01 6.64654306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:4.49, Z:0.07 [[ 9.98784452e-01 -4.65250362e-02 1.62800434e-02 2.96586086e+02] [ 4.65236299e-02 9.98917081e-01 4.65306857e-04 4.49404429e+00] [-1.62840619e-02 2.92665461e-04 9.99867363e-01 6.77559067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:4.49, Z:0.07 [[ 9.98611841e-01 -5.00942220e-02 1.62775732e-02 2.96615845e+02] [ 5.00926211e-02 9.98744448e-01 5.06311126e-04 4.49332506e+00] [-1.62824992e-02 3.09778023e-04 9.99867383e-01 6.70349785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:296.64, Y:4.49, Z:0.06 [[ 9.97533614e-01 -6.82775331e-02 1.62747379e-02 2.96637238e+02] [ 6.82775989e-02 9.97666209e-01 5.52242125e-04 4.49024561e+00] [-1.62744618e-02 5.60319943e-04 9.99867405e-01 5.82722457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:4.49, Z:0.06 [[ 9.97431359e-01 -6.97623289e-02 1.62450543e-02 2.96665565e+02] [ 6.97549119e-02 9.97563634e-01 1.02343910e-03 4.49129994e+00] [-1.62768729e-02 1.12362077e-04 9.99867517e-01 5.69026232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:4.49, Z:0.05 [[ 9.97231704e-01 -7.25606000e-02 1.62446310e-02 2.96694792e+02] [ 7.25534454e-02 9.97363994e-01 1.03011377e-03 4.49304667e+00] [-1.62765557e-02 1.51341837e-04 9.99867517e-01 5.39250328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:4.49, Z:0.05 [[ 9.97165107e-01 -7.34702172e-02 1.62442612e-02 2.96723328e+02] [ 7.34630888e-02 9.97297399e-01 1.03591285e-03 4.49326392e+00] [-1.62764682e-02 1.60377454e-04 9.99867517e-01 5.36774382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:4.49, Z:0.05 [[ 9.96997523e-01 -7.57104806e-02 1.62438353e-02 2.96751491e+02] [ 7.57035414e-02 9.97129825e-01 1.04254815e-03 4.49281234e+00] [-1.62761445e-02 1.90297940e-04 9.99867517e-01 5.35653797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:4.49, Z:0.05 [[ 9.96759792e-01 -7.87786004e-02 1.62434082e-02 2.96781127e+02] [ 7.87719607e-02 9.96892109e-01 1.04916093e-03 4.49244439e+00] [-1.62755769e-02 2.33763680e-04 9.99867517e-01 5.24213385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:4.49, Z:0.05 [[ 9.96672690e-01 -7.98731040e-02 1.62430347e-02 2.96809621e+02] [ 7.98665159e-02 9.96805009e-01 1.05491290e-03 4.49316353e+00] [-1.62753975e-02 2.45871704e-04 9.99867517e-01 5.20541203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:4.49, Z:0.05 [[ 9.96335610e-01 -8.39733924e-02 1.62426061e-02 2.96837554e+02] [ 8.39672419e-02 9.96467950e-01 1.06147096e-03 4.49298380e+00] [-1.62743717e-02 3.06265516e-04 9.99867517e-01 5.14485223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:4.49, Z:0.05 [[ 9.96234917e-01 -8.51597462e-02 1.62421771e-02 2.96865542e+02] [ 8.51536469e-02 9.96367260e-01 1.06799449e-03 4.49351374e+00] [-1.62741237e-02 3.19107216e-04 9.99867517e-01 5.04079470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.89, Y:4.49, Z:0.05 [[ 9.96253072e-01 -8.49471725e-02 1.62417471e-02 2.96894354e+02] [ 8.49409391e-02 9.96385409e-01 1.07449519e-03 4.49384331e+00] [-1.62743151e-02 3.09120109e-04 9.99867517e-01 4.88464169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:4.50, Z:0.05 [[ 9.96338493e-01 -8.39394202e-02 1.62413110e-02 2.96923220e+02] [ 8.39329462e-02 9.96470818e-01 1.08104580e-03 4.49629194e+00] [-1.62747349e-02 2.86093546e-04 9.99867517e-01 4.73386063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:4.50, Z:0.05 [[ 9.96761213e-01 -7.87611359e-02 1.62409283e-02 2.96952166e+02] [ 7.87538812e-02 9.96893497e-01 1.08676569e-03 4.49721925e+00] [-1.62760707e-02 1.95790247e-04 9.99867517e-01 4.76495210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:4.50, Z:0.05 [[ 9.96758428e-01 -7.87964566e-02 1.62405415e-02 2.96980433e+02] [ 7.87891129e-02 9.96890707e-01 1.09251494e-03 4.49783753e+00] [-1.62761312e-02 1.90604385e-04 9.99867517e-01 4.68635576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:4.50, Z:0.05 [[ 9.96934864e-01 -7.65319318e-02 1.62400930e-02 2.97009765e+02] [ 7.65241797e-02 9.97067120e-01 1.09914266e-03 4.50019415e+00] [-1.62765822e-02 1.46986150e-04 9.99867517e-01 4.69332846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:4.50, Z:0.04 [[ 9.96980052e-01 -7.59410866e-02 1.62396995e-02 2.97038068e+02] [ 7.59331619e-02 9.97112298e-01 1.10492512e-03 4.50185736e+00] [-1.62767133e-02 1.31543428e-04 9.99867517e-01 4.44320068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:4.50, Z:0.05 [[ 9.97051996e-01 -7.49906976e-02 1.62392453e-02 2.97067153e+02] [ 7.49825387e-02 9.97184227e-01 1.11156201e-03 4.50232170e+00] [-1.62768760e-02 1.09374713e-04 9.99867517e-01 4.66732379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:4.50, Z:0.05 [[ 9.97356183e-01 -7.08303850e-02 1.62388453e-02 2.97095492e+02] [ 7.08215799e-02 9.97488374e-01 1.11737431e-03 4.50340351e+00] [-1.62772035e-02 3.56405067e-05 9.99867517e-01 4.87367244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:4.51, Z:0.05 [[ 9.97454325e-01 -6.94347490e-02 1.62383826e-02 2.97123962e+02] [ 6.94256502e-02 9.97586495e-01 1.12405953e-03 4.50634680e+00] [-1.62772399e-02 6.16222947e-06 9.99867517e-01 4.69411209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:4.51, Z:0.05 [[ 9.97594105e-01 -6.73968218e-02 1.62379149e-02 2.97151836e+02] [ 6.73873436e-02 9.97726249e-01 1.13077449e-03 4.50965578e+00] [-1.62772046e-02 -3.38240096e-05 9.99867517e-01 4.55832407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:4.51, Z:0.04 [[ 9.97716721e-01 -6.55567709e-02 1.62374451e-02 2.97180812e+02] [ 6.55469399e-02 9.97848839e-01 1.13748086e-03 4.51349384e+00] [-1.62770853e-02 -7.05688330e-05 9.99867517e-01 4.32319354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:4.51, Z:0.04 [[ 9.97665857e-01 -6.63264350e-02 1.62370323e-02 2.97209542e+02] [ 6.63166105e-02 9.97797976e-01 1.14334399e-03 4.51449000e+00] [-1.62771119e-02 -6.38903187e-05 9.99867517e-01 4.42867817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:4.51, Z:0.04 [[ 9.97658204e-01 -6.64415776e-02 1.62365556e-02 2.97238345e+02] [ 6.64316588e-02 9.97790315e-01 1.15007411e-03 4.51445736e+00] [-1.62770906e-02 -6.87595495e-05 9.99867517e-01 4.47743369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:4.52, Z:0.04 [[ 9.97600157e-01 -6.73076189e-02 1.62361368e-02 2.97267149e+02] [ 6.72977190e-02 9.97732269e-01 1.15595626e-03 4.51590373e+00] [-1.62771223e-02 -6.05271762e-05 9.99867517e-01 4.45098076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:4.52, Z:0.04 [[ 9.97578974e-01 -6.76209482e-02 1.62357168e-02 2.97295472e+02] [ 6.76109944e-02 9.97711082e-01 1.16182474e-03 4.51794753e+00] [-1.62771183e-02 -6.12989731e-05 9.99867517e-01 4.43229340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:4.52, Z:0.04 [[ 9.97587790e-01 -6.74908828e-02 1.62352344e-02 2.97323885e+02] [ 6.74808026e-02 9.97719888e-01 1.16852778e-03 4.52052000e+00] [-1.62770812e-02 -7.01423989e-05 9.99867517e-01 4.21854998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:4.52, Z:0.04 [[ 9.97535805e-01 -6.82550400e-02 1.62347484e-02 2.97351866e+02] [ 6.82449518e-02 9.97667903e-01 1.17524143e-03 4.52191100e+00] [-1.62771035e-02 -6.44057875e-05 9.99867517e-01 4.21420275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:4.52, Z:0.04 [[ 9.97399879e-01 -7.02134653e-02 1.62342608e-02 2.97380122e+02] [ 7.02035275e-02 9.97531988e-01 1.18193812e-03 4.52319774e+00] [-1.62771825e-02 -3.91625586e-05 9.99867517e-01 4.20541521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:4.53, Z:0.05 [[ 9.98565113e-01 -5.10311689e-02 1.62337687e-02 2.97416483e+02] [ 5.10185846e-02 9.98696997e-01 1.18865865e-03 4.52509172e+00] [-1.62732747e-02 -3.58729153e-04 9.99867517e-01 5.29529386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:4.53, Z:0.04 [[ 9.97257364e-01 -7.22026474e-02 1.62642974e-02 2.97438489e+02] [ 7.21996720e-02 9.97389900e-01 7.70810945e-04 4.52568388e+00] [-1.62775006e-02 4.05580047e-04 9.99867430e-01 4.22353390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:4.53, Z:0.04 [[ 9.97323845e-01 -7.12857636e-02 1.62323008e-02 2.97466403e+02] [ 7.12756302e-02 9.97455933e-01 1.20268207e-03 4.52736952e+00] [-1.62767388e-02 -4.24960379e-05 9.99867524e-01 4.36004755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:4.53, Z:0.04 [[ 9.97342850e-01 -7.10194929e-02 1.62318029e-02 2.97494455e+02] [ 7.10092155e-02 9.97474926e-01 1.20936458e-03 4.52924903e+00] [-1.62767049e-02 -5.35435265e-05 9.99867524e-01 4.31480485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:4.53, Z:0.04 [[ 9.97392930e-01 -7.03127823e-02 1.62313006e-02 2.97523054e+02] [ 7.03023021e-02 9.97524991e-01 1.21606841e-03 4.53349831e+00] [-1.62766332e-02 -7.18002365e-05 9.99867524e-01 3.98931645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:4.54, Z:0.04 [[ 9.97403095e-01 -7.01685525e-02 1.62308607e-02 2.97551719e+02] [ 7.01579582e-02 9.97535146e-01 1.22191209e-03 4.53673478e+00] [-1.62765938e-02 -8.00148504e-05 9.99867524e-01 3.99572174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:4.54, Z:0.04 [[ 9.97577752e-01 -6.76402345e-02 1.62304182e-02 2.97580457e+02] [ 6.76292104e-02 9.97709769e-01 1.22776131e-03 4.53973534e+00] [-1.62762929e-02 -1.27136995e-04 9.99867524e-01 4.19836930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:4.54, Z:0.04 [[ 9.97704566e-01 -6.57433404e-02 1.62299735e-02 2.97609017e+02] [ 6.57319701e-02 9.97836553e-01 1.23361227e-03 4.54165640e+00] [-1.62759626e-02 -1.63952460e-04 9.99867524e-01 4.13081861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:4.54, Z:0.04 [[ 9.97783668e-01 -6.45318286e-02 1.62294580e-02 2.97636752e+02] [ 6.45201883e-02 9.97915631e-01 1.24035768e-03 4.54430671e+00] [-1.62756724e-02 -1.90480949e-04 9.99867524e-01 4.10390421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:4.55, Z:0.04 [[ 9.97858158e-01 -6.33696983e-02 1.62289419e-02 2.97664741e+02] [ 6.33577951e-02 9.97990097e-01 1.24707378e-03 4.55015914e+00] [-1.62753500e-02 -2.16172770e-04 9.99867524e-01 3.84186750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:4.55, Z:0.04 [[ 9.97864793e-01 -6.32652608e-02 1.62284237e-02 2.97693110e+02] [ 6.32532347e-02 9.97996722e-01 1.25378127e-03 4.55280185e+00] [-1.62752344e-02 -2.24603894e-04 9.99867524e-01 3.76257854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:4.56, Z:0.04 [[ 9.97907289e-01 -6.25915081e-02 1.62279000e-02 2.97721500e+02] [ 6.25792833e-02 9.98039200e-01 1.26052358e-03 4.55553900e+00] [-1.62749784e-02 -2.42355322e-04 9.99867524e-01 3.78790026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:4.56, Z:0.04 [[ 9.97852201e-01 -6.34638191e-02 1.62273747e-02 2.97749656e+02] [ 6.34516002e-02 9.97984112e-01 1.26724990e-03 4.55769763e+00] [-1.62750867e-02 -2.34875206e-04 9.99867524e-01 3.72908053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.682320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:297.78, Y:4.56, Z:0.04 [[ 9.97819519e-01 -6.39757579e-02 1.62268483e-02 2.97777829e+02] [ 6.39634977e-02 9.97951426e-01 1.27395431e-03 4.56006480e+00] [-1.62751086e-02 -2.33250499e-04 9.99867524e-01 3.70260163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:297.81, Y:4.56, Z:0.04 [[ 9.97745146e-01 -6.51254888e-02 1.62263180e-02 2.97806352e+02] [ 6.51132714e-02 9.97877057e-01 1.28067419e-03 4.56210501e+00] [-1.62752750e-02 -2.21237808e-04 9.99867524e-01 3.65867171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:4.56, Z:0.04 [[ 9.97480830e-01 -6.90559010e-02 1.62257859e-02 2.97835120e+02] [ 6.90440943e-02 9.97612778e-01 1.28738058e-03 4.56202455e+00] [-1.62759526e-02 -1.63842762e-04 9.99867524e-01 3.59455498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:297.86, Y:4.56, Z:0.04 [[ 9.97290276e-01 -7.17554485e-02 1.62253184e-02 2.97863500e+02] [ 7.17439036e-02 9.97422248e-01 1.29324530e-03 4.56186681e+00] [-1.62762910e-02 -1.25673286e-04 9.99867525e-01 3.56582968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:4.56, Z:0.04 [[ 9.96932797e-01 -7.65620960e-02 1.62247803e-02 2.97892455e+02] [ 7.65510781e-02 9.97064814e-01 1.29996211e-03 4.55803703e+00] [-1.62766853e-02 -5.39504460e-05 9.99867525e-01 3.59140002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:297.92, Y:4.56, Z:0.04 [[ 9.96848389e-01 -7.76534830e-02 1.62242399e-02 2.97920348e+02] [ 7.76425004e-02 9.96980408e-01 1.30667142e-03 4.55870354e+00] [-1.62767169e-02 -4.28627455e-05 9.99867525e-01 3.50740882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:4.56, Z:0.03 [[ 9.96953700e-01 -7.62896510e-02 1.62236962e-02 2.97948092e+02] [ 7.62783785e-02 9.97085695e-01 1.31338778e-03 4.56154530e+00] [-1.62766133e-02 -7.18695702e-05 9.99867525e-01 3.39336846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89232058799996 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:297.99, Y:4.57, Z:0.04 [[ 9.98042386e-01 -6.04003700e-02 1.62231481e-02 2.97985542e+02] [ 6.03868871e-02 9.98174174e-01 1.32012323e-03 4.56944192e+00] [-1.62732634e-02 -3.37873526e-04 9.99867525e-01 3.95846907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:4.57, Z:0.03 [[ 9.96970003e-01 -7.60677296e-02 1.62638695e-02 2.98004904e+02] [ 7.60645286e-02 9.97102563e-01 8.16216064e-04 4.57045279e+00] [-1.62788337e-02 4.23360637e-04 9.99867401e-01 2.92738510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:4.57, Z:0.03 [[ 9.96909155e-01 -7.68700615e-02 1.62212860e-02 2.98033733e+02] [ 7.68585299e-02 9.97041116e-01 1.33403868e-03 4.57048707e+00] [-1.62758367e-02 -8.31711813e-05 9.99867536e-01 3.08563349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:298.06, Y:4.57, Z:0.03 [[ 9.96847636e-01 -7.76638800e-02 1.62207322e-02 2.98062715e+02] [ 7.76523444e-02 9.96979597e-01 1.34073815e-03 4.57199767e+00] [-1.62758660e-02 -7.69337697e-05 9.99867536e-01 3.27666247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:298.09, Y:4.57, Z:0.03 [[ 9.96816322e-01 -7.80648728e-02 1.62202463e-02 2.98091207e+02] [ 7.80532951e-02 9.96948278e-01 1.34659140e-03 4.57367495e+00] [-1.62758681e-02 -7.62606192e-05 9.99867536e-01 3.28240638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:4.58, Z:0.03 [[ 9.96808891e-01 -7.81598087e-02 1.62196859e-02 2.98119045e+02] [ 7.81481342e-02 9.96940840e-01 1.35330853e-03 4.57680495e+00] [-1.62758416e-02 -8.14517922e-05 9.99867536e-01 3.18464649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:4.58, Z:0.03 [[ 9.96776542e-01 -7.85714100e-02 1.62191185e-02 2.98147819e+02] [ 7.85596799e-02 9.96908485e-01 1.36007404e-03 4.57883710e+00] [-1.62758398e-02 -8.15211375e-05 9.99867536e-01 3.13829236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10232058799994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:298.18, Y:4.58, Z:0.03 [[ 9.96762381e-01 -7.87509680e-02 1.62185542e-02 2.98176105e+02] [ 7.87391528e-02 9.96894316e-01 1.36677019e-03 4.58224039e+00] [-1.62758190e-02 -8.53098924e-05 9.99867536e-01 2.91954997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:298.20, Y:4.58, Z:0.03 [[ 9.96743666e-01 -7.89875989e-02 1.62179877e-02 2.98204199e+02] [ 7.89757061e-02 9.96875595e-01 1.37346017e-03 4.58497767e+00] [-1.62758024e-02 -8.81606927e-05 9.99867536e-01 2.79668983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16232058799994 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:298.24, Y:4.59, Z:0.04 [[ 9.98036580e-01 -6.04977654e-02 1.62174169e-02 2.98239943e+02] [ 6.04833202e-02 9.98168254e-01 1.38016665e-03 4.59059663e+00] [-1.62712077e-02 -3.96573582e-04 9.99867536e-01 3.97467657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.192320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:298.26, Y:4.59, Z:0.03 [[ 9.96982299e-01 -7.59094596e-02 1.62496098e-02 2.98262995e+02] [ 7.59032286e-02 9.97114687e-01 1.00074086e-03 4.59296920e+00] [-1.62786903e-02 2.35676921e-04 9.99867466e-01 2.95631029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.29, Y:4.60, Z:0.03 [[ 9.97007151e-01 -7.55895292e-02 1.62161367e-02 2.98290881e+02] [ 7.55769018e-02 9.97139006e-01 1.39098564e-03 4.59656733e+00] [-1.62748863e-02 -1.61257267e-04 9.99867542e-01 2.88064603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.252320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:298.32, Y:4.60, Z:0.03 [[ 9.97018093e-01 -7.54451945e-02 1.62155596e-02 2.98319477e+02] [ 7.54324391e-02 9.97149935e-01 1.39768056e-03 4.60027543e+00] [-1.62747925e-02 -1.70333595e-04 9.99867542e-01 2.81405921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28232058799995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:298.35, Y:4.60, Z:0.03 [[ 9.97056716e-01 -7.49331618e-02 1.62149794e-02 2.98348027e+02] [ 7.49202298e-02 9.97188541e-01 1.40438007e-03 4.60346583e+00] [-1.62746263e-02 -1.85416602e-04 9.99867542e-01 2.82515962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.312320588 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:298.38, Y:4.61, Z:0.04 [[ 9.98255046e-01 -5.67798990e-02 1.62143963e-02 2.98382228e+02] [ 5.67644619e-02 9.98386601e-01 1.41107934e-03 4.60662056e+00] [-1.62683570e-02 -4.88215589e-04 9.99867542e-01 3.86396270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:298.41, Y:4.61, Z:0.03 [[ 9.97289954e-01 -7.17582674e-02 1.62326675e-02 2.98407646e+02] [ 7.17482243e-02 9.97422052e-01 1.20097438e-03 4.60946439e+00] [-1.62770004e-02 -3.30546135e-05 9.99867520e-01 3.06706592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:4.61, Z:0.03 [[ 9.97400380e-01 -7.02111161e-02 1.62136268e-02 2.98435675e+02] [ 7.01973289e-02 9.97532116e-01 1.41860142e-03 4.61491447e+00] [-1.62732150e-02 -2.76760306e-04 9.99867544e-01 2.77545766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.46, Y:4.62, Z:0.03 [[ 9.97417481e-01 -6.99678853e-02 1.62130395e-02 2.98463901e+02] [ 6.99539574e-02 9.97549203e-01 1.42528213e-03 4.61856716e+00] [-1.62730286e-02 -2.87435039e-04 9.99867544e-01 2.71345659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.432320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:298.50, Y:4.62, Z:0.03 [[ 9.98331081e-01 -5.54275178e-02 1.62124490e-02 2.98501566e+02] [ 5.54115637e-02 9.98462572e-01 1.43196741e-03 4.62461552e+00] [-1.62668939e-02 -5.31220420e-04 9.99867544e-01 3.33525694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.52, Y:4.63, Z:0.03 [[ 9.97599647e-01 -6.73108720e-02 1.62539489e-02 2.98522871e+02] [ 6.73041637e-02 9.97732042e-01 9.59999590e-04 4.62656003e+00] [-1.62817040e-02 1.36263183e-04 9.99867435e-01 2.81839033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.492320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:298.55, Y:4.63, Z:0.03 [[ 9.97627644e-01 -6.69050885e-02 1.62109192e-02 2.98551296e+02] [ 6.68904635e-02 9.97759281e-01 1.44331780e-03 4.62874092e+00] [-1.62711604e-02 -3.55537836e-04 9.99867553e-01 2.81672047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:298.58, Y:4.63, Z:0.03 [[ 9.97713383e-01 -6.56142607e-02 1.62103219e-02 2.98579183e+02] [ 6.55993570e-02 9.97844989e-01 1.44999498e-03 4.63134043e+00] [-1.62705288e-02 -3.83292704e-04 9.99867553e-01 2.81170357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.552320588 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:298.61, Y:4.64, Z:0.03 [[ 9.97819143e-01 -6.39859592e-02 1.62097210e-02 2.98607620e+02] [ 6.39707321e-02 9.97950712e-01 1.45668154e-03 4.63502014e+00] [-1.62697098e-02 -4.16557008e-04 9.99867553e-01 2.90362006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:298.64, Y:4.64, Z:0.03 [[ 9.98473243e-01 -5.28057523e-02 1.62091186e-02 2.98643058e+02] [ 5.27889443e-02 9.98604619e-01 1.46335472e-03 4.64077171e+00] [-1.62637742e-02 -6.05458270e-04 9.99867553e-01 3.10649324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.67, Y:4.64, Z:0.03 [[ 9.97824744e-01 -6.38902606e-02 1.62424016e-02 2.98665631e+02] [ 6.38809205e-02 9.97956929e-01 1.09374906e-03 4.64326291e+00] [-1.62790971e-02 -5.37903075e-05 9.99867485e-01 2.63748498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.69, Y:4.65, Z:0.03 [[ 9.97768259e-01 -6.47751201e-02 1.62075696e-02 2.98694207e+02] [ 6.47596805e-02 9.97899797e-01 1.47619284e-03 4.64503092e+00] [-1.62691510e-02 -4.23301332e-04 9.99867559e-01 2.63951668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.672320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:298.73, Y:4.65, Z:0.03 [[ 9.98388604e-01 -5.43831791e-02 1.62069596e-02 2.98728714e+02] [ 5.43662627e-02 9.98519960e-01 1.48286033e-03 4.64823860e+00] [-1.62636153e-02 -5.99359031e-04 9.99867559e-01 3.03709795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70232058799996 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:298.75, Y:4.65, Z:0.03 [[ 9.98359655e-01 -5.49040060e-02 1.62341750e-02 2.98754122e+02] [ 5.48919980e-02 9.98491595e-01 1.18467927e-03 4.64977814e+00] [-1.62747309e-02 -2.91609684e-04 9.99867515e-01 3.32272739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:298.79, Y:4.66, Z:0.03 [[ 9.98456192e-01 -5.31247830e-02 1.62169532e-02 2.98790743e+02] [ 5.31095021e-02 9.98587752e-01 1.37180121e-03 4.65558242e+00] [-1.62669275e-02 -5.08409099e-04 9.99867556e-01 2.87808886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:298.81, Y:4.66, Z:0.02 [[ 9.97681496e-01 -6.60856549e-02 1.62578980e-02 2.98809648e+02] [ 6.60793588e-02 9.97813942e-01 9.24737908e-04 4.65669279e+00] [-1.62834692e-02 1.51717572e-04 9.99867404e-01 2.41036382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:298.85, Y:4.66, Z:0.03 [[ 9.98517856e-01 -5.19569748e-02 1.62038005e-02 2.98845676e+02] [ 5.19393553e-02 9.98649104e-01 1.50659845e-03 4.66285012e+00] [-1.62601891e-02 -6.62750501e-04 9.99867575e-01 2.67136579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:298.87, Y:4.66, Z:0.02 [[ 9.97823458e-01 -6.39098194e-02 1.62444543e-02 2.98867660e+02] [ 6.39009313e-02 9.97955678e-01 1.06614219e-03 4.66469556e+00] [-1.62793824e-02 -2.57859228e-05 9.99867482e-01 2.17130357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:298.90, Y:4.67, Z:0.02 [[ 9.97799054e-01 -6.43003061e-02 1.62024188e-02 2.98895943e+02] [ 6.42841659e-02 9.97930483e-01 1.51555193e-03 4.66654126e+00] [-1.62663381e-02 -4.70657306e-04 9.99867584e-01 2.33561406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88232058799997 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:298.94, Y:4.67, Z:0.03 [[ 9.98570824e-01 -5.09294826e-02 1.62017921e-02 2.98935064e+02] [ 5.09114753e-02 9.98702010e-01 1.52222209e-03 4.67108198e+00] [-1.62582884e-02 -6.95189424e-04 9.99867584e-01 2.65065178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:298.96, Y:4.67, Z:0.03 [[ 9.98544938e-01 -5.14170119e-02 1.62572332e-02 2.98962192e+02] [ 5.14087400e-02 9.98677267e-01 9.26592469e-04 4.67244610e+00] [-1.62833718e-02 -8.94803460e-05 9.99867413e-01 2.53528435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942320588 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:298.99, Y:4.67, Z:0.03 [[ 9.98542642e-01 -5.14657426e-02 1.62440477e-02 2.98993367e+02] [ 5.14552370e-02 9.98674735e-01 1.06429769e-03 4.67404073e+00] [-1.62772949e-02 -2.26905300e-04 9.99867490e-01 2.91461631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:299.02, Y:4.68, Z:0.02 [[ 9.98381717e-01 -5.44981162e-02 1.62450587e-02 2.99022121e+02] [ 5.44881829e-02 9.98513859e-01 1.05378164e-03 4.67748911e+00] [-1.62783453e-02 -1.66912593e-04 9.99867485e-01 2.37700793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:299.05, Y:4.68, Z:0.02 [[ 9.98655377e-01 -4.92313843e-02 1.62391292e-02 2.99050689e+02] [ 4.92197570e-02 9.98787351e-01 1.11514436e-03 4.68233380e+00] [-1.62743369e-02 -3.14358922e-04 9.99867515e-01 2.38951281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:299.07, Y:4.68, Z:0.02 [[ 9.97749468e-01 -6.50535547e-02 1.62491457e-02 2.99070966e+02] [ 6.50457165e-02 9.97881773e-01 1.01097452e-03 4.68287174e+00] [-1.62804938e-02 4.82380344e-05 9.99867463e-01 1.74643987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:299.11, Y:4.69, Z:0.03 [[ 9.98637416e-01 -4.96092706e-02 1.61935460e-02 2.99106541e+02] [ 4.95901467e-02 9.98768401e-01 1.58062354e-03 4.68650675e+00] [-1.62520156e-02 -7.75429490e-04 9.99867627e-01 2.65182666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.14, Y:4.69, Z:0.02 [[ 9.98729452e-01 -4.77083082e-02 1.62295982e-02 2.99139783e+02] [ 4.76949287e-02 9.98861216e-01 1.21067348e-03 4.68947499e+00] [-1.62688754e-02 -4.35065732e-04 9.99867558e-01 2.47201753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.17, Y:4.69, Z:0.02 [[ 9.98428844e-01 -5.36263740e-02 1.62497967e-02 2.99168182e+02] [ 5.36171553e-02 9.98561062e-01 1.00275922e-03 4.69150251e+00] [-1.62801886e-02 -1.29915854e-04 9.99867461e-01 1.91277906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:299.20, Y:4.69, Z:0.02 [[ 9.98466338e-01 -5.29268261e-02 1.62395751e-02 2.99199332e+02] [ 5.29158339e-02 9.98598363e-01 1.10612746e-03 4.69239603e+00] [-1.62753570e-02 -2.45100369e-04 9.99867518e-01 2.04614858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.22, Y:4.69, Z:0.02 [[ 9.98377692e-01 -5.45725525e-02 1.62425265e-02 2.99224903e+02] [ 5.45622602e-02 9.98509790e-01 1.07646179e-03 4.69291939e+00] [-1.62770669e-02 -1.88486483e-04 9.99867502e-01 2.25559270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:4.70, Z:0.02 [[ 9.98209712e-01 -5.75677108e-02 1.62274434e-02 2.99259327e+02] [ 5.75553799e-02 9.98341562e-01 1.22626394e-03 4.69529596e+00] [-1.62711244e-02 -2.90091903e-04 9.99867574e-01 1.98557304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.242320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:299.29, Y:4.70, Z:0.02 [[ 9.98196920e-01 -5.77809412e-02 1.62564124e-02 2.99288060e+02] [ 5.77733234e-02 9.98329286e-01 9.38229726e-04 4.69574967e+00] [-1.62834643e-02 2.64894541e-06 9.99867416e-01 2.03021920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.32, Y:4.70, Z:0.02 [[ 9.98070278e-01 -5.99335067e-02 1.62386856e-02 2.99318744e+02] [ 5.99233560e-02 9.98202362e-01 1.11138440e-03 4.69730061e+00] [-1.62761035e-02 -1.36163201e-04 9.99867526e-01 1.77810646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.34, Y:4.70, Z:0.01 [[ 9.96812011e-01 -7.81139406e-02 1.62489130e-02 2.99336952e+02] [ 7.81078209e-02 9.96944404e-01 1.01187899e-03 4.69565730e+00] [-1.62783047e-02 2.60514049e-04 9.99867466e-01 9.27321580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.38, Y:4.70, Z:0.02 [[ 9.97872910e-01 -6.31500410e-02 1.61779756e-02 2.99377514e+02] [ 6.31309153e-02 9.98003822e-01 1.69070062e-03 4.69684113e+00] [-1.62524493e-02 -6.65773938e-04 9.99867699e-01 1.69141038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.40, Y:4.70, Z:0.01 [[ 9.96661721e-01 -8.00094197e-02 1.62452130e-02 2.99396401e+02] [ 8.00030388e-02 9.96794074e-01 1.04332832e-03 4.69682768e+00] [-1.62766081e-02 2.59821009e-04 9.99867493e-01 1.08781735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.44, Y:4.70, Z:0.01 [[ 9.97843425e-01 -6.36149154e-02 1.61753686e-02 2.99435806e+02] [ 6.35956085e-02 9.97974293e-01 1.70570415e-03 4.70360400e+00] [-1.62511103e-02 -6.73343258e-04 9.99867715e-01 1.41750427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.47, Y:4.71, Z:0.01 [[ 9.97957391e-01 -6.17852239e-02 1.62367254e-02 2.99465228e+02] [ 6.17751209e-02 9.98089461e-01 1.12352173e-03 4.70597490e+00] [-1.62751216e-02 -1.18201137e-04 9.99867544e-01 1.45220033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.50, Y:4.71, Z:0.01 [[ 9.97757650e-01 -6.49328907e-02 1.62293192e-02 2.99495027e+02] [ 6.49220688e-02 9.97889624e-01 1.19333879e-03 4.70760185e+00] [-1.62725561e-02 -1.37021937e-04 9.99867584e-01 1.29799171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:299.53, Y:4.71, Z:0.01 [[ 9.97749782e-01 -6.50542148e-02 1.62271999e-02 2.99525479e+02] [ 6.50430890e-02 9.97881719e-01 1.21301526e-03 4.70933641e+00] [-1.62717379e-02 -1.54818507e-04 9.99867595e-01 1.32712714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.54, Y:4.71, Z:0.01 [[ 9.96581736e-01 -8.10015842e-02 1.62353722e-02 2.99542917e+02] [ 8.09937998e-02 9.96713956e-01 1.13751186e-03 4.71087723e+00] [-1.62741624e-02 1.81340948e-04 9.99867551e-01 7.09426200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.57, Y:4.71, Z:0.01 [[ 9.96659547e-01 -8.00526738e-02 1.61652976e-02 2.99570757e+02] [ 8.00343955e-02 9.96790521e-01 1.77553494e-03 4.71490943e+00] [-1.62555517e-02 -4.75824033e-04 9.99867757e-01 5.37360657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.60, Y:4.72, Z:0.00 [[ 9.96939664e-01 -7.64853773e-02 1.61645632e-02 2.99598685e+02] [ 7.64665226e-02 9.97070557e-01 1.78219568e-03 4.72215172e+00] [-1.62535219e-02 -5.40693621e-04 9.99867757e-01 3.75648873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.64, Y:4.73, Z:0.01 [[ 9.98111835e-01 -5.92578814e-02 1.61638270e-02 2.99640492e+02] [ 5.92366616e-02 9.98242364e-01 1.78884781e-03 4.73069130e+00] [-1.62414202e-02 -8.27979014e-04 9.99867757e-01 1.04931122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.67, Y:4.74, Z:0.01 [[ 9.98296080e-01 -5.60462495e-02 1.62405121e-02 2.99668816e+02] [ 5.60358149e-02 9.98428156e-01 1.09721031e-03 4.73665133e+00] [-1.62764791e-02 -1.85290424e-04 9.99867512e-01 1.10866172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:299.70, Y:4.74, Z:0.01 [[ 9.98553302e-01 -5.12648910e-02 1.62238807e-02 2.99701953e+02] [ 5.12514277e-02 9.98685006e-01 1.24480373e-03 4.74310907e+00] [-1.62663611e-02 -4.11505821e-04 9.99867609e-01 1.08633921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.692320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:299.72, Y:4.75, Z:0.00 [[ 9.97684723e-01 -6.60398504e-02 1.62460005e-02 2.99716470e+02] [ 6.60315308e-02 9.97816986e-01 1.04857000e-03 4.74517808e+00] [-1.62797827e-02 2.66060166e-05 9.99867475e-01 4.27978413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.74, Y:4.75, Z:0.00 [[ 9.98059748e-01 -6.01315852e-02 1.61533891e-02 2.99743380e+02] [ 6.01094132e-02 9.98190071e-01 1.85505561e-03 4.75493385e+00] [-1.62357000e-02 -8.80485597e-04 9.99867805e-01 3.86285387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.77, Y:4.76, Z:0.00 [[ 9.98204605e-01 -5.76772067e-02 1.61526271e-02 2.99770868e+02] [ 5.76546078e-02 9.98334854e-01 1.86166654e-03 4.76174593e+00] [-1.62331064e-02 -9.27050733e-04 9.99867805e-01 2.19088623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.81, Y:4.77, Z:0.01 [[ 9.99075219e-01 -3.98475028e-02 1.61518598e-02 2.99810020e+02] [ 3.98224755e-02 9.99205024e-01 1.86830071e-03 4.77411339e+00] [-1.62134665e-02 -1.22336590e-03 9.99867805e-01 7.83063348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.84, Y:4.78, Z:0.01 [[ 9.99181800e-01 -3.70473643e-02 1.62241390e-02 2.99839632e+02] [ 3.70321099e-02 9.99313307e-01 1.23975234e-03 4.78082798e+00] [-1.62589275e-02 -6.37923874e-04 9.99867611e-01 7.56275497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:4.79, Z:0.01 [[ 9.99287270e-01 -3.40823975e-02 1.62278194e-02 2.99866860e+02] [ 3.40672672e-02 9.99418812e-01 1.20797535e-03 4.78699862e+00] [-1.62595587e-02 -6.54276932e-04 9.99867591e-01 6.87542552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.90, Y:4.80, Z:0.01 [[ 9.99311908e-01 -3.33615524e-02 1.62085497e-02 2.99898423e+02] [ 3.33436656e-02 9.99443003e-01 1.37260925e-03 4.79544888e+00] [-1.62453140e-02 -8.31212307e-04 9.99867691e-01 6.00762346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.92, Y:4.80, Z:0.00 [[ 9.99018145e-01 -4.12235203e-02 1.62285735e-02 2.99916140e+02] [ 4.12094289e-02 9.99149808e-01 1.20190557e-03 4.80403119e+00] [-1.62643229e-02 -5.31955228e-04 9.99867586e-01 3.07460857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.96, Y:4.81, Z:0.01 [[ 9.99431313e-01 -2.96049139e-02 1.61431017e-02 2.99955537e+02] [ 2.95777256e-02 9.99560639e-01 1.92041975e-03 4.81152321e+00] [-1.61928629e-02 -1.44185139e-03 9.99867847e-01 8.03596187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.98, Y:4.82, Z:0.01 [[ 9.99388720e-01 -3.09743510e-02 1.62103653e-02 2.99983366e+02] [ 3.09564526e-02 9.99519817e-01 1.35395300e-03 4.82118431e+00] [-1.62445192e-02 -8.51309948e-04 9.99867687e-01 6.61589520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.01, Y:4.82, Z:0.01 [[ 9.99360043e-01 -3.18883613e-02 1.62060710e-02 3.00012283e+02] [ 3.18700020e-02 9.99491056e-01 1.38993176e-03 4.82406508e+00] [-1.62421456e-02 -8.72554751e-04 9.99867707e-01 6.17195523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.04, Y:4.83, Z:0.01 [[ 9.99456703e-01 -2.87008628e-02 1.62037102e-02 3.00040906e+02] [ 2.86817698e-02 9.99587600e-01 1.40952272e-03 4.82933925e+00] [-1.62374823e-02 -9.44005846e-04 9.99867718e-01 7.01132955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.07, Y:4.84, Z:0.00 [[ 9.99319763e-01 -3.31315281e-02 1.61960650e-02 3.00071857e+02] [ 3.31119993e-02 9.99450563e-01 1.47252039e-03 4.83696223e+00] [-1.62359532e-02 -9.35234629e-04 9.99867751e-01 4.27419407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:4.85, Z:-0.00 [[ 9.98912361e-01 -4.37198620e-02 1.62070532e-02 3.00091102e+02] [ 4.37031799e-02 9.99043603e-01 1.38222839e-03 4.84640814e+00] [-1.62519837e-02 -6.72425263e-04 9.99867702e-01 -4.81772278e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.13, Y:4.85, Z:0.01 [[ 9.99285983e-01 -3.41651993e-02 1.61326635e-02 3.00129767e+02] [ 3.41375471e-02 9.99415170e-01 1.98641055e-03 4.85455013e+00] [-1.61910947e-02 -1.43426266e-03 9.99867887e-01 5.26285053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:4.86, Z:0.00 [[ 9.98833488e-01 -4.54860384e-02 1.62075058e-02 3.00149870e+02] [ 4.54696691e-02 9.98964770e-01 1.37724338e-03 4.86073883e+00] [-1.62533727e-02 -6.38686885e-04 9.99867701e-01 2.13184267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:4.86, Z:0.00 [[ 9.98808593e-01 -4.60567835e-02 1.61296769e-02 3.00177432e+02] [ 4.60303934e-02 9.98938030e-01 2.00376694e-03 4.86425905e+00] [-1.62048348e-02 -1.25892427e-03 9.99867900e-01 2.83682568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.21, Y:4.87, Z:0.00 [[ 9.98764793e-01 -4.69971556e-02 1.61293692e-02 3.00205347e+02] [ 4.69708476e-02 9.98894246e-01 2.00624120e-03 4.86972050e+00] [-1.62058217e-02 -1.24615293e-03 9.99867900e-01 2.60274593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.23, Y:4.88, Z:0.00 [[ 9.98688977e-01 -4.85816849e-02 1.61290617e-02 3.00232249e+02] [ 4.85555427e-02 9.98818464e-01 2.00871023e-03 4.87922065e+00] [-1.62075911e-02 -1.22292142e-03 9.99867901e-01 9.44541641e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.27, Y:4.89, Z:0.01 [[ 9.99150619e-01 -3.79197045e-02 1.61287538e-02 3.00271132e+02] [ 3.78921422e-02 9.99279811e-01 2.01117921e-03 4.88697056e+00] [-1.61934014e-02 -1.39831792e-03 9.99867901e-01 5.34792706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.30, Y:4.89, Z:0.00 [[ 9.99115743e-01 -3.87971621e-02 1.62022257e-02 3.00301272e+02] [ 3.87792197e-02 9.99246794e-01 1.42023221e-03 4.89304097e+00] [-1.62451230e-02 -7.90666689e-04 9.99867727e-01 4.71647625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.33, Y:4.90, Z:0.01 [[ 9.99016741e-01 -4.12667565e-02 1.62051383e-02 3.00329595e+02] [ 4.12495150e-02 9.99147900e-01 1.39690816e-03 4.90085645e+00] [-1.62489758e-02 -7.27080547e-04 9.99867712e-01 5.44920670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.35, Y:4.91, Z:-0.00 [[ 9.98381074e-01 -5.45240787e-02 1.61973814e-02 3.00347087e+02] [ 5.45075848e-02 9.98512292e-01 1.45836023e-03 4.90591758e+00] [-1.62528002e-02 -5.73119112e-04 9.99867750e-01 -3.88729697e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.38, Y:4.91, Z:-0.00 [[ 9.98293089e-01 -5.61340796e-02 1.61206088e-02 3.00375008e+02] [ 5.61081058e-02 9.98422576e-01 2.05935818e-03 4.90994342e+00] [-1.62107799e-02 -1.15134621e-03 9.99867934e-01 -6.78480086e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.40, Y:4.91, Z:-0.00 [[ 9.98194950e-01 -5.78532146e-02 1.61197605e-02 3.00402788e+02] [ 5.78273574e-02 9.98324461e-01 2.06597679e-03 4.91484625e+00] [-1.62122746e-02 -1.13008444e-03 9.99867934e-01 -2.05306137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.43, Y:4.92, Z:-0.00 [[ 9.97892655e-01 -6.28524392e-02 1.61189089e-02 3.00430180e+02] [ 6.28271246e-02 9.98022273e-01 2.07259980e-03 4.92047403e+00] [-1.62172980e-02 -1.05552742e-03 9.99867934e-01 -2.67259645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.47, Y:4.93, Z:0.00 [[ 9.98617213e-01 -5.00386784e-02 1.61180549e-02 3.00472309e+02] [ 5.00115960e-02 9.98746473e-01 2.07922008e-03 4.92686433e+00] [-1.62018919e-02 -1.27025532e-03 9.99867934e-01 4.30017939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.49, Y:4.93, Z:-0.00 [[ 9.97498431e-01 -6.88035237e-02 1.62159126e-02 3.00489267e+02] [ 6.87912273e-02 9.97630210e-01 1.31553018e-03 4.92853561e+00] [-1.62679974e-02 -1.96726765e-04 9.99867648e-01 -1.56940842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.52, Y:4.93, Z:-0.00 [[ 9.97089602e-01 -7.45161109e-02 1.61144243e-02 3.00517298e+02] [ 7.44919398e-02 9.97219413e-01 2.09587536e-03 4.93353188e+00] [-1.62257933e-02 -8.89380799e-04 9.99867958e-01 -3.48440481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:300.56, Y:4.94, Z:0.00 [[ 9.97940642e-01 -6.20872585e-02 1.61135542e-02 3.00559002e+02] [ 6.20613647e-02 9.98070121e-01 2.10254371e-03 4.94138444e+00] [-1.62129982e-02 -1.09818465e-03 9.99867958e-01 1.32050914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.58, Y:4.94, Z:-0.01 [[ 9.96705983e-01 -7.94639964e-02 1.62066904e-02 3.00576406e+02] [ 7.94520126e-02 9.96837733e-01 1.38299105e-03 4.94285848e+00] [-1.62653385e-02 -9.07812851e-05 9.99867707e-01 -5.48233264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.60, Y:4.95, Z:-0.00 [[ 9.96361243e-01 -8.36941788e-02 1.61107846e-02 3.00604358e+02] [ 8.36709134e-02 9.96491199e-01 2.11394205e-03 4.94588688e+00] [-1.62311797e-02 -7.58245864e-04 9.99867978e-01 -3.58183795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.63, Y:4.95, Z:-0.00 [[ 9.96241741e-01 -8.51050180e-02 1.61099082e-02 3.00632492e+02] [ 8.50818293e-02 9.96371710e-01 2.12060055e-03 4.94953734e+00] [-1.62319305e-02 -7.41970329e-04 9.99867978e-01 -3.90743416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.67, Y:4.96, Z:0.00 [[ 9.97241986e-01 -7.24494291e-02 1.61090330e-02 3.00674394e+02] [ 7.24244854e-02 9.97371630e-01 2.12722775e-03 4.95583711e+00] [-1.62208090e-02 -9.54672396e-04 9.99867978e-01 3.79324755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.69, Y:4.96, Z:-0.01 [[ 9.95520964e-01 -9.31419332e-02 1.62046285e-02 3.00692131e+02] [ 9.31314883e-02 9.95652835e-01 1.39964795e-03 4.95604003e+00] [-1.62645503e-02 1.15782295e-04 9.99867717e-01 -5.07982467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.72, Y:4.96, Z:-0.00 [[ 9.95263358e-01 -9.58721477e-02 1.61052562e-02 3.00720611e+02] [ 9.58499624e-02 9.95393481e-01 2.14559206e-03 4.95836334e+00] [-1.62367695e-02 -5.91740953e-04 9.99868000e-01 -4.78798819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.76, Y:4.97, Z:0.00 [[ 9.96439772e-01 -8.27552447e-02 1.61043690e-02 3.00761966e+02] [ 8.27312405e-02 9.96569571e-01 2.15223037e-03 4.96623724e+00] [-1.62272325e-02 -8.12233512e-04 9.99868000e-01 1.49044387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.79, Y:4.97, Z:0.00 [[ 9.96210312e-01 -8.54549745e-02 1.62006600e-02 3.00790983e+02] [ 8.54431089e-02 9.96342033e-01 1.42443355e-03 4.96922500e+00] [-1.62631235e-02 -3.48006268e-05 9.99867746e-01 6.63814487e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.81, Y:4.97, Z:-0.01 [[ 9.94216091e-01 -1.06170968e-01 1.61891776e-02 3.00809930e+02] [ 1.06160453e-01 9.94347866e-01 1.50994468e-03 4.96655710e+00] [-1.62579865e-02 2.17439137e-04 9.99867807e-01 -7.41939272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.84, Y:4.97, Z:-0.01 [[ 9.93969524e-01 -1.08468796e-01 1.60967508e-02 3.00837853e+02] [ 1.08447551e-01 9.94099761e-01 2.18948163e-03 4.96900985e+00] [-1.62392665e-02 -4.30624819e-04 9.99868042e-01 -6.46789189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.87, Y:4.97, Z:-0.01 [[ 9.93736855e-01 -1.10580231e-01 1.60958401e-02 3.00866240e+02] [ 1.10559155e-01 9.93867119e-01 2.19615583e-03 4.97326467e+00] [-1.62399777e-02 -4.02858506e-04 9.99868042e-01 -7.91921411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.89, Y:4.98, Z:-0.01 [[ 9.93550390e-01 -1.12243379e-01 1.60949303e-02 3.00894601e+02] [ 1.12222413e-01 9.93680672e-01 2.20280334e-03 4.97547728e+00] [-1.62404713e-02 -3.82384193e-04 9.99868042e-01 -8.04127181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.92, Y:4.98, Z:-0.01 [[ 9.93332096e-01 -1.14159226e-01 1.60940166e-02 3.00923457e+02] [ 1.14138404e-01 9.93462401e-01 2.20945879e-03 4.97705220e+00] [-1.62410305e-02 -3.57780965e-04 9.99868042e-01 -6.51267814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.95, Y:4.98, Z:-0.01 [[ 9.92936023e-01 -1.17554527e-01 1.60930934e-02 3.00951483e+02] [ 1.17534041e-01 9.93066381e-01 2.21616326e-03 4.97833295e+00] [-1.62420300e-02 -3.09022033e-04 9.99868042e-01 -7.61410727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.98, Y:4.98, Z:-0.01 [[ 9.92776616e-01 -1.18893364e-01 1.60921753e-02 3.00979774e+02] [ 1.18872947e-01 9.92906985e-01 2.22280963e-03 4.98198463e+00] [-1.62423106e-02 -2.93829123e-04 9.99868042e-01 -1.01817622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.01, Y:4.98, Z:-0.01 [[ 9.92438841e-01 -1.21680808e-01 1.60912515e-02 3.01008206e+02] [ 1.21660649e-01 9.92569250e-01 2.22947710e-03 4.98406161e+00] [-1.62429660e-02 -2.54947565e-04 9.99868042e-01 -1.08143850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.04, Y:4.99, Z:-0.01 [[ 9.92226749e-01 -1.23398457e-01 1.60903265e-02 3.01035948e+02] [ 1.23378416e-01 9.92357177e-01 2.23613343e-03 4.98662243e+00] [-1.62432864e-02 -2.33552409e-04 9.99868042e-01 -1.08904050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.06, Y:4.99, Z:-0.01 [[ 9.92021512e-01 -1.25037795e-01 1.60893968e-02 3.01064523e+02] [ 1.25017861e-01 9.92151956e-01 2.24280254e-03 4.98954450e+00] [-1.62435616e-02 -2.13446389e-04 9.99868042e-01 -1.07282721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.09, Y:4.99, Z:-0.01 [[ 9.91548050e-01 -1.28738598e-01 1.60884652e-02 3.01092762e+02] [ 1.28719043e-01 9.91678551e-01 2.24946533e-03 4.99006864e+00] [-1.62441789e-02 -1.59561112e-04 9.99868042e-01 -1.14357169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.12, Y:4.99, Z:-0.01 [[ 9.91319438e-01 -1.30487408e-01 1.60875297e-02 3.01121159e+02] [ 1.30467974e-01 9.91449957e-01 2.25613609e-03 4.99129692e+00] [-1.62443780e-02 -1.37644139e-04 9.99868042e-01 -1.21530998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.15, Y:4.99, Z:-0.01 [[ 9.91035339e-01 -1.32627971e-01 1.60865955e-02 3.01150104e+02] [ 1.32608712e-01 9.91165884e-01 2.26277775e-03 4.99212960e+00] [-1.62445923e-02 -1.09270007e-04 9.99868042e-01 -1.21499226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.18, Y:4.99, Z:-0.01 [[ 9.90357185e-01 -1.37600501e-01 1.60856514e-02 3.01178707e+02] [ 1.37581789e-01 9.90487810e-01 2.26946938e-03 4.99240180e+00] [-1.62449217e-02 -3.44926173e-05 9.99868042e-01 -1.34720653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.21, Y:4.99, Z:-0.01 [[ 9.90020662e-01 -1.40001326e-01 1.60847095e-02 3.01207071e+02] [ 1.39982822e-01 9.90151316e-01 2.27612579e-03 4.99358296e+00] [-1.62449569e-02 -1.82853955e-06 9.99868042e-01 -1.31746579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.24, Y:4.99, Z:-0.01 [[ 9.89352878e-01 -1.44645070e-01 1.60837610e-02 3.01235957e+02] [ 1.44627070e-01 9.89483602e-01 2.28280821e-03 4.98997575e+00] [-1.62448147e-02 6.76443596e-05 9.99868042e-01 -1.35160935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.26, Y:4.99, Z:-0.01 [[ 9.88963855e-01 -1.47281488e-01 1.60828185e-02 3.01264650e+02] [ 1.47263730e-01 9.89094612e-01 2.28942939e-03 4.99003386e+00] [-1.62446197e-02 1.04252925e-04 9.99868042e-01 -1.33407752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.29, Y:4.99, Z:-0.01 [[ 9.88620153e-01 -1.49571274e-01 1.60818783e-02 3.01293565e+02] [ 1.49553712e-01 9.88750937e-01 2.29601481e-03 4.99074586e+00] [-1.62443901e-02 1.35218074e-04 9.99868042e-01 -1.40742797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.32, Y:4.99, Z:-0.01 [[ 9.88353976e-01 -1.51320264e-01 1.60809362e-02 3.01322280e+02] [ 1.51302826e-01 9.88484776e-01 2.30259404e-03 4.98967876e+00] [-1.62441898e-02 1.57313110e-04 9.99868042e-01 -1.42317390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.35, Y:4.99, Z:-0.01 [[ 9.88418956e-01 -1.50895332e-01 1.60799933e-02 3.01350373e+02] [ 1.50877731e-01 9.88549735e-01 2.30916006e-03 4.99070597e+00] [-1.62443146e-02 1.43695314e-04 9.99868042e-01 -1.35359449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.38, Y:4.99, Z:-0.01 [[ 9.88448872e-01 -1.50699344e-01 1.60790477e-02 3.01378827e+02] [ 1.50681610e-01 9.88579633e-01 2.31572570e-03 4.98932055e+00] [-1.62443974e-02 1.33840331e-04 9.99868042e-01 -1.44677185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.41, Y:4.99, Z:-0.01 [[ 9.88538414e-01 -1.50110954e-01 1.60780916e-02 3.01407253e+02] [ 1.50093035e-01 9.88669150e-01 2.32234493e-03 4.99063786e+00] [-1.62445226e-02 1.17482394e-04 9.99868042e-01 -1.47190081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.44, Y:4.99, Z:-0.02 [[ 9.88617936e-01 -1.49586440e-01 1.60771379e-02 3.01435652e+02] [ 1.49568344e-01 9.88748647e-01 2.32892841e-03 4.99251879e+00] [-1.62446245e-02 1.02210496e-04 9.99868042e-01 -1.57364509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.46, Y:4.99, Z:-0.02 [[ 9.88926020e-01 -1.47536042e-01 1.60761778e-02 3.01464412e+02] [ 1.47517568e-01 9.89056678e-01 2.33553734e-03 4.99121197e+00] [-1.62448269e-02 6.18450094e-05 9.99868042e-01 -1.67525132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.49, Y:4.99, Z:-0.02 [[ 9.89108984e-01 -1.46304494e-01 1.60752158e-02 3.01492512e+02] [ 1.46285750e-01 9.89239604e-01 2.34214002e-03 4.99182606e+00] [-1.62449057e-02 3.49432561e-05 9.99868042e-01 -1.52862795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.52, Y:4.99, Z:-0.02 [[ 9.89530553e-01 -1.43425602e-01 1.60742464e-02 3.01521207e+02] [ 1.43406369e-01 9.89661102e-01 2.34877420e-03 4.99371246e+00] [-1.62449307e-02 -1.90345171e-05 9.99868042e-01 -1.50563768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.612320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:301.56, Y:5.00, Z:-0.01 [[ 9.91753916e-01 -1.27144877e-01 1.60732743e-02 3.01556535e+02] [ 1.27123395e-01 9.91884113e-01 2.35540798e-03 4.99957166e+00] [-1.62423034e-02 -2.92695896e-04 9.99868042e-01 -7.61775050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.58, Y:5.00, Z:-0.02 [[ 9.90003433e-01 -1.40118870e-01 1.61215758e-02 3.01579626e+02] [ 1.40104464e-01 9.90134656e-01 2.02514796e-03 5.00152278e+00] [-1.62462924e-02 2.53801318e-04 9.99867988e-01 -1.84508255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.61, Y:5.00, Z:-0.02 [[ 9.90534020e-01 -1.36323363e-01 1.60715958e-02 3.01608393e+02] [ 1.36302934e-01 9.90664382e-01 2.36482389e-03 4.99975800e+00] [-1.62439383e-02 -1.51832836e-04 9.99868047e-01 -1.67851250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:301.64, Y:5.00, Z:-0.02 [[ 9.90823058e-01 -1.34206570e-01 1.60706132e-02 3.01637186e+02] [ 1.34185755e-01 9.90953359e-01 2.37148280e-03 5.00188594e+00] [-1.62434967e-02 -1.93272470e-04 9.99868047e-01 -1.56539045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:301.67, Y:5.01, Z:-0.02 [[ 9.91404045e-01 -1.29845242e-01 1.60696329e-02 3.01665279e+02] [ 1.29823746e-01 9.91534235e-01 2.37810680e-03 5.00596674e+00] [-1.62423771e-02 -2.71444755e-04 9.99868047e-01 -1.68194527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.69, Y:5.01, Z:-0.02 [[ 9.91631657e-01 -1.28095493e-01 1.60686526e-02 3.01693600e+02] [ 1.28073661e-01 9.91761791e-01 2.38471264e-03 5.01005396e+00] [-1.62417466e-02 -3.06785383e-04 9.99868047e-01 -1.69993089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.72, Y:5.01, Z:-0.02 [[ 9.91819038e-01 -1.26636589e-01 1.60676695e-02 3.01721630e+02] [ 1.26614459e-01 9.91949122e-01 2.39131807e-03 5.01318902e+00] [-1.62411390e-02 -3.37355505e-04 9.99868047e-01 -1.83844915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.75, Y:5.01, Z:-0.02 [[ 9.92146454e-01 -1.24045456e-01 1.60666826e-02 3.01750352e+02] [ 1.24022879e-01 9.92276461e-01 2.39793022e-03 5.01412875e+00] [-1.62400433e-02 -3.86461728e-04 9.99868047e-01 -1.68755697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:5.02, Z:-0.02 [[ 9.92263740e-01 -1.23103878e-01 1.60656899e-02 3.01778213e+02] [ 1.23081070e-01 9.92393706e-01 2.40456325e-03 5.01659840e+00] [-1.62395006e-02 -4.08578624e-04 9.99868047e-01 -1.71676522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:5.02, Z:-0.02 [[ 9.92212350e-01 -1.23517523e-01 1.60646920e-02 3.01806768e+02] [ 1.23494662e-01 9.92342307e-01 2.41121138e-03 5.02051596e+00] [-1.62395004e-02 -4.08529994e-04 9.99868047e-01 -1.76304006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.84, Y:5.02, Z:-0.02 [[ 9.92415526e-01 -1.21874453e-01 1.60636842e-02 3.01835083e+02] [ 1.21851269e-01 9.92545426e-01 2.41790717e-03 5.02251098e+00] [-1.62386174e-02 -4.42188314e-04 9.99868047e-01 -1.70024860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:5.03, Z:-0.02 [[ 9.92397090e-01 -1.22024616e-01 1.60626748e-02 3.01863265e+02] [ 1.22001343e-01 9.92526974e-01 2.42459409e-03 5.02687683e+00] [-1.62384982e-02 -4.46492220e-04 9.99868047e-01 -1.84747897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.89, Y:5.03, Z:-0.02 [[ 9.92415423e-01 -1.21875558e-01 1.60616714e-02 3.01891325e+02] [ 1.21852158e-01 9.92545284e-01 2.43122308e-03 5.03069642e+00] [-1.62382429e-02 -4.55633959e-04 9.99868047e-01 -1.86068148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.92, Y:5.03, Z:-0.02 [[ 9.92401601e-01 -1.21988184e-01 1.60606685e-02 3.01919957e+02] [ 1.21964692e-01 9.92531446e-01 2.43783038e-03 5.03125890e+00] [-1.62381050e-02 -4.60472286e-04 9.99868047e-01 -1.76490749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.95, Y:5.03, Z:-0.02 [[ 9.92402229e-01 -1.21983206e-01 1.60596641e-02 3.01948338e+02] [ 1.21959606e-01 9.92532055e-01 2.44442905e-03 5.03245971e+00] [-1.62379107e-02 -4.67226525e-04 9.99868047e-01 -1.71131448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.98, Y:5.03, Z:-0.02 [[ 9.92369451e-01 -1.22249712e-01 1.60586574e-02 3.01976755e+02] [ 1.22226041e-01 9.92499263e-01 2.45102493e-03 5.03418406e+00] [-1.62378427e-02 -4.69536155e-04 9.99868047e-01 -1.72271761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:302.01, Y:5.04, Z:-0.02 [[ 9.93779208e-01 -1.10204529e-01 1.60576480e-02 3.02010819e+02] [ 1.10179179e-01 9.93908702e-01 2.45762041e-03 5.03801700e+00] [-1.62306769e-02 -6.73113600e-04 9.99868047e-01 -1.56924347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.04, Y:5.04, Z:-0.02 [[ 9.92352582e-01 -1.22382289e-01 1.60912464e-02 3.02035947e+02] [ 1.22362082e-01 9.92483003e-01 2.23809119e-03 5.04032730e+00] [-1.62441913e-02 -2.52017167e-04 9.99868023e-01 -2.04715981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:302.07, Y:5.04, Z:-0.02 [[ 9.93428288e-01 -1.13324483e-01 1.60561023e-02 3.02070848e+02] [ 1.13299391e-01 9.93557831e-01 2.46683888e-03 5.04089891e+00] [-1.62322194e-02 -6.31480909e-04 9.99868049e-01 -1.71959778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.10, Y:5.04, Z:-0.02 [[ 9.92229612e-01 -1.23373678e-01 1.61038247e-02 3.02096064e+02] [ 1.23354931e-01 9.92360273e-01 2.15607946e-03 5.04154549e+00] [-1.62467993e-02 -1.52839692e-04 9.99868000e-01 -1.79341541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:302.13, Y:5.05, Z:-0.02 [[ 9.93495979e-01 -1.12729837e-01 1.60537756e-02 3.02132414e+02] [ 1.12704454e-01 9.93625460e-01 2.48005979e-03 5.04683558e+00] [-1.62310169e-02 -6.54597414e-04 9.99868054e-01 -1.72793307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.242320588 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:302.16, Y:5.05, Z:-0.01 [[ 9.93459049e-01 -1.13045385e-01 1.61201505e-02 3.02158843e+02] [ 1.13027002e-01 9.93589802e-01 2.04985731e-03 5.04751370e+00] [-1.62485440e-02 -2.14437021e-04 9.99867961e-01 -1.45519967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:302.18, Y:5.05, Z:-0.02 [[ 9.92005805e-01 -1.25163029e-01 1.60841318e-02 3.02184199e+02] [ 1.25142477e-01 9.92136157e-01 2.28190750e-03 5.04967103e+00] [-1.62432592e-02 -2.50857386e-04 9.99868038e-01 -2.20002502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.23, Y:5.06, Z:-0.02 [[ 9.93786746e-01 -1.10137639e-01 1.60500639e-02 3.02225489e+02] [ 1.10111588e-01 9.93916086e-01 2.50057652e-03 5.05543102e+00] [-1.62278243e-02 -7.17741783e-04 9.99868063e-01 -1.88907974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.24, Y:5.06, Z:-0.02 [[ 9.91962140e-01 -1.25499499e-01 1.61551597e-02 3.02242484e+02] [ 1.25486484e-01 9.92093658e-01 1.82088893e-03 5.05661632e+00] [-1.62559522e-02 2.21001305e-04 9.99867839e-01 -2.35453583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.362320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:302.28, Y:5.06, Z:-0.02 [[ 9.93887020e-01 -1.09229406e-01 1.60476609e-02 3.02278839e+02] [ 1.09203109e-01 9.94016292e-01 2.50859278e-03 5.06210176e+00] [-1.62256485e-02 -7.40803351e-04 9.99868081e-01 -1.72154509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:302.31, Y:5.07, Z:-0.02 [[ 9.93562053e-01 -1.12138550e-01 1.61056477e-02 3.02313449e+02] [ 1.12118619e-01 9.93692530e-01 2.13803328e-03 5.06626896e+00] [-1.62438178e-02 -3.18525750e-04 9.99868010e-01 -2.20620797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.34, Y:5.07, Z:-0.02 [[ 9.93290646e-01 -1.14511739e-01 1.61479105e-02 3.02339578e+02] [ 1.14496502e-01 9.93421895e-01 1.86804057e-03 5.06641710e+00] [-1.62556004e-02 -6.62797127e-06 9.99867869e-01 -2.16986788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:302.37, Y:5.07, Z:-0.02 [[ 9.93441386e-01 -1.13201212e-01 1.61151836e-02 3.02368410e+02] [ 1.13182420e-01 9.93572055e-01 2.07634400e-03 5.07087656e+00] [-1.62466407e-02 -2.38770587e-04 9.99867986e-01 -2.14987457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.39, Y:5.07, Z:-0.03 [[ 9.91550635e-01 -1.28713605e-01 1.61290640e-02 3.02388096e+02] [ 1.28698291e-01 9.91681802e-01 1.98818141e-03 5.07377432e+00] [-1.62508053e-02 1.04400440e-04 9.99867941e-01 -2.69300923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:302.43, Y:5.08, Z:-0.02 [[ 9.93354679e-01 -1.13970164e-01 1.60400339e-02 3.02428941e+02] [ 1.13943841e-01 9.93483923e-01 2.54853740e-03 5.08087242e+00] [-1.62259731e-02 -7.03938479e-04 9.99868102e-01 -2.36280130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:302.45, Y:5.08, Z:-0.03 [[ 9.91164126e-01 -1.31654067e-01 1.61518215e-02 3.02446842e+02] [ 1.31641565e-01 9.91295675e-01 1.83940643e-03 5.08099946e+00] [-1.62533961e-02 3.03097401e-04 9.99867859e-01 -2.70241839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.48, Y:5.08, Z:-0.03 [[ 9.91099814e-01 -1.32151262e-01 1.60375229e-02 3.02475010e+02] [ 1.32127183e-01 9.91229475e-01 2.55646534e-03 5.08412339e+00] [-1.62347055e-02 -4.14719605e-04 9.99868122e-01 -2.66794278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60232058799994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:302.51, Y:5.09, Z:-0.02 [[ 9.93057445e-01 -1.16532155e-01 1.60364681e-02 3.02512933e+02] [ 1.16505932e-01 9.93186689e-01 2.56306505e-03 5.09121260e+00] [-1.62258861e-02 -6.76927178e-04 9.99868122e-01 -1.73014845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.53, Y:5.09, Z:-0.03 [[ 9.90388261e-01 -1.37372839e-01 1.61182040e-02 3.02534073e+02] [ 1.37357683e-01 9.90519394e-01 2.04887516e-03 5.09110566e+00] [-1.62468535e-02 1.84777252e-04 9.99867994e-01 -2.70362407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:302.56, Y:5.09, Z:-0.03 [[ 9.89943513e-01 -1.40551518e-01 1.60346942e-02 3.02562277e+02] [ 1.40528322e-01 9.90073324e-01 2.56993538e-03 5.09296481e+00] [-1.62367313e-02 -2.90762197e-04 9.99868133e-01 -2.74959202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.692320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:302.59, Y:5.09, Z:-0.03 [[ 9.89248997e-01 -1.45359361e-01 1.60336325e-02 3.02590124e+02] [ 1.45336688e-01 9.89378900e-01 2.57654216e-03 5.09490783e+00] [-1.62378622e-02 -2.18566701e-04 9.99868133e-01 -3.02820715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72232058799995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:302.63, Y:5.10, Z:-0.03 [[ 9.91587021e-01 -1.28445077e-01 1.60325631e-02 3.02632952e+02] [ 1.28420082e-01 9.91716497e-01 2.58317939e-03 5.10365863e+00] [-1.62315540e-02 -5.02544087e-04 9.99868133e-01 -2.56171905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.752320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:302.65, Y:5.10, Z:-0.03 [[ 9.90064160e-01 -1.39683413e-01 1.61710952e-02 3.02648415e+02] [ 1.39674045e-01 9.90196055e-01 1.71283353e-03 5.10224056e+00] [-1.62518091e-02 5.62867193e-04 9.99867772e-01 -2.53948760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78232058799995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:302.69, Y:5.11, Z:-0.02 [[ 9.91141976e-01 -1.31835579e-01 1.60300521e-02 3.02688582e+02] [ 1.31810969e-01 9.91271495e-01 2.58687388e-03 5.10855052e+00] [-1.62311757e-02 -4.51022590e-04 9.99868164e-01 -2.31522047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.71, Y:5.11, Z:-0.03 [[ 9.87843296e-01 -1.54612526e-01 1.61427510e-02 3.02705874e+02] [ 1.54602390e-01 9.87974980e-01 1.88147543e-03 5.10745439e+00] [-1.62395337e-02 6.37104997e-04 9.99867927e-01 -3.31034664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:302.75, Y:5.11, Z:-0.02 [[ 9.90139791e-01 -1.39162807e-01 1.60283133e-02 3.02746774e+02] [ 1.39139109e-01 9.90269459e-01 2.58976705e-03 5.11090749e+00] [-1.62327484e-02 -3.34066184e-04 9.99868184e-01 -2.17786539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.872320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:302.78, Y:5.11, Z:-0.03 [[ 9.89638634e-01 -1.42670505e-01 1.61400320e-02 3.02778437e+02] [ 1.42658592e-01 9.89770146e-01 1.89298622e-03 5.11353122e+00] [-1.62449951e-02 4.29141947e-04 9.99867949e-01 -2.63115051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:302.81, Y:5.11, Z:-0.03 [[ 9.88700866e-01 -1.49029698e-01 1.61476604e-02 3.02807298e+02] [ 1.49019405e-01 9.88832549e-01 1.84556783e-03 5.11450755e+00] [-1.62423766e-02 5.81600223e-04 9.99867915e-01 -2.83816662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.82, Y:5.11, Z:-0.04 [[ 9.84672094e-01 -1.73667967e-01 1.61339620e-02 3.02824353e+02] [ 1.73659586e-01 9.84803851e-01 1.92971632e-03 5.11060362e+00] [-1.62239178e-02 9.01679365e-04 9.99867977e-01 -3.68245734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:302.86, Y:5.11, Z:-0.02 [[ 9.87316117e-01 -1.57956717e-01 1.60175439e-02 3.02861498e+02] [ 1.57934722e-01 9.87446034e-01 2.63690809e-03 5.11435591e+00] [-1.62329776e-02 -7.37355076e-05 9.99868234e-01 -2.41215200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.88, Y:5.11, Z:-0.04 [[ 9.83223453e-01 -1.81694093e-01 1.60902938e-02 3.02884652e+02] [ 1.81682466e-01 9.83354803e-01 2.19374505e-03 5.11194836e+00] [-1.62210582e-02 7.66382667e-04 9.99868136e-01 -3.80268515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.91, Y:5.12, Z:-0.04 [[ 9.83751217e-01 -1.78821273e-01 1.60154532e-02 3.02913270e+02] [ 1.78801875e-01 9.83881540e-01 2.64663476e-03 5.11545268e+00] [-1.62305834e-02 2.59962907e-04 9.99868242e-01 -3.84589654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.052320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:302.95, Y:5.12, Z:-0.03 [[ 9.87551641e-01 -1.56477780e-01 1.60143803e-02 3.02952536e+02] [ 1.56455329e-01 9.87681472e-01 2.65311086e-03 5.12310790e+00] [-1.62322596e-02 -1.14548846e-04 9.99868242e-01 -2.99796849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.97, Y:5.12, Z:-0.04 [[ 9.84939541e-01 -1.72147270e-01 1.61064488e-02 3.02973551e+02] [ 1.72135945e-01 9.85070971e-01 2.09730730e-03 5.12281835e+00] [-1.62270409e-02 7.06777900e-04 9.99868083e-01 -3.90722247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.112320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:303.01, Y:5.13, Z:-0.03 [[ 9.88399258e-01 -1.51031803e-01 1.60093801e-02 3.03011508e+02] [ 1.51008239e-01 9.88528878e-01 2.67768095e-03 5.12958428e+00] [-1.62301496e-02 -2.29069566e-04 9.99868256e-01 -3.07240196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.03, Y:5.13, Z:-0.04 [[ 9.86496534e-01 -1.62989623e-01 1.60926076e-02 3.03032457e+02] [ 1.62975739e-01 9.86627670e-01 2.17926728e-03 5.13225736e+00] [-1.62326099e-02 4.72865008e-04 9.99868131e-01 -3.78627125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.07, Y:5.14, Z:-0.03 [[ 9.89699332e-01 -1.42263950e-01 1.60062788e-02 3.03070439e+02] [ 1.42238998e-01 9.89828681e-01 2.69248767e-03 5.13974559e+00] [-1.62265177e-02 -3.88036188e-04 9.99868266e-01 -3.05514946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:303.10, Y:5.14, Z:-0.03 [[ 9.89676269e-01 -1.42415237e-01 1.60867392e-02 3.03100038e+02] [ 1.42398058e-01 9.89806997e-01 2.21416121e-03 5.14476519e+00] [-1.62380973e-02 9.94176143e-05 9.99868148e-01 -3.10763427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:303.13, Y:5.15, Z:-0.03 [[ 9.91000845e-01 -1.32887101e-01 1.60730952e-02 3.03134740e+02] [ 1.32867359e-01 9.91131172e-01 2.29469599e-03 5.15274746e+00] [-1.62354812e-02 -1.38455947e-04 9.99868186e-01 -3.05849070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.15, Y:5.15, Z:-0.04 [[ 9.87830176e-01 -1.54698174e-01 1.61250806e-02 3.03151050e+02] [ 1.54686330e-01 9.87961635e-01 1.98676601e-03 5.15273469e+00] [-1.62383101e-02 5.31742110e-04 9.99868009e-01 -4.03852306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.19, Y:5.16, Z:-0.03 [[ 9.90811729e-01 -1.34298905e-01 1.59975349e-02 3.03193878e+02] [ 1.34272256e-01 9.90940710e-01 2.73329725e-03 5.16153890e+00] [-1.62196874e-02 -5.60157877e-04 9.99868295e-01 -3.18315211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:303.22, Y:5.16, Z:-0.03 [[ 9.90194303e-01 -1.38762830e-01 1.61282292e-02 3.03218557e+02] [ 1.38749157e-01 9.90325600e-01 1.96906387e-03 5.16293233e+00] [-1.62454312e-02 2.88022388e-04 9.99867993e-01 -3.27184661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35232058799994 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:303.25, Y:5.17, Z:-0.03 [[ 9.90629094e-01 -1.35633686e-01 1.60468427e-02 3.03246884e+02] [ 1.35611946e-01 9.90759025e-01 2.44028968e-03 5.16675126e+00] [-1.62295397e-02 -2.41278400e-04 9.99868263e-01 -2.93016960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:303.27, Y:5.17, Z:-0.04 [[ 9.88214310e-01 -1.52234239e-01 1.60378754e-02 3.03269960e+02] [ 1.52213842e-01 9.88344442e-01 2.49209902e-03 5.17140706e+00] [-1.62303278e-02 -2.15412928e-05 9.99868279e-01 -4.27579491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:303.30, Y:5.18, Z:-0.03 [[ 9.90183653e-01 -1.38855036e-01 1.59878737e-02 3.03302257e+02] [ 1.38828233e-01 9.90312574e-01 2.77969581e-03 5.17733676e+00] [-1.62189671e-02 -5.32841104e-04 9.99868322e-01 -3.34635422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:303.34, Y:5.18, Z:-0.04 [[ 9.91138261e-01 -1.31865083e-01 1.60170730e-02 3.03339661e+02] [ 1.31840077e-01 9.91267558e-01 2.61183813e-03 5.18491922e+00] [-1.62216151e-02 -4.77000565e-04 9.99868307e-01 -3.51697861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.36, Y:5.19, Z:-0.04 [[ 9.88399049e-01 -1.51022377e-01 1.61108987e-02 3.03355788e+02] [ 1.51008722e-01 9.88530268e-01 2.06775829e-03 5.18746247e+00] [-1.62383888e-02 3.89115892e-04 9.99868073e-01 -4.39332079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502320588 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:303.39, Y:5.19, Z:-0.03 [[ 9.91308457e-01 -1.30583304e-01 1.59857671e-02 3.03392430e+02] [ 1.30555327e-01 9.91437111e-01 2.78582094e-03 5.19457101e+00] [-1.62126645e-02 -6.74580805e-04 9.99868339e-01 -3.25493879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.41, Y:5.20, Z:-0.05 [[ 9.88123787e-01 -1.52817386e-01 1.60694515e-02 3.03412909e+02] [ 1.52800114e-01 9.88254428e-01 2.30443170e-03 5.19650819e+00] [-1.62328638e-02 1.78350236e-04 9.99868222e-01 -4.67750701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.44, Y:5.20, Z:-0.05 [[ 9.88132029e-01 -1.52773126e-01 1.59832972e-02 3.03441244e+02] [ 1.52747864e-01 9.88261235e-01 2.79680206e-03 5.20049536e+00] [-1.62229492e-02 -3.22195196e-04 9.99868347e-01 -4.53699077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.48, Y:5.21, Z:-0.04 [[ 9.90551976e-01 -1.36203359e-01 1.59821416e-02 3.03481573e+02] [ 1.36175829e-01 9.90680718e-01 2.80338999e-03 5.21018514e+00] [-1.62150307e-02 -6.00522103e-04 9.99868347e-01 -3.83282556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.51, Y:5.22, Z:-0.04 [[ 9.90398350e-01 -1.37303637e-01 1.60878634e-02 3.03511463e+02] [ 1.37285961e-01 9.90529005e-01 2.20324278e-03 5.21631440e+00] [-1.62380086e-02 2.65497741e-05 9.99868154e-01 -3.84642507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.54, Y:5.22, Z:-0.04 [[ 9.90053774e-01 -1.39768756e-01 1.60692021e-02 3.03541217e+02] [ 1.39749696e-01 9.90184171e-01 2.30853453e-03 5.21993658e+00] [-1.62341305e-02 -3.99072302e-05 9.99868217e-01 -3.87679838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.682320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:303.56, Y:5.22, Z:-0.05 [[ 9.87638687e-01 -1.55922560e-01 1.60617362e-02 3.03561314e+02] [ 1.55904949e-01 9.87769266e-01 2.35048515e-03 5.22028205e+00] [-1.62317831e-02 1.82674108e-04 9.99868239e-01 -4.60868618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:303.59, Y:5.22, Z:-0.05 [[ 9.87552524e-01 -1.56476816e-01 1.59693102e-02 3.03589637e+02] [ 1.56450926e-01 9.87681576e-01 2.86557147e-03 5.22444157e+00] [-1.62209889e-02 -3.31488978e-04 9.99868376e-01 -4.55127265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.742320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:303.62, Y:5.23, Z:-0.05 [[ 9.87511064e-01 -1.56738373e-01 1.59681140e-02 3.03617894e+02] [ 1.56712410e-01 9.87640102e-01 2.87222145e-03 5.22961420e+00] [-1.62209371e-02 -3.33948830e-04 9.99868376e-01 -4.65493254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:303.65, Y:5.24, Z:-0.04 [[ 9.89500279e-01 -1.43646284e-01 1.59669246e-02 3.03654737e+02] [ 1.43618508e-01 9.89628939e-01 2.87881847e-03 5.23698053e+00] [-1.62148622e-02 -5.55445799e-04 9.99868376e-01 -4.01550547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.802320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:303.68, Y:5.24, Z:-0.04 [[ 9.89391241e-01 -1.44386653e-01 1.60457595e-02 3.03683279e+02] [ 1.44366025e-01 9.89521341e-01 2.44260026e-03 5.24203235e+00] [-1.62303004e-02 -1.00224776e-04 9.99868275e-01 -4.10154391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.70, Y:5.24, Z:-0.05 [[ 9.87163978e-01 -1.58902225e-01 1.60425468e-02 3.03704906e+02] [ 1.58883222e-01 9.87294317e-01 2.46033780e-03 5.24346375e+00] [-1.62296684e-02 1.20134667e-04 9.99868283e-01 -4.79818587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.74, Y:5.25, Z:-0.04 [[ 9.89511847e-01 -1.43567268e-01 1.59607211e-02 3.03742977e+02] [ 1.43538991e-01 9.89640386e-01 2.90925767e-03 5.24992190e+00] [-1.62130484e-02 -5.87759112e-04 9.99868387e-01 -3.96316018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.76, Y:5.25, Z:-0.05 [[ 9.87214710e-01 -1.58585872e-01 1.60511121e-02 3.03764132e+02] [ 1.58567598e-01 9.87345175e-01 2.41294417e-03 5.25382026e+00] [-1.62306470e-02 1.63092315e-04 9.99868261e-01 -4.80645136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.79, Y:5.26, Z:-0.05 [[ 9.87251017e-01 -1.58369244e-01 1.59565555e-02 3.03792546e+02] [ 1.58342590e-01 9.87379891e-01 2.92821826e-03 5.25852641e+00] [-1.62189217e-02 -3.64284138e-04 9.99868398e-01 -4.80234913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.82, Y:5.27, Z:-0.05 [[ 9.87406277e-01 -1.57398445e-01 1.59553381e-02 3.03820456e+02] [ 1.57371557e-01 9.87535103e-01 2.93483660e-03 5.26570187e+00] [-1.62183951e-02 -3.86959679e-04 9.99868398e-01 -4.92246133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.85, Y:5.27, Z:-0.05 [[ 9.87377462e-01 -1.57579232e-01 1.59541271e-02 3.03848325e+02] [ 1.57552261e-01 9.87506270e-01 2.94140479e-03 5.27185174e+00] [-1.62183049e-02 -3.90667990e-04 9.99868398e-01 -5.10472257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.88, Y:5.28, Z:-0.04 [[ 9.89184155e-01 -1.45808823e-01 1.59529076e-02 3.03884441e+02] [ 1.45780214e-01 9.89312609e-01 2.94800426e-03 5.27964040e+00] [-1.62122576e-02 -5.90500831e-04 9.99868398e-01 -4.43080636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.91, Y:5.28, Z:-0.05 [[ 9.87579664e-01 -1.56299582e-01 1.60264514e-02 3.03906134e+02] [ 1.56278790e-01 9.87709695e-01 2.54937065e-03 5.28319621e+00] [-1.62279470e-02 -1.31121777e-05 9.99868318e-01 -4.95038259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.93, Y:5.29, Z:-0.05 [[ 9.87594528e-01 -1.56213442e-01 1.59501858e-02 3.03933745e+02] [ 1.56185989e-01 9.87723227e-01 2.96030009e-03 5.28832941e+00] [-1.62168076e-02 -4.32380639e-04 9.99868405e-01 -4.89802667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.96, Y:5.30, Z:-0.05 [[ 9.87785667e-01 -1.55000348e-01 1.59489575e-02 3.03961135e+02] [ 1.54972630e-01 9.87914309e-01 2.96690271e-03 5.29602432e+00] [-1.62160743e-02 -4.59012083e-04 9.99868405e-01 -5.03880450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.99, Y:5.30, Z:-0.05 [[ 9.87738212e-01 -1.55302588e-01 1.59477299e-02 3.03988405e+02] [ 1.55274804e-01 9.87866840e-01 2.97348704e-03 5.30191666e+00] [-1.62160237e-02 -4.60746152e-04 9.99868405e-01 -5.04910081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:304.02, Y:5.31, Z:-0.05 [[ 9.87755793e-01 -1.55190861e-01 1.59465015e-02 3.04016593e+02] [ 1.55162955e-01 9.87884394e-01 2.98006028e-03 5.30751898e+00] [-1.62157781e-02 -4.69265512e-04 9.99868406e-01 -5.10410005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.192320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:304.04, Y:5.31, Z:-0.05 [[ 9.87660150e-01 -1.55798514e-01 1.59452659e-02 3.04044065e+02] [ 1.55770581e-01 9.87788746e-01 2.98665660e-03 5.31246450e+00] [-1.62158709e-02 -4.65998364e-04 9.99868406e-01 -5.05666956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:304.07, Y:5.32, Z:-0.05 [[ 9.87597208e-01 -1.56197129e-01 1.59440325e-02 3.04071499e+02] [ 1.56169142e-01 9.87725792e-01 2.99322645e-03 5.31791059e+00] [-1.62158655e-02 -4.66136201e-04 9.99868406e-01 -5.18075985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.10, Y:5.32, Z:-0.05 [[ 9.87420731e-01 -1.57309017e-01 1.59427960e-02 3.04099056e+02] [ 1.57281069e-01 9.87549324e-01 2.99979816e-03 5.32347005e+00] [-1.62161927e-02 -4.54562904e-04 9.99868406e-01 -5.21411141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:304.13, Y:5.33, Z:-0.04 [[ 9.89006378e-01 -1.47011057e-01 1.59415572e-02 3.04132652e+02] [ 1.46981665e-01 9.89134648e-01 3.00636700e-03 5.32969803e+00] [-1.62103158e-02 -6.30199521e-04 9.99868406e-01 -4.44383695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.312320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:304.16, Y:5.33, Z:-0.05 [[ 9.88719625e-01 -1.48922777e-01 1.59846617e-02 3.04160040e+02] [ 1.48897312e-01 9.88848761e-01 2.77821685e-03 5.33396702e+00] [-1.62201527e-02 -3.66804366e-04 9.99868377e-01 -4.55034892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.19, Y:5.34, Z:-0.05 [[ 9.87190634e-01 -1.58743880e-01 1.59697100e-02 3.04186465e+02] [ 1.58718423e-01 9.87319755e-01 2.85720526e-03 5.33790098e+00] [-1.62207740e-02 -2.85919089e-04 9.99868394e-01 -4.98273589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.372320588 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:304.22, Y:5.34, Z:-0.04 [[ 9.88624833e-01 -1.49555780e-01 1.59376593e-02 3.04215895e+02] [ 1.49526402e-01 9.88753103e-01 3.02601406e-03 5.34179465e+00] [-1.62109680e-02 -6.08491801e-04 9.99868408e-01 -4.32898510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:304.25, Y:5.35, Z:-0.05 [[ 9.86905694e-01 -1.60509346e-01 1.59342976e-02 3.04246032e+02] [ 1.60481107e-01 9.87034219e-01 3.04369927e-03 5.34691573e+00] [-1.62162392e-02 -4.46690417e-04 9.99868408e-01 -5.07490182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.432320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:304.27, Y:5.35, Z:-0.05 [[ 9.86787471e-01 -1.61234321e-01 1.59367681e-02 3.04273851e+02] [ 1.61206386e-01 9.86916063e-01 3.03070855e-03 5.35086560e+00] [-1.62169066e-02 -4.21556442e-04 9.99868408e-01 -5.15608667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46232058799995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:304.30, Y:5.35, Z:-0.05 [[ 9.87346846e-01 -1.57772826e-01 1.59355170e-02 3.04300606e+02] [ 1.57744334e-01 9.87475316e-01 3.03727253e-03 5.35321110e+00] [-1.62151288e-02 -4.85103950e-04 9.99868408e-01 -4.73240867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.33, Y:5.36, Z:-0.05 [[ 9.86092602e-01 -1.65433717e-01 1.59080264e-02 3.04332473e+02] [ 1.65403899e-01 9.86220781e-01 3.18134029e-03 5.35663818e+00] [-1.62151272e-02 -5.05846529e-04 9.99868398e-01 -5.38532077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.36, Y:5.36, Z:-0.05 [[ 9.85841755e-01 -1.66919473e-01 1.59349732e-02 3.04361028e+02] [ 1.66892128e-01 9.85970474e-01 3.04009662e-03 5.35925951e+00] [-1.62188644e-02 -3.37632600e-04 9.99868409e-01 -5.32519858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.39, Y:5.36, Z:-0.05 [[ 9.85564090e-01 -1.68551304e-01 1.59337099e-02 3.04389071e+02] [ 1.68524065e-01 9.85692831e-01 3.04670360e-03 5.36234726e+00] [-1.62192695e-02 -3.17508085e-04 9.99868409e-01 -5.36747259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:304.42, Y:5.37, Z:-0.05 [[ 9.86089499e-01 -1.65449863e-01 1.59324468e-02 3.04418570e+02] [ 1.65422113e-01 9.86218131e-01 3.05329461e-03 5.36661022e+00] [-1.62180351e-02 -3.75242745e-04 9.99868409e-01 -4.92251970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.45, Y:5.37, Z:-0.05 [[ 9.84795596e-01 -1.72985322e-01 1.59283373e-02 3.04448430e+02] [ 1.72958210e-01 9.84924364e-01 3.07473286e-03 5.37037106e+00] [-1.62200912e-02 -2.73046675e-04 9.99868408e-01 -5.46782798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.48, Y:5.37, Z:-0.06 [[ 9.84017232e-01 -1.77359133e-01 1.59318859e-02 3.04477050e+02] [ 1.77332892e-01 9.84146181e-01 3.05623461e-03 5.37287463e+00] [-1.62213557e-02 -1.82140116e-04 9.99868409e-01 -5.59724445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.672320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:304.51, Y:5.38, Z:-0.06 [[ 9.83551005e-01 -1.79926753e-01 1.59306199e-02 3.04505532e+02] [ 1.79900743e-01 9.83680000e-01 3.06281900e-03 5.37645927e+00] [-1.62217153e-02 -1.46508348e-04 9.99868409e-01 -5.58346369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.53, Y:5.38, Z:-0.06 [[ 9.82920798e-01 -1.83338377e-01 1.59293493e-02 3.04534094e+02] [ 1.83312707e-01 9.83049861e-01 3.06941350e-03 5.37970906e+00] [-1.62220859e-02 -9.69382297e-05 9.99868409e-01 -5.67802222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:304.56, Y:5.39, Z:-0.06 [[ 9.82853878e-01 -1.83696900e-01 1.59280763e-02 3.04561506e+02] [ 1.83671170e-01 9.82982929e-01 3.07600509e-03 5.38527598e+00] [-1.62220797e-02 -9.77351172e-05 9.99868409e-01 -5.71198314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.59, Y:5.39, Z:-0.06 [[ 9.82682229e-01 -1.84613036e-01 1.59268031e-02 3.04589455e+02] [ 1.84587321e-01 9.82811283e-01 3.08258315e-03 5.39195767e+00] [-1.62221269e-02 -8.93137700e-05 9.99868409e-01 -5.87779804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:304.62, Y:5.40, Z:-0.06 [[ 9.82468109e-01 -1.85749275e-01 1.59255243e-02 3.04617191e+02] [ 1.85723601e-01 9.82597171e-01 3.08917607e-03 5.39682127e+00] [-1.62221873e-02 -7.72712510e-05 9.99868409e-01 -5.93177336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.65, Y:5.40, Z:-0.06 [[ 9.82271417e-01 -1.86786730e-01 1.59242457e-02 3.04645525e+02] [ 1.86761086e-01 9.82400485e-01 3.09575308e-03 5.39894850e+00] [-1.62222323e-02 -6.68403535e-05 9.99868409e-01 -5.82904407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:304.67, Y:5.40, Z:-0.06 [[ 9.82020141e-01 -1.88103435e-01 1.59229572e-02 3.04674225e+02] [ 1.88077856e-01 9.82149222e-01 3.10236629e-03 5.40414487e+00] [-1.62222858e-02 -5.18305285e-05 9.99868409e-01 -5.85654907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88232058799997 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:304.70, Y:5.41, Z:-0.05 [[ 9.83021961e-01 -1.82795840e-01 1.59218323e-02 3.04704537e+02] [ 1.82769472e-01 9.83150883e-01 3.10812883e-03 5.40854895e+00] [-1.62217165e-02 -1.45334025e-04 9.99868409e-01 -5.02026289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.73, Y:5.41, Z:-0.06 [[ 9.81689622e-01 -1.89820700e-01 1.59244744e-02 3.04733474e+02] [ 1.89795474e-01 9.81818772e-01 3.09460428e-03 5.41405497e+00] [-1.62223678e-02 -1.55477458e-05 9.99868409e-01 -5.90997633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.942320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:304.76, Y:5.42, Z:-0.06 [[ 9.81364395e-01 -1.91495317e-01 1.59206952e-02 3.04761613e+02] [ 1.91469998e-01 9.81493527e-01 3.11392631e-03 5.41958062e+00] [-1.62223616e-02 -7.56093370e-06 9.99868409e-01 -6.06742569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.79, Y:5.43, Z:-0.06 [[ 9.81193464e-01 -1.92369331e-01 1.59194047e-02 3.04789380e+02] [ 1.92344020e-01 9.81322598e-01 3.12050955e-03 5.42571179e+00] [-1.62223619e-02 1.78733784e-07 9.99868409e-01 -6.18228785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.82, Y:5.43, Z:-0.06 [[ 9.80927739e-01 -1.93719789e-01 1.59190027e-02 3.04817111e+02] [ 1.93694623e-01 9.81056901e-01 3.12255911e-03 5.43124660e+00] [-1.62223490e-02 2.04203729e-05 9.99868409e-01 -6.35789576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.85, Y:5.44, Z:-0.06 [[ 9.80598093e-01 -1.95381697e-01 1.59176974e-02 3.04845357e+02] [ 1.95356641e-01 9.80727277e-01 3.12919888e-03 5.43609812e+00] [-1.62223082e-02 4.11414497e-05 9.99868409e-01 -6.19846489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.062320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:304.87, Y:5.44, Z:-0.06 [[ 9.80398151e-01 -1.96382622e-01 1.59164065e-02 3.04873163e+02] [ 1.96357592e-01 9.80527339e-01 3.13575154e-03 5.44072667e+00] [-1.62222788e-02 5.10222378e-05 9.99868409e-01 -6.19515535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:304.90, Y:5.45, Z:-0.06 [[ 9.80190174e-01 -1.97418164e-01 1.59151030e-02 3.04901063e+02] [ 1.97393164e-01 9.80319369e-01 3.14235319e-03 5.44516565e+00] [-1.62222413e-02 6.14288119e-05 9.99868409e-01 -6.11766015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.93, Y:5.45, Z:-0.06 [[ 9.79850300e-01 -1.99098318e-01 1.59137921e-02 3.04928881e+02] [ 1.99073431e-01 9.79979517e-01 3.14897813e-03 5.45127825e+00] [-1.62221465e-02 8.24860247e-05 9.99868409e-01 -6.31709947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:304.96, Y:5.46, Z:-0.06 [[ 9.79633354e-01 -2.00163142e-01 1.59124897e-02 3.04956264e+02] [ 2.00138289e-01 9.79762577e-01 3.15554555e-03 5.45723464e+00] [-1.62220858e-02 9.34208009e-05 9.99868409e-01 -6.46445494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.98, Y:5.46, Z:-0.07 [[ 9.79560101e-01 -2.00521428e-01 1.59111935e-02 3.04984422e+02] [ 2.00496516e-01 9.79689312e-01 3.16206807e-03 5.46296145e+00] [-1.62220886e-02 9.27031442e-05 9.99868409e-01 -6.53028698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21232058799995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:305.02, Y:5.47, Z:-0.05 [[ 9.81238129e-01 -1.92142161e-01 1.59098890e-02 3.05020198e+02] [ 1.92116040e-01 9.81367101e-01 3.16861805e-03 5.47133425e+00] [-1.62222668e-02 -5.26239750e-05 9.99868409e-01 -5.43207173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.242320588 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:305.05, Y:5.48, Z:-0.05 [[ 9.81165990e-01 -1.92504498e-01 1.59786780e-02 3.05049601e+02] [ 1.92484037e-01 9.81296043e-01 2.82320641e-03 5.47724730e+00] [-1.62232934e-02 3.05606337e-04 9.99868347e-01 -5.43517151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27232058799996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:305.08, Y:5.48, Z:-0.06 [[ 9.80455939e-01 -1.96089030e-01 1.59763482e-02 3.05077766e+02] [ 1.96068854e-01 9.80586033e-01 2.83487920e-03 5.48228734e+00] [-1.62220726e-02 3.52990135e-04 9.99868351e-01 -5.64415029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.10, Y:5.49, Z:-0.07 [[ 9.78169882e-01 -2.07192562e-01 1.59663278e-02 3.05101847e+02] [ 2.07173047e-01 9.78300059e-01 2.88487021e-03 5.48603257e+00] [-1.62175831e-02 4.85899631e-04 9.99868368e-01 -6.81689615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:305.13, Y:5.49, Z:-0.07 [[ 9.78061485e-01 -2.07708560e-01 1.59023542e-02 3.05129888e+02] [ 2.07683940e-01 9.78190741e-01 3.20253837e-03 5.49125549e+00] [-1.62207303e-02 1.70384143e-04 9.99868421e-01 -6.74465391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.16, Y:5.50, Z:-0.07 [[ 9.77814705e-01 -2.08867326e-01 1.59010485e-02 3.05158575e+02] [ 2.08842753e-01 9.77943969e-01 3.20900840e-03 5.49775753e+00] [-1.62205915e-02 1.83003147e-04 9.99868421e-01 -7.00067763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.19, Y:5.50, Z:-0.07 [[ 9.77766632e-01 -2.09092340e-01 1.58999031e-02 3.05186279e+02] [ 2.09067705e-01 9.77895884e-01 3.21467351e-03 5.50333565e+00] [-1.62206134e-02 1.80955764e-04 9.99868421e-01 -7.04160009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.21, Y:5.51, Z:-0.07 [[ 9.77550867e-01 -2.10098877e-01 1.58985892e-02 3.05213661e+02] [ 2.10074270e-01 9.77680124e-01 3.22115851e-03 5.50994512e+00] [-1.62204965e-02 1.91038223e-04 9.99868421e-01 -7.12988075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.24, Y:5.52, Z:-0.07 [[ 9.77506797e-01 -2.10303921e-01 1.58972743e-02 3.05241778e+02] [ 2.10279235e-01 9.77636039e-01 3.22763499e-03 5.51560611e+00] [-1.62205326e-02 1.87831540e-04 9.99868421e-01 -7.12530750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:305.27, Y:5.52, Z:-0.07 [[ 9.77552746e-01 -2.10090319e-01 1.58961098e-02 3.05270861e+02] [ 2.10065512e-01 9.77681966e-01 3.23336000e-03 5.52108866e+00] [-1.62206375e-02 1.78444494e-04 9.99868421e-01 -7.11035181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:305.30, Y:5.53, Z:-0.07 [[ 9.77681068e-01 -2.09492435e-01 1.58949565e-02 3.05299664e+02] [ 2.09467457e-01 9.77810254e-01 3.23901970e-03 5.52699912e+00] [-1.62208016e-02 1.62747874e-04 9.99868421e-01 -7.19983778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.33, Y:5.53, Z:-0.07 [[ 9.77801699e-01 -2.08928756e-01 1.58938056e-02 3.05327369e+02] [ 2.08903612e-01 9.77930853e-01 3.24465708e-03 5.53282801e+00] [-1.62209451e-02 1.47642191e-04 9.99868421e-01 -7.29470181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.36, Y:5.54, Z:-0.07 [[ 9.78240421e-01 -2.06864951e-01 1.58924795e-02 3.05355148e+02] [ 2.06839429e-01 9.78369501e-01 3.25113960e-03 5.53940622e+00] [-1.62212641e-02 1.06795224e-04 9.99868421e-01 -7.44932531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.38, Y:5.55, Z:-0.08 [[ 9.78625236e-01 -2.05036873e-01 1.58911481e-02 3.05382687e+02] [ 2.05011005e-01 9.78754247e-01 3.25763422e-03 5.54528704e+00] [-1.62214638e-02 6.98571949e-05 9.99868421e-01 -7.57633749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.41, Y:5.55, Z:-0.08 [[ 9.78897611e-01 -2.03732623e-01 1.58898026e-02 3.05410958e+02] [ 2.03706476e-01 9.79026566e-01 3.26418408e-03 5.55071417e+00] [-1.62215597e-02 4.15537005e-05 9.99868421e-01 -7.54162389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.44, Y:5.56, Z:-0.08 [[ 9.79133048e-01 -2.02598202e-01 1.58884570e-02 3.05439616e+02] [ 2.02571800e-01 9.79261951e-01 3.27072053e-03 5.55657890e+00] [-1.62216035e-02 1.60827843e-05 9.99868421e-01 -7.51498591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.47, Y:5.56, Z:-0.08 [[ 9.79049102e-01 -2.03003570e-01 1.58872774e-02 3.05467941e+02] [ 2.02977129e-01 9.79177997e-01 3.27644050e-03 5.56203562e+00] [-1.62216016e-02 1.69578201e-05 9.99868421e-01 -7.56126568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.50, Y:5.57, Z:-0.08 [[ 9.79026507e-01 -2.03112618e-01 1.58859183e-02 3.05495267e+02] [ 2.03086084e-01 9.79155383e-01 3.28301702e-03 5.56841099e+00] [-1.62216046e-02 1.20482500e-05 9.99868421e-01 -7.62078226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.52, Y:5.57, Z:-0.08 [[ 9.79035067e-01 -2.03071459e-01 1.58845570e-02 3.05523050e+02] [ 2.03044813e-01 9.79163920e-01 3.28959060e-03 5.57446201e+00] [-1.62216070e-02 4.65234491e-06 9.99868421e-01 -7.78594844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.55, Y:5.58, Z:-0.08 [[ 9.79273166e-01 -2.01920260e-01 1.58831939e-02 3.05551625e+02] [ 2.01893356e-01 9.79401965e-01 3.29615886e-03 5.57872175e+00] [-1.62215925e-02 -2.11286106e-05 9.99868421e-01 -7.92365509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.812320588 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:305.59, Y:5.59, Z:-0.06 [[ 9.82505982e-01 -1.85552574e-01 1.58820020e-02 3.05588995e+02] [ 1.85523432e-01 9.82634293e-01 3.30189192e-03 5.58652405e+00] [-1.62188743e-02 -2.97645055e-04 9.99868421e-01 -6.40550836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.61, Y:5.59, Z:-0.08 [[ 9.79748672e-01 -1.99592193e-01 1.59842298e-02 3.05609472e+02] [ 1.99572910e-01 9.79878954e-01 2.80875435e-03 5.59120260e+00] [-1.62232158e-02 4.38145894e-04 9.99868299e-01 -8.00753687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.872320588 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:305.65, Y:5.60, Z:-0.07 [[ 9.83695141e-01 -1.79141614e-01 1.58792897e-02 3.05649587e+02] [ 1.79111475e-01 9.83823211e-01 3.31191045e-03 5.60226629e+00] [-1.62157148e-02 -4.13747215e-04 9.99868431e-01 -6.73078645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:305.68, Y:5.61, Z:-0.07 [[ 9.83265578e-01 -1.81473218e-01 1.60085525e-02 3.05679780e+02] [ 1.81453456e-01 9.83395853e-01 2.69060517e-03 5.60932014e+00] [-1.62310169e-02 2.59227735e-04 9.99868235e-01 -7.18560266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.932320588 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:305.70, Y:5.61, Z:-0.08 [[ 9.80017680e-01 -1.98265311e-01 1.60066529e-02 3.05698568e+02] [ 1.98247632e-01 9.80148248e-01 2.69968740e-03 5.60908000e+00] [-1.62241472e-02 5.27539652e-04 9.99868241e-01 -8.27790497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:305.74, Y:5.62, Z:-0.07 [[ 9.83384248e-01 -1.80841272e-01 1.58699409e-02 3.05739529e+02] [ 1.80810776e-01 9.83512204e-01 3.34777933e-03 5.61821282e+00] [-1.62136973e-02 -4.22697123e-04 9.99868460e-01 -6.97762934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.992320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:305.76, Y:5.62, Z:-0.07 [[ 9.82398660e-01 -1.86108426e-01 1.60164674e-02 3.05761057e+02] [ 1.86089910e-01 9.82529141e-01 2.65191494e-03 5.61952043e+00] [-1.62301897e-02 3.75265300e-04 9.99868211e-01 -7.11253136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:305.79, Y:5.62, Z:-0.08 [[ 9.79473555e-01 -2.00944623e-01 1.59001064e-02 3.05786148e+02] [ 2.00919149e-01 9.79602600e-01 3.20015369e-03 5.62298778e+00] [-1.62188392e-02 6.01699234e-05 9.99868464e-01 -8.37783191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.052320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:305.83, Y:5.64, Z:-0.07 [[ 9.83980049e-01 -1.77571483e-01 1.58628985e-02 3.05834584e+02] [ 1.77540124e-01 9.84107775e-01 3.37503436e-03 5.63663918e+00] [-1.62101116e-02 -5.04665509e-04 9.99868480e-01 -7.17209311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:305.86, Y:5.64, Z:-0.07 [[ 9.83441241e-01 -1.80509308e-01 1.61156566e-02 3.05862151e+02] [ 1.80497914e-01 9.83572972e-01 2.17079637e-03 5.64112468e+00] [-1.62427732e-02 7.73991734e-04 9.99867778e-01 -7.36808028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.87, Y:5.64, Z:-0.09 [[ 9.78630172e-01 -2.05000317e-01 1.60579306e-02 3.05873596e+02] [ 2.04987748e-01 9.78761492e-01 2.44247610e-03 5.63948692e+00] [-1.62175925e-02 9.01398226e-04 9.99868080e-01 -8.90768172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.90, Y:5.64, Z:-0.09 [[ 9.78437166e-01 -2.05935689e-01 1.58494526e-02 3.05901739e+02] [ 2.05907449e-01 9.78565525e-01 3.41117253e-03 5.64305988e+00] [-1.62122101e-02 -7.40976285e-05 9.99868571e-01 -8.75957027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.93, Y:5.64, Z:-0.09 [[ 9.78052087e-01 -2.07756959e-01 1.58480421e-02 3.05930896e+02] [ 2.07728852e-01 9.78180476e-01 3.41771335e-03 5.64480394e+00] [-1.62122991e-02 -5.06060913e-05 9.99868571e-01 -8.50863870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20232058799996 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:305.97, Y:5.65, Z:-0.07 [[ 9.82168764e-01 -1.87332333e-01 1.58466245e-02 3.05972542e+02] [ 1.87301451e-01 9.82296514e-01 3.42427360e-03 5.65455545e+00] [-1.62075612e-02 -3.95118808e-04 9.99868571e-01 -7.05534798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23232058799994 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:306.01, Y:5.66, Z:-0.07 [[ 9.82190973e-01 -1.87201974e-01 1.60097855e-02 3.06005323e+02] [ 1.87183414e-01 9.82321371e-01 2.66338389e-03 5.66368180e+00] [-1.62253451e-02 3.80814688e-04 9.99868288e-01 -7.38249836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:306.02, Y:5.67, Z:-0.09 [[ 9.78494193e-01 -2.05649748e-01 1.60404097e-02 3.06018239e+02] [ 2.05635973e-01 9.78625306e-01 2.52125886e-03 5.66568974e+00] [-1.62160471e-02 8.31448095e-04 9.99868166e-01 -9.15072889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:306.06, Y:5.67, Z:-0.08 [[ 9.81989407e-01 -1.88271042e-01 1.58372903e-02 3.06055906e+02] [ 1.88239821e-01 9.82117023e-01 3.45292678e-03 5.67415480e+00] [-1.62041585e-02 -4.09528846e-04 9.99868620e-01 -7.88005887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:306.09, Y:5.68, Z:-0.08 [[ 9.83171823e-01 -1.81985605e-01 1.59500835e-02 3.06088680e+02] [ 1.81961926e-01 9.83301195e-01 2.93568988e-03 5.68077442e+00] [-1.62179894e-02 1.60203274e-05 9.99868480e-01 -7.59690067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:306.10, Y:5.68, Z:-0.09 [[ 9.79298616e-01 -2.01788842e-01 1.59838810e-02 3.06104949e+02] [ 2.01770307e-01 9.79428921e-01 2.78063324e-03 5.68320264e+00] [-1.62161761e-02 5.02002284e-04 9.99868383e-01 -9.15562176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:306.13, Y:5.69, Z:-0.09 [[ 9.79464043e-01 -2.00996520e-01 1.58299891e-02 3.06132312e+02] [ 2.00966511e-01 9.79591929e-01 3.48056891e-03 5.68879113e+00] [-1.62065118e-02 -2.27794425e-04 9.99868640e-01 -9.18754020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:306.16, Y:5.69, Z:-0.09 [[ 9.79590432e-01 -2.00379744e-01 1.58285507e-02 3.06159740e+02] [ 2.00349549e-01 9.79718275e-01 3.48709824e-03 5.69497086e+00] [-1.62062642e-02 -2.44685082e-04 9.99868640e-01 -9.27131159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442320588 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:306.19, Y:5.70, Z:-0.09 [[ 9.79598360e-01 -2.00341100e-01 1.58271111e-02 3.06187425e+02] [ 2.00310795e-01 9.79726176e-01 3.49361991e-03 5.69998075e+00] [-1.62061507e-02 -2.52003134e-04 9.99868640e-01 -9.21242586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:306.22, Y:5.71, Z:-0.09 [[ 9.79188091e-01 -2.02336926e-01 1.58256665e-02 3.06216196e+02] [ 2.02306775e-01 9.79315944e-01 3.50015149e-03 5.70566072e+00] [-1.62065374e-02 -2.25667094e-04 9.99868640e-01 -9.29080523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.24, Y:5.71, Z:-0.09 [[ 9.78865241e-01 -2.03893179e-01 1.58244006e-02 3.06244028e+02] [ 2.03863140e-01 9.78993120e-01 3.50586561e-03 5.71149214e+00] [-1.62068014e-02 -2.05758003e-04 9.99868640e-01 -9.44917703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.27, Y:5.72, Z:-0.10 [[ 9.78671430e-01 -2.04821548e-01 1.58229423e-02 3.06271956e+02] [ 2.04791523e-01 9.78799313e-01 3.51243490e-03 5.71718642e+00] [-1.62069074e-02 -1.97115234e-04 9.99868640e-01 -9.50853481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.30, Y:5.72, Z:-0.10 [[ 9.78052261e-01 -2.07758164e-01 1.58214871e-02 3.06300862e+02] [ 2.07728418e-01 9.78180209e-01 3.51897765e-03 5.72149245e+00] [-1.62073619e-02 -1.55171569e-04 9.99868640e-01 -9.64096198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.33, Y:5.73, Z:-0.10 [[ 9.77712632e-01 -2.09350735e-01 1.58202151e-02 3.06329351e+02] [ 2.09321105e-01 9.77840606e-01 3.52468654e-03 5.72595436e+00] [-1.62075445e-02 -1.34625640e-04 9.99868640e-01 -9.52082043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622320588 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:306.38, Y:5.74, Z:-0.08 [[ 9.82261074e-01 -1.86850056e-01 1.58189403e-02 3.06377094e+02] [ 1.86817404e-01 9.82388311e-01 3.53039869e-03 5.73880725e+00] [-1.61999973e-02 -5.12519839e-04 9.99868640e-01 -7.94739898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:306.40, Y:5.74, Z:-0.08 [[ 9.80385144e-01 -1.96434443e-01 1.60772678e-02 3.06397580e+02] [ 1.96422144e-01 9.80516594e-01 2.35603709e-03 5.74275674e+00] [-1.62268347e-02 8.48107647e-04 9.99867977e-01 -8.49690781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.682320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:306.43, Y:5.75, Z:-0.09 [[ 9.80095154e-01 -1.97888402e-01 1.59270200e-02 3.06425782e+02] [ 1.97865332e-01 9.80224539e-01 3.02717733e-03 5.74687606e+00] [-1.62110991e-02 1.84483273e-04 9.99868574e-01 -8.54759291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71232058799995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:306.46, Y:5.75, Z:-0.09 [[ 9.79756160e-01 -1.99561283e-01 1.59110436e-02 3.06455837e+02] [ 1.99537282e-01 9.79885338e-01 3.09814738e-03 5.75318352e+00] [-1.62092686e-02 1.39417416e-04 9.99868611e-01 -8.81596865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.742320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:306.49, Y:5.76, Z:-0.09 [[ 9.81291721e-01 -1.91867109e-01 1.59239305e-02 3.06490412e+02] [ 1.91843021e-01 9.81420913e-01 3.04101740e-03 5.76356115e+00] [-1.62115496e-02 7.07697426e-05 9.99868582e-01 -8.54640379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:306.50, Y:5.76, Z:-0.10 [[ 9.76956646e-01 -2.12837440e-01 1.59980150e-02 3.06504140e+02] [ 2.12821499e-01 9.77087332e-01 2.71211087e-03 5.76427642e+00] [-1.62086965e-02 7.55106793e-04 9.99868345e-01 -1.01310075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.802320588 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:306.54, Y:5.77, Z:-0.08 [[ 9.80268369e-01 -1.97039052e-01 1.57967619e-02 3.06541734e+02] [ 1.97006665e-01 9.80395554e-01 3.59617609e-03 5.77266102e+00] [-1.61956623e-02 -4.13150278e-04 9.99868756e-01 -8.48767478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:306.56, Y:5.78, Z:-0.10 [[ 9.77070600e-01 -2.12320046e-01 1.59135347e-02 3.06561499e+02] [ 2.12297984e-01 9.77200114e-01 3.08258756e-03 5.77589880e+00] [-1.62052031e-02 3.66505661e-04 9.99868620e-01 -9.77334832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.862320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:306.59, Y:5.78, Z:-0.10 [[ 9.77326352e-01 -2.11148790e-01 1.57920710e-02 3.06588805e+02] [ 2.11117961e-01 9.77453912e-01 3.61343999e-03 5.78243611e+00] [-1.61989950e-02 -1.97520302e-04 9.99868768e-01 -9.85424285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.62, Y:5.79, Z:-0.10 [[ 9.77381403e-01 -2.10893931e-01 1.57905710e-02 3.06616267e+02] [ 2.10862964e-01 9.77508929e-01 3.61998287e-03 5.79069832e+00] [-1.61988566e-02 -2.08457335e-04 9.99868768e-01 -1.02639760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.922320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:306.66, Y:5.80, Z:-0.09 [[ 9.81160815e-01 -1.92546515e-01 1.57890737e-02 3.06655085e+02] [ 1.92513059e-01 9.81287710e-01 3.62650169e-03 5.80139354e+00] [-1.61918943e-02 -5.18578470e-04 9.99868768e-01 -8.84799714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.67, Y:5.80, Z:-0.10 [[ 9.77395934e-01 -2.10817086e-01 1.59168047e-02 3.06673171e+02] [ 2.10795047e-01 9.77525462e-01 3.06896241e-03 5.80360867e+00] [-1.62060716e-02 3.55592211e-04 9.99868610e-01 -1.03133451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:306.71, Y:5.81, Z:-0.09 [[ 9.80629901e-01 -1.95232765e-01 1.57849256e-02 3.06712588e+02] [ 1.95199428e-01 9.80756814e-01 3.64075272e-03 5.81361164e+00] [-1.61919675e-02 -4.89022544e-04 9.99868782e-01 -8.98241850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.73, Y:5.82, Z:-0.10 [[ 9.77018288e-01 -2.12559846e-01 1.59240781e-02 3.06729178e+02] [ 2.12538573e-01 9.77147961e-01 3.03607912e-03 5.81594999e+00] [-1.62055289e-02 4.18176005e-04 9.99868594e-01 -1.03069681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:306.76, Y:5.82, Z:-0.09 [[ 9.79754087e-01 -1.99581874e-01 1.57798988e-02 3.06762529e+02] [ 1.99548822e-01 9.79881057e-01 3.65804688e-03 5.82491581e+00] [-1.61925038e-02 -4.35126157e-04 9.99868798e-01 -9.19352659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07232058799997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:306.79, Y:5.83, Z:-0.09 [[ 9.79814427e-01 -1.99280522e-01 1.58418010e-02 3.06790573e+02] [ 1.99251729e-01 9.79942471e-01 3.39152558e-03 5.83095705e+00] [-1.61999186e-02 -1.66559445e-04 9.99868759e-01 -9.20526729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10232058799994 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:306.82, Y:5.84, Z:-0.09 [[ 9.80073943e-01 -1.98001313e-01 1.58286360e-02 3.06822731e+02] [ 1.97971442e-01 9.80201724e-01 3.44800026e-03 5.83851246e+00] [-1.61979649e-02 -2.45677331e-04 9.99868774e-01 -9.17769164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13232058799997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:306.84, Y:5.84, Z:-0.10 [[ 9.77234699e-01 -2.11566356e-01 1.58751664e-02 3.06843293e+02] [ 2.11541505e-01 9.77363619e-01 3.24785843e-03 5.84193611e+00] [-1.62029477e-02 1.84336642e-04 9.99868707e-01 -1.04137163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16232058799994 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:306.88, Y:5.85, Z:-0.09 [[ 9.80337380e-01 -1.96697350e-01 1.57725392e-02 3.06876655e+02] [ 1.96663461e-01 9.80464120e-01 3.68690411e-03 5.85063354e+00] [-1.61896130e-02 -5.12527768e-04 9.99868808e-01 -9.03569334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.192320588 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:306.90, Y:5.86, Z:-0.09 [[ 9.79872077e-01 -1.98998135e-01 1.58257457e-02 3.06904604e+02] [ 1.98968199e-01 9.79999839e-01 3.46001895e-03 5.85684795e+00] [-1.61977656e-02 -2.41555822e-04 9.99868778e-01 -9.14727312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:306.93, Y:5.86, Z:-0.10 [[ 9.77204807e-01 -2.11709624e-01 1.58050931e-02 3.06929518e+02] [ 2.11679927e-01 9.77332605e-01 3.54799603e-03 5.86172409e+00] [-1.61979777e-02 -1.21497817e-04 9.99868797e-01 -1.04311350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.252320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:306.96, Y:5.87, Z:-0.09 [[ 9.79731941e-01 -1.99691598e-01 1.57667095e-02 3.06960782e+02] [ 1.99657708e-01 9.79858677e-01 3.71107221e-03 5.86939721e+00] [-1.61902170e-02 -4.87910903e-04 9.99868811e-01 -9.24432042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.99, Y:5.88, Z:-0.11 [[ 9.77625747e-01 -2.09757882e-01 1.57965199e-02 3.06986574e+02] [ 2.09727340e-01 9.77753340e-01 3.58452509e-03 5.87757304e+00] [-1.61969825e-02 -1.91361911e-04 9.99868802e-01 -1.06819980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.312320588 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:307.02, Y:5.89, Z:-0.09 [[ 9.80176607e-01 -1.97497586e-01 1.57646240e-02 3.07017958e+02] [ 1.97463273e-01 9.80303228e-01 3.71970527e-03 5.88586959e+00] [-1.61887446e-02 -5.33033848e-04 9.99868812e-01 -9.43482471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:307.04, Y:5.89, Z:-0.11 [[ 9.77657151e-01 -2.09611668e-01 1.57938161e-02 3.07043475e+02] [ 2.09580922e-01 9.77784693e-01 3.59596570e-03 5.89121896e+00] [-1.61967080e-02 -2.05539036e-04 9.99868804e-01 -1.07141602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.372320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:307.07, Y:5.90, Z:-0.11 [[ 9.77507686e-01 -2.10309907e-01 1.57628091e-02 3.07071036e+02] [ 2.10277135e-01 9.77634715e-01 3.72710269e-03 5.89736177e+00] [-1.61941160e-02 -3.28713199e-04 9.99868813e-01 -1.07361094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40232058799995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:307.11, Y:5.91, Z:-0.09 [[ 9.80607965e-01 -1.95344828e-01 1.57612640e-02 3.07108012e+02] [ 1.95310015e-01 9.80734448e-01 3.73362524e-03 5.90719810e+00] [-1.61869589e-02 -5.82889958e-04 9.99868813e-01 -9.25664185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.432320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:307.14, Y:5.91, Z:-0.09 [[ 9.80283945e-01 -1.96955699e-01 1.58694551e-02 3.07136255e+02] [ 1.96928468e-01 9.80412385e-01 3.27619538e-03 5.91375886e+00] [-1.62038757e-02 -8.64542596e-05 9.99868705e-01 -9.43448758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46232058799995 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:307.17, Y:5.92, Z:-0.09 [[ 9.80684833e-01 -1.94949984e-01 1.58670194e-02 3.07173418e+02] [ 1.94922324e-01 9.80813176e-01 3.28642703e-03 5.92182549e+00] [-1.62032706e-02 -1.30112839e-04 9.99868710e-01 -9.36351459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.492320588 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:307.20, Y:5.93, Z:-0.09 [[ 9.79670542e-01 -1.99978152e-01 1.59489061e-02 3.07197061e+02] [ 1.99956736e-01 9.79800309e-01 2.94258731e-03 5.92609438e+00] [-1.62151963e-02 3.06325117e-04 9.99868478e-01 -9.45446159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:307.22, Y:5.93, Z:-0.11 [[ 9.75650066e-01 -2.18758143e-01 1.58689770e-02 3.07216207e+02] [ 2.18733783e-01 9.75779073e-01 3.27611720e-03 5.92818245e+00] [-1.62012930e-02 2.74737409e-04 9.99868713e-01 -1.11603133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.552320588 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:307.25, Y:5.94, Z:-0.10 [[ 9.78260149e-01 -2.06782991e-01 1.57440627e-02 3.07252172e+02] [ 2.06748679e-01 9.78386726e-01 3.79442870e-03 5.93557061e+00] [-1.61884053e-02 -4.56874213e-04 9.99868855e-01 -9.61806074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:5.94, Z:-0.11 [[ 9.75079385e-01 -2.21290455e-01 1.58344078e-02 3.07274472e+02] [ 2.21264098e-01 9.75207930e-01 3.41949289e-03 5.93839819e+00] [-1.61985412e-02 1.69308941e-04 9.99868781e-01 -1.10220357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.30, Y:5.94, Z:-0.11 [[ 9.74987972e-01 -2.21699601e-01 1.57398037e-02 3.07302683e+02] [ 2.21666971e-01 9.75114986e-01 3.81029506e-03 5.94447131e+00] [-1.61928593e-02 -2.25997252e-04 9.99868862e-01 -1.10331513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:307.33, Y:5.95, Z:-0.11 [[ 9.74332628e-01 -2.24562326e-01 1.57382267e-02 3.07331797e+02] [ 2.24529963e-01 9.74459711e-01 3.81679758e-03 5.94783404e+00] [-1.61933768e-02 -1.85126963e-04 9.99868862e-01 -1.08932872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.672320588 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:307.37, Y:5.96, Z:-0.09 [[ 9.77416643e-01 -2.10734569e-01 1.57368437e-02 3.07368934e+02] [ 2.10700317e-01 9.77543229e-01 3.82249131e-03 5.95725600e+00] [-1.61889760e-02 -4.20408669e-04 9.99868862e-01 -9.26915860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:307.39, Y:5.96, Z:-0.11 [[ 9.73172887e-01 -2.29528869e-01 1.58439657e-02 3.07389217e+02] [ 2.29504229e-01 9.73301792e-01 3.38084705e-03 5.96000631e+00] [-1.61969622e-02 3.46108459e-04 9.99868761e-01 -1.10920159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:5.97, Z:-0.11 [[ 9.72709655e-01 -2.31491669e-01 1.57332028e-02 3.07416892e+02] [ 2.31459914e-01 9.72836882e-01 3.83523506e-03 5.96525028e+00] [-1.61936649e-02 -8.89644228e-05 9.99868870e-01 -1.11562106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.44, Y:5.97, Z:-0.11 [[ 9.72087029e-01 -2.34092555e-01 1.57316098e-02 3.07444686e+02] [ 2.34061034e-01 9.72214314e-01 3.84175823e-03 5.97001750e+00] [-1.61938232e-02 -5.23664938e-05 9.99868870e-01 -1.13001890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79232058799994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:307.48, Y:5.98, Z:-0.10 [[ 9.75513061e-01 -2.19378289e-01 1.57300192e-02 3.07482858e+02] [ 2.19344744e-01 9.75639828e-01 3.84825971e-03 5.97971297e+00] [-1.61910579e-02 -3.03730576e-04 9.99868870e-01 -9.66574366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82232058799997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:307.51, Y:5.98, Z:-0.10 [[ 9.75540084e-01 -2.19248874e-01 1.58580072e-02 3.07510858e+02] [ 2.19223778e-01 9.75668938e-01 3.32529916e-03 5.98446164e+00] [-1.62012331e-02 2.32489632e-04 9.99868724e-01 -9.62647255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85232058799994 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:307.54, Y:5.99, Z:-0.09 [[ 9.75245748e-01 -2.20557648e-01 1.58131459e-02 3.07540129e+02] [ 2.20529766e-01 9.75373938e-01 3.50750938e-03 5.98915426e+00] [-1.61973384e-02 6.65857579e-05 9.99868812e-01 -9.44318361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:307.56, Y:5.99, Z:-0.11 [[ 9.71954103e-01 -2.34639102e-01 1.58023124e-02 3.07561809e+02] [ 2.34612362e-01 9.72082521e-01 3.55144398e-03 5.99371492e+00] [-1.61944593e-02 2.55577292e-04 9.99868828e-01 -1.10579213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91232058799994 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:307.60, Y:6.00, Z:-0.10 [[ 9.75449826e-01 -2.19660144e-01 1.57180660e-02 3.07595078e+02] [ 2.19625936e-01 9.75576395e-01 3.89170779e-03 6.00435040e+00] [-1.61890272e-02 -3.44070740e-04 9.99868890e-01 -9.87897705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942320588 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:307.63, Y:6.01, Z:-0.10 [[ 9.75567733e-01 -2.19131595e-01 1.57779068e-02 3.07626529e+02] [ 2.19101219e-01 9.75695308e-01 3.65002676e-03 6.01403147e+00] [-1.61942659e-02 -1.03889712e-04 9.99868859e-01 -9.90641118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:307.65, Y:6.02, Z:-0.11 [[ 9.72269132e-01 -2.33328025e-01 1.58356247e-02 3.07646624e+02] [ 2.33303309e-01 9.72398012e-01 3.41651732e-03 6.01663248e+00] [-1.61956992e-02 3.72729310e-04 9.99868772e-01 -1.11740092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:307.67, Y:6.02, Z:-0.11 [[ 9.72086569e-01 -2.34095641e-01 1.57140899e-02 3.07674583e+02] [ 2.34063090e-01 9.72213565e-01 3.90552764e-03 6.02222942e+00] [-1.61917183e-02 -1.18422531e-04 9.99868899e-01 -1.11456811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03232058799995 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:307.71, Y:6.03, Z:-0.10 [[ 9.74777024e-01 -2.22627202e-01 1.57124721e-02 3.07705830e+02] [ 2.22593052e-01 9.74903600e-01 3.91202530e-03 6.02946388e+00] [-1.61890689e-02 -3.15865257e-04 9.99868899e-01 -9.85852293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062320588 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:307.74, Y:6.04, Z:-0.10 [[ 9.75015689e-01 -2.21577931e-01 1.57361712e-02 3.07736817e+02] [ 2.21545178e-01 9.75142638e-01 3.81693264e-03 6.03744108e+00] [-1.61907596e-02 -2.35296349e-04 9.99868893e-01 -9.86444208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09232058799995 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:307.77, Y:6.05, Z:-0.10 [[ 9.74725107e-01 -2.22850050e-01 1.57740512e-02 3.07768004e+02] [ 2.22819918e-01 9.74852733e-01 3.66500355e-03 6.04642824e+00] [-1.61941231e-02 -5.75981796e-05 9.99868865e-01 -1.00847215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122320588 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:307.80, Y:6.05, Z:-0.10 [[ 9.74279309e-01 -2.24788940e-01 1.58037915e-02 3.07796193e+02] [ 2.24760991e-01 9.74407473e-01 3.54592388e-03 6.05245366e+00] [-1.61964170e-02 9.73555751e-05 9.99868825e-01 -1.00710409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15232058799995 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:307.82, Y:6.06, Z:-0.10 [[ 9.72944333e-01 -2.30500105e-01 1.57805611e-02 3.07823956e+02] [ 2.30471405e-01 9.73072295e-01 3.63859214e-03 6.05701366e+00] [-1.61943227e-02 9.68204823e-05 9.99868859e-01 -1.01086095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.182320588 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:307.85, Y:6.06, Z:-0.10 [[ 9.73365533e-01 -2.28717255e-01 1.57466368e-02 3.07853278e+02] [ 2.28686134e-01 9.73492893e-01 3.77359292e-03 6.06425481e+00] [-1.61923248e-02 -7.20477811e-05 9.99868893e-01 -1.00918087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21232058799995 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:307.88, Y:6.07, Z:-0.12 [[ 9.69445722e-01 -2.44800240e-01 1.57427370e-02 3.07878548e+02] [ 2.44770980e-01 9.69573520e-01 3.78907795e-03 6.07126257e+00] [-1.61913081e-02 1.80059760e-04 9.99868896e-01 -1.18556722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.242320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:307.91, Y:6.08, Z:-0.12 [[ 9.69148199e-01 -2.45978276e-01 1.56989453e-02 3.07906305e+02] [ 2.45946357e-01 9.69275341e-01 3.96257306e-03 6.07701158e+00] [-1.61913075e-02 2.07778774e-05 9.99868912e-01 -1.18049839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27232058799996 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:307.95, Y:6.09, Z:-0.10 [[ 9.72880545e-01 -2.30774867e-01 1.56973068e-02 3.07945809e+02] [ 2.30740858e-01 9.73007145e-01 3.96905320e-03 6.08724160e+00] [-1.61895494e-02 -2.39404595e-04 9.99868912e-01 -1.00676777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.302320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:307.96, Y:6.09, Z:-0.12 [[ 9.68530431e-01 -2.48389665e-01 1.58549191e-02 3.07964376e+02] [ 2.48368160e-01 9.68659942e-01 3.34269223e-03 6.09067542e+00] [-1.61883152e-02 7.00357937e-04 9.99868715e-01 -1.17299835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33232058799996 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:308.00, Y:6.10, Z:-0.10 [[ 9.71907447e-01 -2.34839516e-01 1.56944292e-02 3.07997373e+02] [ 2.34805921e-01 9.72034140e-01 3.97617834e-03 6.09925936e+00] [-1.61892848e-02 -1.79332444e-04 9.99868929e-01 -1.02222154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.362320588 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:308.04, Y:6.11, Z:-0.10 [[ 9.72532495e-01 -2.32234130e-01 1.57434025e-02 3.08035727e+02] [ 2.32203321e-01 9.72659914e-01 3.78278057e-03 6.11042393e+00] [-1.61914673e-02 -2.32066777e-05 9.99868909e-01 -1.00720757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39232058799996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:308.05, Y:6.11, Z:-0.12 [[ 9.67118254e-01 -2.53829628e-01 1.58997765e-02 3.08051497e+02] [ 2.53811810e-01 9.67248450e-01 3.16226865e-03 6.11152362e+00] [-1.61817117e-02 9.77263327e-04 9.99868590e-01 -1.18703033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.422320588 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:308.09, Y:6.12, Z:-0.10 [[ 9.72578256e-01 -2.32046044e-01 1.56897585e-02 3.08093399e+02] [ 2.32011887e-01 9.72704773e-01 3.98845913e-03 6.12494732e+00] [-1.61870091e-02 -2.38878141e-04 9.99868953e-01 -1.02462386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45232058799996 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:308.12, Y:6.13, Z:-0.10 [[ 9.72446861e-01 -2.32581738e-01 1.59008645e-02 3.08120544e+02] [ 2.32561230e-01 9.72576648e-01 3.15260291e-03 6.13119415e+00] [-1.61980474e-02 6.32185807e-04 9.99868603e-01 -1.03699431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48232058799994 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:308.15, Y:6.14, Z:-0.10 [[ 9.71032021e-01 -2.38424323e-01 1.58321238e-02 3.08146665e+02] [ 2.38400185e-01 9.71160975e-01 3.42246869e-03 6.13571612e+00] [-1.61915406e-02 4.51054558e-04 9.99868807e-01 -1.04586688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51232058799997 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:308.17, Y:6.14, Z:-0.11 [[ 9.70148290e-01 -2.41999832e-01 1.57599570e-02 3.08174055e+02] [ 2.41971592e-01 9.70276266e-01 3.70353325e-03 6.14169701e+00] [-1.61877667e-02 2.20485436e-04 9.99868945e-01 -1.06337876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54232058799994 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:308.21, Y:6.15, Z:-0.10 [[ 9.71588180e-01 -2.36154569e-01 1.57298474e-02 3.08212796e+02] [ 2.36123661e-01 9.71715503e-01 3.82063466e-03 6.15387301e+00] [-1.61871969e-02 2.10566711e-06 9.99868979e-01 -1.03117791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57232058799997 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:308.23, Y:6.15, Z:-0.12 [[ 9.65639675e-01 -2.59398407e-01 1.58897505e-02 3.08228382e+02] [ 2.59380784e-01 9.65769846e-01 3.19600470e-03 6.15475918e+00] [-1.61748804e-02 1.03530700e-03 9.99868642e-01 -1.22726494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:308.26, Y:6.16, Z:-0.12 [[ 9.65991675e-01 -2.58097920e-01 1.56699436e-02 3.08255609e+02] [ 2.58066222e-01 9.66118754e-01 4.04709901e-03 6.16082033e+00] [-1.61835742e-02 1.34419207e-04 9.99869028e-01 -1.22857681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63232058799997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:308.30, Y:6.17, Z:-0.10 [[ 9.71238081e-01 -2.37594392e-01 1.56682864e-02 3.08296273e+02] [ 2.37559909e-01 9.71364432e-01 4.05350483e-03 6.17196419e+00] [-1.61827061e-02 -2.14761563e-04 9.99869028e-01 -1.04160731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66232058799994 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:308.32, Y:6.18, Z:-0.11 [[ 9.70682303e-01 -2.39843188e-01 1.58464952e-02 3.08324334e+02] [ 2.39820214e-01 9.70811494e-01 3.36264370e-03 6.17984751e+00] [-1.61904669e-02 5.36251146e-04 9.99868782e-01 -1.08403366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.692320588 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:308.34, Y:6.18, Z:-0.13 [[ 9.65985547e-01 -2.58112470e-01 1.58074489e-02 3.08343181e+02] [ 2.58089471e-01 9.66114632e-01 3.51319299e-03 6.18465925e+00] [-1.61786066e-02 6.86042481e-04 9.99868882e-01 -1.25153726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72232058799995 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:308.38, Y:6.19, Z:-0.11 [[ 9.70539886e-01 -2.40431199e-01 1.56578641e-02 3.08381583e+02] [ 2.40396555e-01 9.70666162e-01 4.08637223e-03 6.19484675e+00] [-1.61810503e-02 -2.01890634e-04 9.99869058e-01 -1.10152121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.752320588 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:308.41, Y:6.20, Z:-0.11 [[ 9.70453626e-01 -2.40769121e-01 1.58110866e-02 3.08411294e+02] [ 2.40744081e-01 9.70582330e-01 3.49680965e-03 6.20194794e+00] [-1.61878850e-02 4.12933898e-04 9.99868882e-01 -1.10637276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78232058799995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:308.43, Y:6.20, Z:-0.13 [[ 9.65528334e-01 -2.59817561e-01 1.58073165e-02 3.08430775e+02] [ 2.59794822e-01 9.65657456e-01 3.51124782e-03 6.20350234e+00] [-1.61767368e-02 7.16449700e-04 9.99868891e-01 -1.25591798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.812320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:308.46, Y:6.21, Z:-0.13 [[ 9.65300863e-01 -2.60670979e-01 1.56487866e-02 3.08458624e+02] [ 2.60638531e-01 9.65427692e-01 4.11423921e-03 6.21054422e+00] [-1.61802347e-02 1.07198093e-04 9.99869086e-01 -1.25308180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:308.49, Y:6.22, Z:-0.13 [[ 9.65221017e-01 -2.60966581e-01 1.56470947e-02 3.08485797e+02] [ 2.60934068e-01 9.65347830e-01 4.12066374e-03 6.21779728e+00] [-1.61802444e-02 1.05508824e-04 9.99869086e-01 -1.27042478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.872320588 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:308.51, Y:6.22, Z:-0.13 [[ 9.65601784e-01 -2.59554264e-01 1.56454041e-02 3.08512877e+02] [ 2.59521462e-01 9.65728522e-01 4.12707272e-03 6.22486826e+00] [-1.61804123e-02 7.52093600e-05 9.99869086e-01 -1.28191350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90232058799995 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:308.56, Y:6.24, Z:-0.11 [[ 9.72023539e-01 -2.34361930e-01 1.56437048e-02 3.08557320e+02] [ 2.34325740e-01 9.72149352e-01 4.13350385e-03 6.23797661e+00] [-1.61767534e-02 -3.52140334e-04 9.99869086e-01 -1.09860137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.932320588 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:308.57, Y:6.24, Z:-0.13 [[ 9.65713212e-01 -2.59123311e-01 1.59091412e-02 3.08569502e+02] [ 2.59106890e-01 9.65843611e-01 3.12067555e-03 6.23794579e+00] [-1.61743822e-02 1.10849050e-03 9.99868572e-01 -1.29258543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96232058799995 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:308.61, Y:6.25, Z:-0.11 [[ 9.70779920e-01 -2.39461456e-01 1.56383250e-02 3.08606495e+02] [ 2.39425776e-01 9.70905832e-01 4.14295500e-03 6.24778271e+00] [-1.61754190e-02 -2.77679423e-04 9.99869131e-01 -1.13419673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.992320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:308.63, Y:6.25, Z:-0.13 [[ 9.66441969e-01 -2.56401429e-01 1.57552225e-02 3.08627241e+02] [ 2.56375123e-01 9.66570274e-01 3.70167366e-03 6.25459970e+00] [-1.61776441e-02 4.61794319e-04 9.99869027e-01 -1.30602619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02232058799996 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:308.67, Y:6.27, Z:-0.12 [[ 9.71439899e-01 -2.36770196e-01 1.56331922e-02 3.08665591e+02] [ 2.36733889e-01 9.71565622e-01 4.16024123e-03 6.26542630e+00] [-1.61736933e-02 -3.40517923e-04 9.99869139e-01 -1.15340514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.052320588 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:308.69, Y:6.27, Z:-0.12 [[ 9.71034131e-01 -2.38419832e-01 1.57702573e-02 3.08694917e+02] [ 2.38392053e-01 9.71162157e-01 3.64599548e-03 6.27252871e+00] [-1.61847547e-02 2.19117974e-04 9.99868994e-01 -1.17800730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08232058799996 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:308.73, Y:6.28, Z:-0.12 [[ 9.71563420e-01 -2.36254166e-01 1.57635546e-02 3.08725748e+02] [ 2.36225694e-01 9.71691280e-01 3.67110064e-03 6.28096330e+00] [-1.61846214e-02 1.57049536e-04 9.99869008e-01 -1.17670870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.112320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:308.74, Y:6.28, Z:-0.13 [[ 9.66430628e-01 -2.56442210e-01 1.57871340e-02 3.08743788e+02] [ 2.56417847e-01 9.66559388e-01 3.58291691e-03 6.28365623e+00] [-1.61780137e-02 5.85462282e-04 9.99868956e-01 -1.33732903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:308.77, Y:6.29, Z:-0.13 [[ 9.66448464e-01 -2.56385212e-01 1.56201917e-02 3.08771872e+02] [ 2.56350760e-01 9.66574684e-01 4.20331430e-03 6.28983774e+00] [-1.61757495e-02 -5.80386276e-05 9.99869162e-01 -1.34479836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.172320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:308.80, Y:6.30, Z:-0.13 [[ 9.66348128e-01 -2.56763223e-01 1.56186719e-02 3.08799303e+02] [ 2.56728730e-01 9.66474337e-01 4.20895413e-03 6.29601049e+00] [-1.61757502e-02 -5.75531554e-05 9.99869162e-01 -1.33626292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:308.83, Y:6.30, Z:-0.13 [[ 9.66362109e-01 -2.56710704e-01 1.56169315e-02 3.08827143e+02] [ 2.56676100e-01 9.66488288e-01 4.21540189e-03 6.30355106e+00] [-1.61757201e-02 -6.51116039e-05 9.99869162e-01 -1.32859734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.85, Y:6.31, Z:-0.13 [[ 9.66168888e-01 -2.57437058e-01 1.56154098e-02 3.08854433e+02] [ 2.57402457e-01 9.66295068e-01 4.22103129e-03 6.31142972e+00] [-1.61757433e-02 -5.87842580e-05 9.99869162e-01 -1.33847249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.88, Y:6.32, Z:-0.14 [[ 9.66535891e-01 -2.56055825e-01 1.56136644e-02 3.08881386e+02] [ 2.56020940e-01 9.66661992e-01 4.22747769e-03 6.31965600e+00] [-1.61756062e-02 -8.85838874e-05 9.99869162e-01 -1.35814508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:6.33, Z:-0.14 [[ 9.66673055e-01 -2.55537616e-01 1.56119163e-02 3.08909101e+02] [ 2.55502559e-01 9.66799109e-01 4.23392337e-03 6.32580468e+00] [-1.61755135e-02 -1.03935069e-04 9.99869162e-01 -1.35557062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:308.94, Y:6.33, Z:-0.14 [[ 9.66496878e-01 -2.56203255e-01 1.56101662e-02 3.08936631e+02] [ 2.56168182e-01 9.66622926e-01 4.24036600e-03 6.33215460e+00] [-1.61755401e-02 -9.94726058e-05 9.99869162e-01 -1.35547873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:308.96, Y:6.34, Z:-0.14 [[ 9.66356619e-01 -2.56731890e-01 1.56084150e-02 3.08964867e+02] [ 2.56696781e-01 9.66482658e-01 4.24680219e-03 6.34062596e+00] [-1.61755520e-02 -9.72955145e-05 9.99869162e-01 -1.37294952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:308.99, Y:6.35, Z:-0.14 [[ 9.66462725e-01 -2.56332257e-01 1.56068810e-02 3.08992500e+02] [ 2.56297005e-01 9.66588724e-01 4.25243226e-03 6.34891606e+00] [-1.61754708e-02 -1.09820412e-04 9.99869162e-01 -1.38023449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:309.02, Y:6.36, Z:-0.14 [[ 9.66568816e-01 -2.55932029e-01 1.56051220e-02 3.09020199e+02] [ 2.55896621e-01 9.66694772e-01 4.25887746e-03 6.35702911e+00] [-1.61753730e-02 -1.23200159e-04 9.99869163e-01 -1.38553727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.442320588 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:309.06, Y:6.37, Z:-0.12 [[ 9.73170073e-01 -2.29557265e-01 1.56035801e-02 3.09064430e+02] [ 2.29518355e-01 9.73294991e-01 4.26451929e-03 6.37017219e+00] [-1.61658377e-02 -5.68794516e-04 9.99869163e-01 -1.19432669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.08, Y:6.37, Z:-0.14 [[ 9.66622977e-01 -2.55711248e-01 1.58674909e-02 3.09075833e+02] [ 2.55691588e-01 9.66752806e-01 3.28992472e-03 6.37103260e+00] [-1.61812121e-02 8.77067109e-04 9.99868691e-01 -1.37983688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.10, Y:6.38, Z:-0.14 [[ 9.66517174e-01 -2.56127260e-01 1.56006137e-02 3.09104014e+02] [ 2.56091764e-01 9.66643063e-01 4.26593232e-03 6.37739153e+00] [-1.61728465e-02 -1.27908177e-04 9.99869203e-01 -1.37549331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.13, Y:6.38, Z:-0.14 [[ 9.66534730e-01 -2.56061109e-01 1.55988450e-02 3.09131434e+02] [ 2.56025500e-01 9.66660587e-01 4.27238999e-03 6.38381820e+00] [-1.61727816e-02 -1.35711221e-04 9.99869203e-01 -1.37016556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562320588 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:309.18, Y:6.40, Z:-0.12 [[ 9.72537809e-01 -2.32221749e-01 1.55970736e-02 3.09175511e+02] [ 2.32182953e-01 9.72662720e-01 4.27884693e-03 6.39876596e+00] [-1.61643334e-02 -5.39965808e-04 9.99869203e-01 -1.22215321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59232058799995 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:309.20, Y:6.41, Z:-0.12 [[ 9.71571996e-01 -2.36213300e-01 1.58471769e-02 3.09203658e+02] [ 2.36189818e-01 9.71701112e-01 3.36421900e-03 6.40641971e+00] [-1.61933927e-02 4.74360850e-04 9.99868766e-01 -1.24681243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:309.22, Y:6.41, Z:-0.14 [[ 9.65839891e-01 -2.58657715e-01 1.57952959e-02 3.09218770e+02] [ 2.58634140e-01 9.65968819e-01 3.55281470e-03 6.40786158e+00] [-1.61767263e-02 6.53752624e-04 9.99868934e-01 -1.41205577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65232058799995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:309.25, Y:6.41, Z:-0.14 [[ 9.65372507e-01 -2.60409524e-01 1.55821580e-02 3.09247641e+02] [ 2.60373691e-01 9.65498248e-01 4.32137397e-03 6.41443093e+00] [-1.61698732e-02 -1.14551637e-04 9.99869252e-01 -1.41000123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.682320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:309.28, Y:6.42, Z:-0.14 [[ 9.65926391e-01 -2.58347544e-01 1.55805930e-02 3.09275493e+02] [ 2.58311351e-01 9.66052029e-01 4.32700933e-03 6.42143900e+00] [-1.61695357e-02 -1.54928475e-04 9.99869253e-01 -1.41953696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71232058799995 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:309.32, Y:6.44, Z:-0.13 [[ 9.71858391e-01 -2.35050140e-01 1.55788025e-02 3.09317540e+02] [ 2.35010835e-01 9.71983091e-01 4.33344598e-03 6.43537668e+00] [-1.61609097e-02 -5.50308444e-04 9.99869253e-01 -1.25240071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.742320588 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:309.34, Y:6.44, Z:-0.13 [[ 9.70983578e-01 -2.38624177e-01 1.57921830e-02 3.09343830e+02] [ 2.38597729e-01 9.71111945e-01 3.56578729e-03 6.44101876e+00] [-1.61868606e-02 3.05658087e-04 9.99868937e-01 -1.26138273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77232058799996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:309.38, Y:6.45, Z:-0.13 [[ 9.70987967e-01 -2.38611592e-01 1.57122691e-02 3.09379017e+02] [ 2.38580502e-01 9.71115085e-01 3.85175858e-03 6.44936838e+00] [-1.61774958e-02 8.62981098e-06 9.99869136e-01 -1.26071058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:6.45, Z:-0.14 [[ 9.64561987e-01 -2.63382601e-01 1.58043977e-02 3.09393215e+02] [ 2.63360170e-01 9.64691152e-01 3.52154450e-03 6.45072408e+00] [-1.61738762e-02 7.65500929e-04 9.99868901e-01 -1.43671691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:309.42, Y:6.46, Z:-0.14 [[ 9.64270072e-01 -2.64463697e-01 1.55621716e-02 3.09420296e+02] [ 2.64427416e-01 9.64395635e-01 4.38183863e-03 6.45786138e+00] [-1.61669276e-02 -1.10211031e-04 9.99869301e-01 -1.44183940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.45, Y:6.47, Z:-0.14 [[ 9.63509278e-01 -2.67222281e-01 1.55603496e-02 3.09448718e+02] [ 2.67186256e-01 9.63634914e-01 4.38829889e-03 6.46611555e+00] [-1.61671474e-02 -7.06551296e-05 9.99869301e-01 -1.44448966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:309.48, Y:6.47, Z:-0.14 [[ 9.63257042e-01 -2.68130185e-01 1.55587578e-02 3.09476111e+02] [ 2.68094187e-01 9.63382686e-01 4.39393562e-03 6.47235205e+00] [-1.61671846e-02 -6.12769096e-05 9.99869301e-01 -1.43473997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.922320588 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:309.52, Y:6.48, Z:-0.12 [[ 9.68978658e-01 -2.46654296e-01 1.55569331e-02 3.09518881e+02] [ 2.46615411e-01 9.69103439e-01 4.40038636e-03 6.48389602e+00] [-1.61616516e-02 -4.27301017e-04 9.99869301e-01 -1.24021823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:6.49, Z:-0.14 [[ 9.61584517e-01 -2.74054265e-01 1.57948073e-02 3.09532848e+02] [ 2.74032707e-01 9.61713800e-01 3.55558617e-03 6.48644307e+00] [-1.61645077e-02 9.09297184e-04 9.99868932e-01 -1.43651712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.56, Y:6.49, Z:-0.14 [[ 9.61124781e-01 -2.75676144e-01 1.55505205e-02 3.09560743e+02] [ 2.75640778e-01 9.61250572e-01 4.41586802e-03 6.49371762e+00] [-1.61652962e-02 4.21573700e-05 9.99869332e-01 -1.44259423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01232058799997 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:309.59, Y:6.50, Z:-0.14 [[ 9.60799372e-01 -2.76808247e-01 1.55486989e-02 3.09588151e+02] [ 2.76772925e-01 9.60925175e-01 4.42227266e-03 6.50139068e+00] [-1.61652578e-02 5.45420780e-05 9.99869332e-01 -1.43498958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04232058799994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:309.62, Y:6.51, Z:-0.14 [[ 9.59969107e-01 -2.79674041e-01 1.55481293e-02 3.09615308e+02] [ 2.79639062e-01 9.60095006e-01 4.42427448e-03 6.50803696e+00] [-1.61650360e-02 1.00697468e-04 9.99869332e-01 -1.43713806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:309.64, Y:6.52, Z:-0.14 [[ 9.59139875e-01 -2.82504888e-01 1.55463059e-02 3.09642795e+02] [ 2.82470177e-01 9.59265848e-01 4.43067246e-03 6.51517690e+00] [-1.61647269e-02 1.41733142e-04 9.99869332e-01 -1.44044496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:309.67, Y:6.52, Z:-0.15 [[ 9.58169114e-01 -2.85780190e-01 1.55444863e-02 3.09670179e+02] [ 2.85745807e-01 9.58295177e-01 4.43704694e-03 6.52234345e+00] [-1.61642264e-02 1.90330450e-04 9.99869332e-01 -1.45573833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:309.70, Y:6.53, Z:-0.15 [[ 9.57129937e-01 -2.89241609e-01 1.55426690e-02 3.09697493e+02] [ 2.89207578e-01 9.57256096e-01 4.44340367e-03 6.52848825e+00] [-1.61635319e-02 2.42142997e-04 9.99869332e-01 -1.45685458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16232058799994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:309.72, Y:6.54, Z:-0.15 [[ 9.56895094e-01 -2.90017692e-01 1.55408527e-02 3.09724510e+02] [ 2.89983660e-01 9.57021252e-01 4.44974727e-03 6.53538268e+00] [-1.61634317e-02 2.48652017e-04 9.99869332e-01 -1.45617993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.75, Y:6.54, Z:-0.15 [[ 9.56197325e-01 -2.92310134e-01 1.55390360e-02 3.09752983e+02] [ 2.92276302e-01 9.56323537e-01 4.45608231e-03 6.54249135e+00] [-1.61629039e-02 2.80798003e-04 9.99869332e-01 -1.46049679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:309.78, Y:6.55, Z:-0.15 [[ 9.55948388e-01 -2.93123298e-01 1.55374500e-02 3.09780865e+02] [ 2.93089483e-01 9.56074604e-01 4.46160575e-03 6.54980225e+00] [-1.61627619e-02 2.88798355e-04 9.99869332e-01 -1.48307364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.252320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:309.81, Y:6.56, Z:-0.15 [[ 9.55993923e-01 -2.92974837e-01 1.55358767e-02 3.09808635e+02] [ 2.92940914e-01 9.56120111e-01 4.46707733e-03 6.55813626e+00] [-1.61629054e-02 2.80595145e-04 9.99869332e-01 -1.48079470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28232058799995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:309.84, Y:6.57, Z:-0.15 [[ 9.56065748e-01 -2.92740450e-01 1.55342990e-02 3.09835770e+02] [ 2.92706407e-01 9.56191903e-01 4.47255713e-03 6.56614997e+00] [-1.61630693e-02 2.70930151e-04 9.99869332e-01 -1.48524781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.312320588 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:309.87, Y:6.57, Z:-0.13 [[ 9.60258778e-01 -2.78678704e-01 1.55324919e-02 3.09868890e+02] [ 2.78642712e-01 9.60384391e-01 4.47882404e-03 6.57410992e+00] [-1.61653157e-02 2.71855673e-05 9.99869332e-01 -1.33354835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:309.89, Y:6.58, Z:-0.15 [[ 9.55729630e-01 -2.93832797e-01 1.55936161e-02 3.09893718e+02] [ 2.93802244e-01 9.55856702e-01 4.26702584e-03 6.57983799e+00] [-1.61590546e-02 5.03316376e-04 9.99869307e-01 -1.46218422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.372320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:309.92, Y:6.59, Z:-0.15 [[ 9.55545741e-01 -2.94433731e-01 1.55278958e-02 3.09920721e+02] [ 2.94399562e-01 9.55671859e-01 4.49410229e-03 6.58711550e+00] [-1.61627884e-02 2.77085426e-04 9.99869335e-01 -1.46625389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40232058799995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:309.96, Y:6.60, Z:-0.13 [[ 9.60553617e-01 -2.77661105e-01 1.55260772e-02 3.09957794e+02] [ 2.77624631e-01 9.60679088e-01 4.50037648e-03 6.59855709e+00] [-1.61651572e-02 -1.24314561e-05 9.99869335e-01 -1.32913963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.98, Y:6.60, Z:-0.15 [[ 9.55779419e-01 -2.93666505e-01 1.56743577e-02 3.09977280e+02] [ 2.93640491e-01 9.55907610e-01 3.98794506e-03 6.60339946e+00] [-1.61543637e-02 7.91030284e-04 9.99869197e-01 -1.49112398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46232058799995 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:310.02, Y:6.61, Z:-0.13 [[ 9.61159423e-01 -2.75557029e-01 1.55205574e-02 3.10016067e+02] [ 2.75520021e-01 9.61284723e-01 4.51647757e-03 6.61413780e+00] [-1.61642219e-02 -6.48306675e-05 9.99869348e-01 -1.34465931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.492320588 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:310.05, Y:6.62, Z:-0.13 [[ 9.61660106e-01 -2.73795861e-01 1.56737957e-02 3.10047021e+02] [ 2.73767167e-01 9.61787721e-01 3.98970783e-03 6.62216041e+00] [-1.61672298e-02 4.54227800e-04 9.99869199e-01 -1.34398992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52232058799996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:310.06, Y:6.62, Z:-0.15 [[ 9.55889669e-01 -2.93306081e-01 1.56998157e-02 3.10064943e+02] [ 2.93281451e-01 9.56018188e-01 3.90059678e-03 6.62459343e+00] [-1.61533781e-02 8.75924560e-04 9.99869142e-01 -1.48673355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.552320588 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:310.09, Y:6.63, Z:-0.15 [[ 9.55858389e-01 -2.93418277e-01 1.55065851e-02 3.10092257e+02] [ 2.93382936e-01 9.55984141e-01 4.55799307e-03 6.63180202e+00] [-1.61614479e-02 1.92571552e-04 9.99869377e-01 -1.49124998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:310.12, Y:6.64, Z:-0.15 [[ 9.56728086e-01 -2.90570084e-01 1.55047286e-02 3.10119373e+02] [ 2.90534266e-01 9.56853702e-01 4.56429960e-03 6.63945517e+00] [-1.61620059e-02 1.37861326e-04 9.99869377e-01 -1.50242334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.612320588 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:310.15, Y:6.65, Z:-0.15 [[ 9.57178725e-01 -2.89082252e-01 1.55028672e-02 3.10146596e+02] [ 2.89046137e-01 9.57304257e-01 4.57061314e-03 6.64589090e+00] [-1.61622439e-02 1.06150219e-04 9.99869377e-01 -1.49048669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64232058799996 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:310.19, Y:6.66, Z:-0.13 [[ 9.64316194e-01 -2.64299069e-01 1.55009842e-02 3.10194770e+02] [ 2.64259625e-01 9.64440720e-01 4.57699018e-03 6.66254990e+00] [-1.61594746e-02 -3.17381457e-04 9.99869377e-01 -1.34430514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.672320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:310.20, Y:6.66, Z:-0.15 [[ 9.58081544e-01 -2.86055159e-01 1.58808480e-02 3.10202412e+02] [ 2.86039834e-01 9.58212125e-01 3.27664467e-03 6.66254735e+00] [-1.61545222e-02 1.40326234e-03 9.99868522e-01 -1.51986367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:310.23, Y:6.67, Z:-0.15 [[ 9.58191100e-01 -2.85709189e-01 1.54943812e-02 3.10229967e+02] [ 2.85672428e-01 9.58316366e-01 4.58321720e-03 6.66984847e+00] [-1.61579864e-02 3.47195802e-05 9.99869451e-01 -1.52379797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73232058799994 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:310.27, Y:6.68, Z:-0.14 [[ 9.63356428e-01 -2.67776730e-01 1.54924382e-02 3.10270006e+02] [ 2.67737532e-01 9.63480954e-01 4.58977579e-03 6.68209712e+00] [-1.61557043e-02 -2.73682844e-04 9.99869451e-01 -1.39113590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:310.29, Y:6.68, Z:-0.15 [[ 9.57912137e-01 -2.86632655e-01 1.56862848e-02 3.10287582e+02] [ 2.86606544e-01 9.58040289e-01 3.93618087e-03 6.68481291e+00] [-1.61563308e-02 7.25276469e-04 9.99869215e-01 -1.53363229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:6.69, Z:-0.15 [[ 9.58110850e-01 -2.85978848e-01 1.54821569e-02 3.10314725e+02] [ 2.85941524e-01 9.58235931e-01 4.62021918e-03 6.69146458e+00] [-1.61568440e-02 3.09413346e-07 9.99869470e-01 -1.53166231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:310.34, Y:6.70, Z:-0.16 [[ 9.58140593e-01 -2.85879286e-01 1.54802491e-02 3.10341638e+02] [ 2.85841846e-01 9.58265638e-01 4.62660252e-03 6.69970638e+00] [-1.61568406e-02 -8.03270093e-06 9.99869470e-01 -1.55087809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85232058799994 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:310.38, Y:6.71, Z:-0.14 [[ 9.62707978e-01 -2.70099557e-01 1.54783363e-02 3.10377936e+02] [ 2.70059965e-01 9.62832359e-01 4.63299305e-03 6.71219728e+00] [-1.61544124e-02 -2.80140410e-04 9.99869470e-01 -1.42396156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88232058799997 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:310.40, Y:6.72, Z:-0.14 [[ 9.62622398e-01 -2.70395598e-01 1.56313547e-02 3.10404443e+02] [ 2.70364321e-01 9.62749268e-01 4.12077898e-03 6.72027086e+00] [-1.61633158e-02 2.59406457e-04 9.99869331e-01 -1.44694277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91232058799994 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:310.43, Y:6.72, Z:-0.15 [[ 9.60037032e-01 -2.79438587e-01 1.55875681e-02 3.10427874e+02] [ 2.79406133e-01 9.60163532e-01 4.26663703e-03 6.72284928e+00] [-1.61588775e-02 2.59132575e-04 9.99869403e-01 -1.49264416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:6.73, Z:-0.16 [[ 9.58159584e-01 -2.85816258e-01 1.54686207e-02 3.10455475e+02] [ 2.85778248e-01 9.58284438e-01 4.66136580e-03 6.73220029e+00] [-1.61556326e-02 -4.57370044e-05 9.99869488e-01 -1.57335880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:310.48, Y:6.74, Z:-0.16 [[ 9.58472961e-01 -2.84763680e-01 1.54670776e-02 3.10483339e+02] [ 2.84725450e-01 9.58597748e-01 4.66648039e-03 6.74178515e+00] [-1.61555498e-02 -6.88246516e-05 9.99869488e-01 -1.58378905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.51, Y:6.75, Z:-0.16 [[ 9.58290077e-01 -2.85378608e-01 1.54653949e-02 3.10510639e+02] [ 2.85340369e-01 9.58414861e-01 4.67205027e-03 6.75013041e+00] [-1.61555675e-02 -6.42779218e-05 9.99869488e-01 -1.58574687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:310.54, Y:6.76, Z:-0.16 [[ 9.58600225e-01 -2.84335171e-01 1.54634581e-02 3.10539005e+02] [ 2.84296692e-01 9.58724936e-01 4.67845189e-03 6.75770643e+00] [-1.61554513e-02 -8.85550445e-05 9.99869488e-01 -1.57585833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:310.57, Y:6.77, Z:-0.16 [[ 9.58247248e-01 -2.85522582e-01 1.54617667e-02 3.10566495e+02] [ 2.85484168e-01 9.58371979e-01 4.68403507e-03 6.76528551e+00] [-1.61555218e-02 -7.43740986e-05 9.99869488e-01 -1.58254616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09232058799995 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:310.60, Y:6.77, Z:-0.15 [[ 9.61257181e-01 -2.75219231e-01 1.54598271e-02 3.10597028e+02] [ 2.75179377e-01 9.61381459e-01 4.69042825e-03 6.77471772e+00] [-1.61536872e-02 -2.54482252e-04 9.99869488e-01 -1.47798691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:310.62, Y:6.78, Z:-0.16 [[ 9.57165726e-01 -2.89126276e-01 1.54844824e-02 3.10622690e+02] [ 2.89089542e-01 9.57290965e-01 4.60916308e-03 6.78218938e+00] [-1.61557853e-02 6.46690094e-05 9.99869485e-01 -1.62563422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15232058799995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:310.65, Y:6.79, Z:-0.15 [[ 9.59126759e-01 -2.82554275e-01 1.54577360e-02 3.10650776e+02] [ 2.82515264e-01 9.59251303e-01 4.69718187e-03 6.78884760e+00] [-1.61550622e-02 -1.38146465e-04 9.99869489e-01 -1.51647885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.182320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:310.68, Y:6.80, Z:-0.16 [[ 9.56573271e-01 -2.91082642e-01 1.54425483e-02 3.10679322e+02] [ 2.91043934e-01 9.56697911e-01 4.74710966e-03 6.79809776e+00] [-1.61556549e-02 -4.64982141e-05 9.99869488e-01 -1.61837762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:310.71, Y:6.81, Z:-0.16 [[ 9.57340925e-01 -2.88547144e-01 1.54563558e-02 3.10706378e+02] [ 2.88508838e-01 9.57465688e-01 4.70171911e-03 6.80809862e+00] [-1.61555979e-02 -4.18528734e-05 9.99869489e-01 -1.63249904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:6.82, Z:-0.16 [[ 9.57183220e-01 -2.89069964e-01 1.54544113e-02 3.10734123e+02] [ 2.89031623e-01 9.57307973e-01 4.70810206e-03 6.81565477e+00] [-1.61556020e-02 -3.97027183e-05 9.99869489e-01 -1.63842625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:310.76, Y:6.82, Z:-0.16 [[ 9.56797181e-01 -2.90345271e-01 1.54524627e-02 3.10762878e+02] [ 2.90306994e-01 9.56921952e-01 4.71448882e-03 6.82283812e+00] [-1.61556303e-02 -2.48516226e-05 9.99869489e-01 -1.64201289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.302320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:310.79, Y:6.83, Z:-0.16 [[ 9.56240173e-01 -2.92174615e-01 1.54507622e-02 3.10790601e+02] [ 2.92136486e-01 9.56364990e-01 4.72005524e-03 6.83048921e+00] [-1.61556484e-02 2.24939087e-07 9.99869489e-01 -1.64754213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:310.82, Y:6.84, Z:-0.16 [[ 9.55568046e-01 -2.94365492e-01 1.54488101e-02 3.10817839e+02] [ 2.94327546e-01 9.55692919e-01 4.72643588e-03 6.83837580e+00] [-1.61556180e-02 3.05792723e-05 9.99869489e-01 -1.64121862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.362320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:310.85, Y:6.85, Z:-0.16 [[ 9.55825324e-01 -2.93529120e-01 1.54468529e-02 3.10845207e+02] [ 2.93490962e-01 9.55950132e-01 4.73282369e-03 6.84750186e+00] [-1.61556427e-02 9.75898176e-06 9.99869489e-01 -1.64858019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:310.87, Y:6.86, Z:-0.17 [[ 9.55661011e-01 -2.94063735e-01 1.54451402e-02 3.10872323e+02] [ 2.94025556e-01 9.55785813e-01 4.73840640e-03 6.85569420e+00] [-1.61556393e-02 1.29556800e-05 9.99869489e-01 -1.66302436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.422320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:310.90, Y:6.86, Z:-0.17 [[ 9.55539295e-01 -2.94459103e-01 1.54431844e-02 3.10900011e+02] [ 2.94420873e-01 9.55664081e-01 4.74477216e-03 6.86380643e+00] [-1.61556380e-02 1.29795742e-05 9.99869489e-01 -1.66762585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45232058799996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:310.93, Y:6.87, Z:-0.17 [[ 9.55586747e-01 -2.94305177e-01 1.54412189e-02 3.10927583e+02] [ 2.94266824e-01 9.55711496e-01 4.75115996e-03 6.87083461e+00] [-1.61556414e-02 3.69294202e-06 9.99869489e-01 -1.66241627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48232058799994 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:310.95, Y:6.88, Z:-0.17 [[ 9.55401316e-01 -2.94906689e-01 1.54392515e-02 3.10954695e+02] [ 2.94868311e-01 9.55526057e-01 4.75754463e-03 6.87860024e+00] [-1.61556388e-02 7.18160749e-06 9.99869489e-01 -1.66147809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51232058799997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:310.98, Y:6.89, Z:-0.17 [[ 9.55128688e-01 -2.95788573e-01 1.54372800e-02 3.10982238e+02] [ 2.95750207e-01 9.55253432e-01 4.76393310e-03 6.88678457e+00] [-1.61556317e-02 1.54095866e-05 9.99869489e-01 -1.66319930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54232058799994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:311.01, Y:6.90, Z:-0.17 [[ 9.55095338e-01 -2.95896344e-01 1.54353044e-02 3.11010235e+02] [ 2.95857889e-01 9.55220055e-01 4.77032538e-03 6.89570579e+00] [-1.61556342e-02 1.05410615e-05 9.99869489e-01 -1.66591872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:311.04, Y:6.90, Z:-0.17 [[ 9.55312928e-01 -2.95193181e-01 1.54335833e-02 3.11036877e+02] [ 2.95154544e-01 9.55437589e-01 4.77588742e-03 6.90395527e+00] [-1.61556350e-02 -7.17475357e-06 9.99869489e-01 -1.66617612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:311.06, Y:6.91, Z:-0.17 [[ 9.55442587e-01 -2.94773352e-01 1.54316113e-02 3.11063625e+02] [ 2.94734558e-01 9.55567198e-01 4.78225071e-03 6.91222022e+00] [-1.61556217e-02 -2.09368456e-05 9.99869489e-01 -1.66099334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63232058799997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:311.09, Y:6.92, Z:-0.17 [[ 9.55813120e-01 -2.93569763e-01 1.54296296e-02 3.11090509e+02] [ 2.93530708e-01 9.55937651e-01 4.78863601e-03 6.92069826e+00] [-1.61555626e-02 -4.79710207e-05 9.99869489e-01 -1.66060932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:311.12, Y:6.93, Z:-0.17 [[ 9.55844167e-01 -2.93468764e-01 1.54276499e-02 3.11117430e+02] [ 2.93429594e-01 9.55968661e-01 4.79500561e-03 6.92895013e+00] [-1.61555342e-02 -5.63490972e-05 9.99869489e-01 -1.65735993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.692320588 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:311.15, Y:6.94, Z:-0.17 [[ 9.55841601e-01 -2.93477227e-01 1.54256615e-02 3.11145314e+02] [ 2.93437954e-01 9.55966063e-01 4.80139390e-03 6.93803083e+00] [-1.61555086e-02 -6.28974830e-05 9.99869489e-01 -1.66246206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72232058799995 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:311.17, Y:6.95, Z:-0.17 [[ 9.55548653e-01 -2.94429745e-01 1.54239268e-02 3.11173067e+02] [ 2.94390507e-01 9.55673125e-01 4.80695978e-03 6.94613042e+00] [-1.61555443e-02 -5.26262946e-05 9.99869489e-01 -1.66266471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.752320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:311.20, Y:6.95, Z:-0.17 [[ 9.55298444e-01 -2.95240646e-01 1.54221891e-02 3.11200214e+02] [ 2.95201424e-01 9.55422922e-01 4.81252866e-03 6.95410019e+00] [-1.61555670e-02 -4.47489829e-05 9.99869489e-01 -1.66640478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78232058799995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:311.23, Y:6.96, Z:-0.17 [[ 9.54744161e-01 -2.97028288e-01 1.54201995e-02 3.11228420e+02] [ 2.96989196e-01 9.54868680e-01 4.81889519e-03 6.96217740e+00] [-1.61556137e-02 -2.11793978e-05 9.99869489e-01 -1.67377702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.812320588 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:311.26, Y:6.97, Z:-0.15 [[ 9.60292310e-01 -2.78569470e-01 1.54184580e-02 3.11264523e+02] [ 2.78527896e-01 9.60416022e-01 4.82446091e-03 6.97467879e+00] [-1.61520816e-02 -3.38422056e-04 9.99869489e-01 -1.50843479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84232058799995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:311.29, Y:6.98, Z:-0.15 [[ 9.59460662e-01 -2.81413138e-01 1.55525919e-02 3.11293815e+02] [ 2.81378855e-01 9.59586693e-01 4.39537640e-03 6.98209519e+00] [-1.61609769e-02 1.58979753e-04 9.99869390e-01 -1.51206739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.872320588 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:311.32, Y:6.99, Z:-0.15 [[ 9.58733714e-01 -2.83881117e-01 1.55299009e-02 3.11324029e+02] [ 2.83845986e-01 9.58859477e-01 4.46768300e-03 6.99129005e+00] [-1.61592835e-02 1.24781721e-04 9.99869422e-01 -1.51707321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90232058799995 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:311.35, Y:7.00, Z:-0.17 [[ 9.53128051e-01 -3.02167421e-01 1.55488600e-02 3.11345034e+02] [ 3.02135685e-01 9.53254742e-01 4.40743045e-03 6.99655251e+00] [-1.61538064e-02 4.97019853e-04 9.99869395e-01 -1.70254807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.932320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:311.37, Y:7.01, Z:-0.17 [[ 9.52869370e-01 -3.02989604e-01 1.54033715e-02 3.11371933e+02] [ 3.02950500e-01 9.52993861e-01 4.86781061e-03 7.00540887e+00] [-1.61542145e-02 2.80714532e-05 9.99869512e-01 -1.72274155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96232058799995 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:311.40, Y:7.01, Z:-0.16 [[ 9.56321921e-01 -2.91909545e-01 1.54013630e-02 3.11400762e+02] [ 2.91868896e-01 9.56445916e-01 4.87415685e-03 7.01364958e+00] [-1.61533837e-02 -1.66084208e-04 9.99869512e-01 -1.58219338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.992320588 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:311.44, Y:7.03, Z:-0.16 [[ 9.59620627e-01 -2.80875380e-01 1.54036565e-02 3.11440295e+02] [ 2.80833422e-01 9.59744186e-01 4.86691297e-03 7.02971808e+00] [-1.61505658e-02 -3.44528501e-04 9.99869512e-01 -1.56204327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02232058799996 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:311.46, Y:7.04, Z:-0.16 [[ 9.58207674e-01 -2.85645915e-01 1.56353793e-02 3.11463606e+02] [ 2.85616480e-01 9.58335095e-01 4.13185208e-03 7.03553322e+00] [-1.61641794e-02 5.06549630e-04 9.99869223e-01 -1.59724506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.052320588 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:311.49, Y:7.04, Z:-0.17 [[ 9.53110755e-01 -3.02224182e-01 1.55058617e-02 3.11486257e+02] [ 3.02190294e-01 9.53236810e-01 4.53994645e-03 7.04066469e+00] [-1.61528397e-02 3.58649110e-04 9.99869470e-01 -1.74505336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08232058799996 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:311.51, Y:7.05, Z:-0.18 [[ 9.53391895e-01 -3.01342040e-01 1.53905851e-02 3.11513173e+02] [ 3.01302171e-01 9.53516111e-01 4.90188736e-03 7.04884073e+00] [-1.61523156e-02 -3.62029913e-05 9.99869542e-01 -1.75616561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.112320588 meters Centerline goodness : 0.997605 Centerline is valid? [True, True] Translation: X:311.55, Y:7.06, Z:-0.16 [[ 9.59225265e-01 -2.82223462e-01 1.53885579e-02 3.11549945e+02] [ 2.82181015e-01 9.59348625e-01 4.90824311e-03 7.06220966e+00] [-1.61482132e-02 -3.65751919e-04 9.99869542e-01 -1.61804924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14232058799996 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:311.58, Y:7.07, Z:-0.16 [[ 9.59804030e-01 -2.80240472e-01 1.55403028e-02 3.11582890e+02] [ 2.80205445e-01 9.59929824e-01 4.43181321e-03 7.07394528e+00] [-1.61595736e-02 1.00805288e-04 9.99869420e-01 -1.61383607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.172320588 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:311.61, Y:7.08, Z:-0.16 [[ 9.59286990e-01 -2.82000533e-01 1.56259371e-02 3.11610506e+02] [ 2.81970106e-01 9.59414159e-01 4.16299182e-03 7.08175090e+00] [-1.61657112e-02 4.12543242e-04 9.99869241e-01 -1.63998893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20232058799996 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:311.63, Y:7.08, Z:-0.18 [[ 9.53260836e-01 -3.01746176e-01 1.55892355e-02 3.11627010e+02] [ 3.01716499e-01 9.53388092e-01 4.27787336e-03 7.08424107e+00] [-1.61534234e-02 6.25600408e-04 9.99869329e-01 -1.80637243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23232058799994 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:311.67, Y:7.10, Z:-0.16 [[ 9.58947091e-01 -2.83167942e-01 1.53750811e-02 3.11666466e+02] [ 2.83125046e-01 9.59070261e-01 4.94388856e-03 7.09799042e+00] [-1.61457338e-02 -3.87857009e-04 9.99869574e-01 -1.64211137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26232058799997 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:311.69, Y:7.11, Z:-0.16 [[ 9.58751606e-01 -2.83816876e-01 1.55993495e-02 3.11694951e+02] [ 2.83785379e-01 9.58878435e-01 4.24337645e-03 7.10538587e+00] [-1.61622217e-02 3.58523340e-04 9.99869318e-01 -1.64283953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29232058799994 meters Centerline goodness : 0.996698 Centerline is valid? [True, True] Translation: X:311.72, Y:7.11, Z:-0.17 [[ 9.57828931e-01 -2.86916879e-01 1.55705989e-02 3.11723811e+02] [ 2.86884339e-01 9.57955429e-01 4.33269445e-03 7.11270926e+00] [-1.61590630e-02 3.16980895e-04 9.99869384e-01 -1.65472478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32232058799997 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:311.75, Y:7.12, Z:-0.17 [[ 9.58126960e-01 -2.85920811e-01 1.55569452e-02 3.11753777e+02] [ 2.85887453e-01 9.58253215e-01 4.37494822e-03 7.12192500e+00] [-1.61583815e-02 2.55779600e-04 9.99869412e-01 -1.65478833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35232058799994 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:311.77, Y:7.13, Z:-0.17 [[ 9.55871519e-01 -2.93371430e-01 1.55834163e-02 3.11774389e+02] [ 2.93340386e-01 9.55998424e-01 4.29329339e-03 7.12703819e+00] [-1.61572511e-02 4.67408478e-04 9.99869354e-01 -1.72223172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38232058799997 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:311.80, Y:7.13, Z:-0.19 [[ 9.51275210e-01 -3.07957504e-01 1.54158808e-02 3.11799296e+02] [ 3.07920043e-01 9.51400097e-01 4.80647195e-03 7.13448979e+00] [-1.61468596e-02 1.74581050e-04 9.99869616e-01 -1.85890537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41232058799994 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:311.83, Y:7.15, Z:-0.17 [[ 9.57044215e-01 -2.89535660e-01 1.53450907e-02 3.11834455e+02] [ 2.89492320e-01 9.57167158e-01 5.02274543e-03 7.14618402e+00] [-1.61420808e-02 -3.64703545e-04 9.99869642e-01 -1.69765873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442320588 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:311.86, Y:7.16, Z:-0.18 [[ 9.55230366e-01 -2.95458281e-01 1.54709970e-02 3.11863030e+02] [ 2.95421913e-01 9.55355632e-01 4.63781536e-03 7.15662746e+00] [-1.61505850e-02 1.40289448e-04 9.99869561e-01 -1.75202593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47232058799995 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:311.89, Y:7.17, Z:-0.18 [[ 9.55354337e-01 -2.95057920e-01 1.54568561e-02 3.11892155e+02] [ 2.95020801e-01 9.55479365e-01 4.68088343e-03 7.16600200e+00] [-1.61498387e-02 8.81917685e-05 9.99869579e-01 -1.75987060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502320588 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:311.92, Y:7.17, Z:-0.18 [[ 9.55338758e-01 -2.95107081e-01 1.54811983e-02 3.11919811e+02] [ 2.95071168e-01 9.55464171e-01 4.60685770e-03 7.17452517e+00] [-1.61512466e-02 1.66945547e-04 9.99869546e-01 -1.76173531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53232058799995 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:311.95, Y:7.18, Z:-0.17 [[ 9.56361478e-01 -2.91777039e-01 1.54558421e-02 3.11949909e+02] [ 2.91739446e-01 9.56486361e-01 4.68371920e-03 7.18398391e+00] [-1.61499039e-02 2.97501953e-05 9.99869581e-01 -1.70016290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562320588 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:311.98, Y:7.20, Z:-0.17 [[ 9.57287018e-01 -2.88723936e-01 1.54937027e-02 3.11982673e+02] [ 2.88687798e-01 9.57412387e-01 4.56906209e-03 7.19594783e+00] [-1.61530604e-02 9.89390762e-05 9.99869526e-01 -1.73022789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59232058799995 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:312.00, Y:7.20, Z:-0.19 [[ 9.51315589e-01 -3.07824242e-01 1.55848320e-02 3.11996495e+02] [ 3.07795131e-01 9.51442971e-01 4.29298831e-03 7.19937086e+00] [-1.61495647e-02 7.12948696e-04 9.99869333e-01 -1.86707103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622320588 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:312.03, Y:7.21, Z:-0.18 [[ 9.56110162e-01 -2.92606723e-01 1.53187457e-02 3.12030713e+02] [ 2.92562648e-01 9.56232793e-01 5.09329560e-03 7.21242182e+00] [-1.61386195e-02 -3.88058880e-04 9.99869689e-01 -1.75495172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65232058799995 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:312.05, Y:7.22, Z:-0.19 [[ 9.51477702e-01 -3.07328918e-01 1.54634848e-02 3.12050180e+02] [ 3.07293792e-01 9.51603296e-01 4.65740532e-03 7.22002055e+00] [-1.61464585e-02 3.20415575e-04 9.99869586e-01 -1.88850934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.682320588 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:312.08, Y:7.23, Z:-0.19 [[ 9.51886257e-01 -3.06068667e-01 1.53141860e-02 3.12077249e+02] [ 3.06026135e-01 9.52009423e-01 5.10526085e-03 7.22946118e+00] [-1.61418097e-02 -1.73086494e-04 9.99869698e-01 -1.88592175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71232058799995 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:312.12, Y:7.25, Z:-0.18 [[ 9.58578518e-01 -2.84416534e-01 1.53120733e-02 3.12119031e+02] [ 2.84371120e-01 9.58700651e-01 5.11158958e-03 7.24524163e+00] [-1.61335152e-02 -5.45548534e-04 9.99869698e-01 -1.75285821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.742320588 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:312.13, Y:7.25, Z:-0.19 [[ 9.52180123e-01 -3.05138781e-01 1.55992794e-02 3.12132125e+02] [ 3.05110075e-01 9.52307624e-01 4.24628931e-03 7.24813211e+00] [-1.61510202e-02 7.16265023e-04 9.99869307e-01 -1.87197131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77232058799996 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:312.16, Y:7.26, Z:-0.19 [[ 9.52425786e-01 -3.04386012e-01 1.53061315e-02 3.12158861e+02] [ 3.04342989e-01 9.52548743e-01 5.12228017e-03 7.25789998e+00] [-1.61389868e-02 -2.20277892e-04 9.99869734e-01 -1.87956581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.802320588 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:312.19, Y:7.27, Z:-0.19 [[ 9.52960384e-01 -3.02708266e-01 1.53040084e-02 3.12185672e+02] [ 3.02664925e-01 9.53083229e-01 5.12861578e-03 7.26822975e+00] [-1.61384681e-02 -2.55381118e-04 9.99869734e-01 -1.89503420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83232058799996 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:312.21, Y:7.28, Z:-0.19 [[ 9.53427384e-01 -3.01234255e-01 1.53018849e-02 3.12212681e+02] [ 3.01190622e-01 9.53550125e-01 5.13494364e-03 7.27837047e+00] [-1.61379352e-02 -2.87011645e-04 9.99869734e-01 -1.90511998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.862320588 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:312.24, Y:7.29, Z:-0.19 [[ 9.53376258e-01 -3.01396130e-01 1.52997622e-02 3.12240077e+02] [ 3.01352417e-01 9.53498971e-01 5.14126044e-03 7.28722865e+00] [-1.61378636e-02 -2.90935316e-04 9.99869734e-01 -1.90411509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89232058799996 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:312.27, Y:7.30, Z:-0.19 [[ 9.53803884e-01 -3.00040220e-01 1.52976396e-02 3.12267965e+02] [ 2.99996232e-01 9.53926498e-01 5.14756848e-03 7.29719268e+00] [-1.61373014e-02 -3.20536568e-04 9.99869734e-01 -1.89876213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.922320588 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:312.29, Y:7.31, Z:-0.19 [[ 9.54091130e-01 -2.99125650e-01 1.52957758e-02 3.12294966e+02] [ 2.99081455e-01 9.54213670e-01 5.15310081e-03 7.30658513e+00] [-1.61368630e-02 -3.41844893e-04 9.99869734e-01 -1.90259902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95232058799996 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:312.32, Y:7.32, Z:-0.19 [[ 9.54052967e-01 -2.99247455e-01 1.52936491e-02 3.12322421e+02] [ 2.99203175e-01 9.54175477e-01 5.15940493e-03 7.31635356e+00] [-1.61367637e-02 -3.46437223e-04 9.99869734e-01 -1.92115748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98232058799994 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:312.35, Y:7.33, Z:-0.19 [[ 9.53798409e-01 -3.00057922e-01 1.52917822e-02 3.12349724e+02] [ 3.00013657e-01 9.53920924e-01 5.16493221e-03 7.32549032e+00] [-1.61369298e-02 -3.38560627e-04 9.99869734e-01 -1.92338849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01232058799997 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:312.38, Y:7.33, Z:-0.19 [[ 9.53781400e-01 -3.00112093e-01 1.52896329e-02 3.12376113e+02] [ 3.00067733e-01 9.53903880e-01 5.17128699e-03 7.33444583e+00] [-1.61368059e-02 -3.44351870e-04 9.99869734e-01 -1.93507704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04232058799994 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:312.40, Y:7.34, Z:-0.19 [[ 9.54006079e-01 -2.99397218e-01 1.52874960e-02 3.12403593e+02] [ 2.99352666e-01 9.54128489e-01 5.17759645e-03 7.34440574e+00] [-1.61363934e-02 -3.63105817e-04 9.99869734e-01 -1.92480270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07232058799997 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:312.43, Y:7.35, Z:-0.19 [[ 9.53802076e-01 -3.00046580e-01 1.52856262e-02 3.12431446e+02] [ 3.00002023e-01 9.53924484e-01 5.18311062e-03 7.35389171e+00] [-1.61365077e-02 -3.57942891e-04 9.99869734e-01 -1.92632322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10232058799994 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:312.46, Y:7.36, Z:-0.19 [[ 9.54006425e-01 -2.99396304e-01 1.52837557e-02 3.12458768e+02] [ 2.99351575e-01 9.54128772e-01 5.18862046e-03 7.36308909e+00] [-1.61361248e-02 -3.74760922e-04 9.99869734e-01 -1.93430853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13232058799997 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:312.49, Y:7.37, Z:-0.19 [[ 9.53935369e-01 -2.99622736e-01 1.52816074e-02 3.12485458e+02] [ 2.99577934e-01 9.54057689e-01 5.19493994e-03 7.37136406e+00] [-1.61360571e-02 -3.77604573e-04 9.99869734e-01 -1.92968142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16232058799994 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:312.51, Y:7.38, Z:-0.19 [[ 9.54096152e-01 -2.99110467e-01 1.52794600e-02 3.12511621e+02] [ 2.99065500e-01 9.54218410e-01 5.20124835e-03 7.38094801e+00] [-1.61356898e-02 -3.92931714e-04 9.99869734e-01 -1.94473566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.192320588 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:312.54, Y:7.39, Z:-0.20 [[ 9.54233796e-01 -2.98671169e-01 1.52773099e-02 3.12538406e+02] [ 2.98626044e-01 9.54355996e-01 5.20755588e-03 7.39032828e+00] [-1.61353391e-02 -4.07023188e-04 9.99869734e-01 -1.95707581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22232058799995 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:312.57, Y:7.40, Z:-0.20 [[ 9.54159487e-01 -2.98908586e-01 1.52751573e-02 3.12565575e+02] [ 2.98863390e-01 9.54281662e-01 5.21386252e-03 7.39920648e+00] [-1.61352707e-02 -4.09671098e-04 9.99869734e-01 -1.95854202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.252320588 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:312.59, Y:7.41, Z:-0.20 [[ 9.53935394e-01 -2.99623095e-01 1.52729954e-02 3.12592953e+02] [ 2.99577890e-01 9.54057565e-01 5.22018758e-03 7.40802784e+00] [-1.61354056e-02 -4.04269951e-04 9.99869734e-01 -1.95124780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28232058799995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:312.62, Y:7.42, Z:-0.20 [[ 9.53753822e-01 -3.00200666e-01 1.52711084e-02 3.12619780e+02] [ 3.00155447e-01 9.53875988e-01 5.22570191e-03 7.41705852e+00] [-1.61355028e-02 -4.00326792e-04 9.99869734e-01 -1.95792467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.312320588 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:312.65, Y:7.43, Z:-0.20 [[ 9.53629571e-01 -3.00595244e-01 1.52689483e-02 3.12647183e+02] [ 3.00549974e-01 9.53751718e-01 5.23200598e-03 7.42606213e+00] [-1.61355018e-02 -4.00313602e-04 9.99869734e-01 -1.96252196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34232058799995 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:312.68, Y:7.44, Z:-0.20 [[ 9.53465668e-01 -3.01114839e-01 1.52667813e-02 3.12675124e+02] [ 3.01069535e-01 9.53587802e-01 5.23832161e-03 7.43530312e+00] [-1.61355528e-02 -3.98197073e-04 9.99869734e-01 -1.97317891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.372320588 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:312.70, Y:7.44, Z:-0.20 [[ 9.52949935e-01 -3.02743133e-01 1.52648859e-02 3.12702537e+02] [ 3.02697950e-01 9.53072113e-01 5.24383917e-03 7.44254633e+00] [-1.61360734e-02 -3.76466538e-04 9.99869734e-01 -1.96296379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40232058799995 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:312.73, Y:7.45, Z:-0.20 [[ 9.52504490e-01 -3.04141818e-01 1.52627192e-02 3.12729715e+02] [ 3.04096713e-01 9.52626698e-01 5.25013810e-03 7.45019610e+00] [-1.61364603e-02 -3.59437383e-04 9.99869734e-01 -1.96430589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.432320588 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:312.76, Y:7.46, Z:-0.20 [[ 9.52004666e-01 -3.05702847e-01 1.52605509e-02 3.12757548e+02] [ 3.05657841e-01 9.52126911e-01 5.25643311e-03 7.45885991e+00] [-1.61368877e-02 -3.39641812e-04 9.99869734e-01 -1.96639016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46232058799995 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:312.79, Y:7.47, Z:-0.19 [[ 9.57092444e-01 -2.89380766e-01 1.52586477e-02 3.12794846e+02] [ 2.89333589e-01 9.57213866e-01 5.26195201e-03 7.47323612e+00] [-1.61284968e-02 -6.21335215e-04 9.99869734e-01 -1.85757599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.492320588 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:312.82, Y:7.48, Z:-0.19 [[ 9.56248453e-01 -2.92147765e-01 1.54460456e-02 3.12823536e+02] [ 2.92109655e-01 9.56373193e-01 4.71871970e-03 7.48298232e+00] [-1.61507473e-02 -3.29374939e-07 9.99869568e-01 -1.87480818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52232058799996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:312.85, Y:7.49, Z:-0.19 [[ 9.56017898e-01 -2.92901548e-01 1.54421943e-02 3.12849951e+02] [ 2.92863356e-01 9.56142606e-01 4.72984708e-03 7.48858322e+00] [-1.61503195e-02 6.34383673e-07 9.99869575e-01 -1.86804687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.552320588 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:312.88, Y:7.50, Z:-0.19 [[ 9.55474521e-01 -2.94672361e-01 1.53830705e-02 3.12878884e+02] [ 2.94631660e-01 9.55598335e-01 4.89976218e-03 7.49682594e+00] [-1.61438611e-02 -1.49258310e-04 9.99869668e-01 -1.86596302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.90, Y:7.50, Z:-0.20 [[ 9.48977688e-01 -3.14967904e-01 1.53807509e-02 3.12898790e+02] [ 3.14929743e-01 9.49102304e-01 4.90641603e-03 7.50185287e+00] [-1.61432697e-02 1.87776572e-04 9.99869671e-01 -2.00624157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.612320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:312.93, Y:7.51, Z:-0.20 [[ 9.48506191e-01 -3.16392100e-01 1.52330064e-02 3.12926436e+02] [ 3.16347310e-01 9.48628475e-01 5.32876837e-03 7.50991816e+00] [-1.61364439e-02 -2.35449175e-04 9.99869771e-01 -2.01592118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64232058799996 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:312.95, Y:7.52, Z:-0.20 [[ 9.47756730e-01 -3.18630198e-01 1.52308002e-02 3.12953785e+02] [ 3.18585596e-01 9.47879083e-01 5.33506684e-03 7.51733439e+00] [-1.61368703e-02 -2.04031935e-04 9.99869771e-01 -2.01415686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.672320588 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:312.99, Y:7.53, Z:-0.19 [[ 9.52259260e-01 -3.04910466e-01 1.52285906e-02 3.12988498e+02] [ 3.04864001e-01 9.52380917e-01 5.34136667e-03 7.52661956e+00] [-1.61320577e-02 -4.43716824e-04 9.99869771e-01 -1.87417655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70232058799996 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:313.02, Y:7.54, Z:-0.19 [[ 9.51627773e-01 -3.06870039e-01 1.53414569e-02 3.13018352e+02] [ 3.06828992e-01 9.51751425e-01 5.01946565e-03 7.53681578e+00] [-1.61415771e-02 -6.94591691e-05 9.99869714e-01 -1.89399655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73232058799994 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:313.05, Y:7.54, Z:-0.19 [[ 9.51061237e-01 -3.08620160e-01 1.53661919e-02 3.13046196e+02] [ 3.08580477e-01 9.51185364e-01 4.94906414e-03 7.54408165e+00] [-1.61434778e-02 3.48437728e-05 9.99869685e-01 -1.90189439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76232058799997 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:313.08, Y:7.55, Z:-0.19 [[ 9.49427072e-01 -3.13611990e-01 1.53543126e-02 3.13077037e+02] [ 3.13572414e-01 9.49551217e-01 4.98281268e-03 7.55370706e+00] [-1.61423760e-02 8.38715993e-05 9.99869700e-01 -1.88028597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79232058799994 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:313.10, Y:7.56, Z:-0.19 [[ 9.49010504e-01 -3.14869041e-01 1.53801848e-02 3.13103481e+02] [ 3.14830817e-01 9.49135108e-01 4.90948942e-03 7.55917013e+00] [-1.61437196e-02 1.82999111e-04 9.99869665e-01 -1.92852537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:313.13, Y:7.56, Z:-0.21 [[ 9.42239053e-01 -3.34590170e-01 1.53292466e-02 3.13126877e+02] [ 3.34552208e-01 9.42363668e-01 5.05340240e-03 7.56226812e+00] [-1.61365438e-02 3.66920189e-04 9.99869730e-01 -2.05958187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:313.15, Y:7.57, Z:-0.21 [[ 9.41739486e-01 -3.35999264e-01 1.52064215e-02 3.13154099e+02] [ 3.35955880e-01 9.41862248e-01 5.39932487e-03 7.57070128e+00] [-1.61365235e-02 2.39292804e-05 9.99869798e-01 -2.07498411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.18, Y:7.58, Z:-0.21 [[ 9.41490367e-01 -3.36696780e-01 1.52041933e-02 3.13181687e+02] [ 3.36653386e-01 9.41613125e-01 5.40559212e-03 7.58130066e+00] [-1.61365134e-02 2.92302358e-05 9.99869798e-01 -2.09018410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.21, Y:7.59, Z:-0.21 [[ 9.41887520e-01 -3.35584253e-01 1.52022445e-02 3.13209289e+02] [ 3.35540625e-01 9.42010196e-01 5.41106722e-03 7.59117416e+00] [-1.61365382e-02 4.35391628e-06 9.99869798e-01 -2.10259609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:313.25, Y:7.61, Z:-0.20 [[ 9.47778949e-01 -3.18565557e-01 1.52002892e-02 3.13245800e+02] [ 3.18519639e-01 9.47900786e-01 5.41655419e-03 7.60555063e+00] [-1.61338937e-02 -2.92105406e-04 9.99869798e-01 -1.97194145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97232058799995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:313.27, Y:7.62, Z:-0.19 [[ 9.48817076e-01 -3.15451963e-01 1.53693081e-02 3.13274550e+02] [ 3.15413278e-01 9.48941534e-01 4.94268880e-03 7.61552710e+00] [-1.61437557e-02 1.57976306e-04 9.99869669e-01 -1.94778443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:313.29, Y:7.62, Z:-0.21 [[ 9.42593903e-01 -3.33588004e-01 1.53550579e-02 3.13293382e+02] [ 3.33551061e-01 9.42718868e-01 4.98260543e-03 7.62134320e+00] [-1.61376402e-02 4.25122349e-04 9.99869689e-01 -2.08421955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:313.32, Y:7.63, Z:-0.21 [[ 9.42087136e-01 -3.35024045e-01 1.51893652e-02 3.13320119e+02] [ 3.34979799e-01 9.42209577e-01 5.44484080e-03 7.63121171e+00] [-1.61357180e-02 -4.13839763e-05 9.99869810e-01 -2.10131919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:313.35, Y:7.64, Z:-0.21 [[ 9.41516507e-01 -3.36624448e-01 1.51871138e-02 3.13347169e+02] [ 3.36580310e-01 9.41638986e-01 5.45111335e-03 7.64012714e+00] [-1.61357565e-02 -2.06297368e-05 9.99869810e-01 -2.10368354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.38, Y:7.65, Z:-0.20 [[ 9.46692053e-01 -3.21781879e-01 1.51848472e-02 3.13380138e+02] [ 3.21735720e-01 9.46813785e-01 5.45742000e-03 7.65132843e+00] [-1.61333215e-02 -2.80988404e-04 9.99869810e-01 -1.97600859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.40, Y:7.66, Z:-0.21 [[ 9.40620662e-01 -3.39114825e-01 1.52939880e-02 3.13403779e+02] [ 3.39075832e-01 9.40744929e-01 5.15357484e-03 7.65752988e+00] [-1.61353953e-02 3.38262732e-04 9.99869759e-01 -2.09806601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:313.43, Y:7.67, Z:-0.21 [[ 9.40473552e-01 -3.39527682e-01 1.51806347e-02 3.13430589e+02] [ 3.39483645e-01 9.40596063e-01 5.46826148e-03 7.66726535e+00] [-1.61354714e-02 1.08219214e-05 9.99869815e-01 -2.10499827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.46, Y:7.68, Z:-0.21 [[ 9.40372962e-01 -3.39806284e-01 1.51783675e-02 3.13456595e+02] [ 3.39762181e-01 9.40495449e-01 5.47454735e-03 7.67743746e+00] [-1.61354712e-02 8.91896166e-06 9.99869815e-01 -2.12480317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:313.48, Y:7.69, Z:-0.21 [[ 9.40140231e-01 -3.40449748e-01 1.51761047e-02 3.13483370e+02] [ 3.40405629e-01 9.40262713e-01 5.48081309e-03 7.68661390e+00] [-1.61354668e-02 1.32985656e-05 9.99869815e-01 -2.12919458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.51, Y:7.69, Z:-0.21 [[ 9.39607465e-01 -3.41917486e-01 1.51738392e-02 3.13510761e+02] [ 3.41873456e-01 9.39729978e-01 5.48707790e-03 7.69496992e+00] [-1.61354395e-02 3.18335117e-05 9.99869815e-01 -2.12702985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:313.54, Y:7.70, Z:-0.21 [[ 9.39524966e-01 -3.42144213e-01 1.51715720e-02 3.13537349e+02] [ 3.42100112e-01 9.39647453e-01 5.49333951e-03 7.70348460e+00] [-1.61354434e-02 2.90668693e-05 9.99869815e-01 -2.11947387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.302320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:313.57, Y:7.72, Z:-0.20 [[ 9.44618024e-01 -3.27821112e-01 1.51692945e-02 3.13569016e+02] [ 3.27775053e-01 9.44739789e-01 5.49962163e-03 7.71514408e+00] [-1.61339281e-02 -2.22925423e-04 9.99869815e-01 -1.99774082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.59, Y:7.73, Z:-0.21 [[ 9.40043122e-01 -3.40714791e-01 1.52433851e-02 3.13592362e+02] [ 3.40673707e-01 9.40166679e-01 5.29533854e-03 7.72516933e+00] [-1.61355229e-02 2.15173956e-04 9.99869791e-01 -2.12765195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.362320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:313.62, Y:7.74, Z:-0.20 [[ 9.44757799e-01 -3.27418251e-01 1.51654046e-02 3.13622515e+02] [ 3.27371974e-01 9.44879479e-01 5.50997003e-03 7.73540318e+00] [-1.61335444e-02 -2.40858709e-04 9.99869817e-01 -2.01888350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:313.65, Y:7.74, Z:-0.21 [[ 9.40421910e-01 -3.39669537e-01 1.52064764e-02 3.13648453e+02] [ 3.39626670e-01 9.40544841e-01 5.39694623e-03 7.74449154e+00] [-1.61355511e-02 8.91184524e-05 9.99869810e-01 -2.12045095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.422320588 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:313.68, Y:7.76, Z:-0.20 [[ 9.45221257e-01 -3.26078025e-01 1.51623595e-02 3.13680243e+02] [ 3.26031444e-01 9.45342820e-01 5.51816735e-03 7.75651011e+00] [-1.61329808e-02 -2.72483127e-04 9.99869818e-01 -2.02472826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45232058799996 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:313.71, Y:7.77, Z:-0.20 [[ 9.44939573e-01 -3.26889517e-01 1.52461780e-02 3.13706900e+02] [ 3.26846743e-01 9.45062560e-01 5.28803185e-03 7.76760288e+00] [-1.61371942e-02 -1.37069290e-05 9.99869787e-01 -2.04356994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:313.73, Y:7.78, Z:-0.21 [[ 9.40600949e-01 -3.39172864e-01 1.52191857e-02 3.13731548e+02] [ 3.39130496e-01 9.40724059e-01 5.36206922e-03 7.77655803e+00] [-1.61357225e-02 1.17722605e-04 9.99869804e-01 -2.14737190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.76, Y:7.79, Z:-0.22 [[ 9.40331994e-01 -3.39920619e-01 1.51563230e-02 3.13758517e+02] [ 3.39875569e-01 9.40454130e-01 5.53422895e-03 7.78617084e+00] [-1.61350251e-02 -5.27486316e-05 9.99869821e-01 -2.15120501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.79, Y:7.79, Z:-0.22 [[ 9.39808432e-01 -3.41365591e-01 1.51540339e-02 3.13785253e+02] [ 3.41320627e-01 9.39930600e-01 5.54049009e-03 7.79481714e+00] [-1.61350728e-02 -3.46149545e-05 9.99869821e-01 -2.15056984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.81, Y:7.80, Z:-0.22 [[ 9.39395757e-01 -3.42499689e-01 1.51517430e-02 3.13811867e+02] [ 3.42454773e-01 9.39517941e-01 5.54674804e-03 7.80364852e+00] [-1.61350939e-02 -2.18048712e-05 9.99869821e-01 -2.15182180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:313.84, Y:7.81, Z:-0.21 [[ 9.39018674e-01 -3.43532275e-01 1.51494503e-02 3.13838315e+02] [ 3.43487391e-01 9.39140871e-01 5.55300277e-03 7.81302312e+00] [-1.61351036e-02 -1.07281335e-05 9.99869821e-01 -2.13777736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:313.87, Y:7.83, Z:-0.21 [[ 9.44258642e-01 -3.28855867e-01 1.51471514e-02 3.13872218e+02] [ 3.28808984e-01 9.44380086e-01 5.55926665e-03 7.82747939e+00] [-1.61328656e-02 -2.68866128e-04 9.99869821e-01 -2.05005548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:313.90, Y:7.84, Z:-0.21 [[ 9.43810883e-01 -3.30132200e-01 1.52887900e-02 3.13897536e+02] [ 3.30091700e-01 9.43934693e-01 5.17358955e-03 7.83612707e+00] [-1.61395878e-02 1.63812562e-04 9.99869735e-01 -2.08145746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.92, Y:7.84, Z:-0.22 [[ 9.37896372e-01 -3.46581672e-01 1.52164659e-02 3.13921632e+02] [ 3.46540149e-01 9.38019770e-01 5.36994419e-03 7.84388092e+00] [-1.61344700e-02 2.36665184e-04 9.99869803e-01 -2.18161922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:313.96, Y:7.86, Z:-0.21 [[ 9.43722338e-01 -3.30392282e-01 1.51356887e-02 3.13955575e+02] [ 3.30345125e-01 9.43843665e-01 5.58871101e-03 7.85658270e+00] [-1.61321909e-02 -2.74190424e-04 9.99869830e-01 -2.07008403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.752320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:313.98, Y:7.86, Z:-0.22 [[ 9.37919570e-01 -3.46517130e-01 1.52564626e-02 3.13977497e+02] [ 3.46477361e-01 9.38043579e-01 5.26146193e-03 7.86416137e+00] [-1.61344135e-02 3.51190783e-04 9.99869770e-01 -2.16865812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.00, Y:7.87, Z:-0.22 [[ 9.37654780e-01 -3.47238474e-01 1.51312818e-02 3.14004521e+02] [ 3.47193319e-01 9.37776862e-01 5.59972205e-03 7.87342514e+00] [-1.61342049e-02 2.87380628e-06 9.99869835e-01 -2.17137639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.03, Y:7.88, Z:-0.22 [[ 9.37977247e-01 -3.46366568e-01 1.51289602e-02 3.14030891e+02] [ 3.46321198e-01 9.38099249e-01 5.60598746e-03 7.88431402e+00] [-1.61341928e-02 -1.88090642e-05 9.99869835e-01 -2.17145321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:314.06, Y:7.89, Z:-0.22 [[ 9.37663508e-01 -3.47215106e-01 1.51266368e-02 3.14057304e+02] [ 3.47169746e-01 9.37785514e-01 5.61224964e-03 7.89435648e+00] [-1.61341987e-02 -1.08910241e-05 9.99869835e-01 -2.17973277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.08, Y:7.90, Z:-0.22 [[ 9.37666365e-01 -3.47207492e-01 1.51243100e-02 3.14083671e+02] [ 3.47162030e-01 9.37788333e-01 5.61851312e-03 7.90427425e+00] [-1.61341913e-02 -1.77046248e-05 9.99869835e-01 -2.17654165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.11, Y:7.91, Z:-0.22 [[ 9.37599477e-01 -3.47388178e-01 1.51219877e-02 3.14110966e+02] [ 3.47342639e-01 9.37721416e-01 5.62475652e-03 7.91316522e+00] [-1.61341856e-02 -2.12576559e-05 9.99869835e-01 -2.15065230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.932320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:314.15, Y:7.93, Z:-0.20 [[ 9.45021140e-01 -3.26659518e-01 1.51196620e-02 3.14149458e+02] [ 3.26611205e-01 9.45142007e-01 5.63100122e-03 7.92836384e+00] [-1.61296478e-02 -3.83164165e-04 9.99869835e-01 -2.03402819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.18, Y:7.94, Z:-0.21 [[ 9.42885405e-01 -3.32763336e-01 1.53517053e-02 3.14175102e+02] [ 3.32725897e-01 9.43010293e-01 5.00652103e-03 7.93651652e+00] [-1.61428028e-02 3.87334312e-04 9.99869621e-01 -2.07572810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.20, Y:7.94, Z:-0.22 [[ 9.36865451e-01 -3.49357243e-01 1.52526650e-02 3.14196237e+02] [ 3.49317683e-01 9.36989522e-01 5.27170571e-03 7.94326665e+00] [-1.61332959e-02 3.89146668e-04 9.99869774e-01 -2.18189666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.24, Y:7.96, Z:-0.21 [[ 9.45004634e-01 -3.26707895e-01 1.51060592e-02 3.14236893e+02] [ 3.26659081e-01 9.45125271e-01 5.66279496e-03 7.96112483e+00] [-1.61271982e-02 -4.16836046e-04 9.99869861e-01 -2.06402955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.25, Y:7.96, Z:-0.22 [[ 9.35796568e-01 -3.52203755e-01 1.54044974e-02 3.14251745e+02] [ 3.52171251e-01 9.35922941e-01 4.86390401e-03 7.96409474e+00] [-1.61305078e-02 8.73396439e-04 9.99869513e-01 -2.20026878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.28, Y:7.97, Z:-0.22 [[ 9.35318125e-01 -3.53485541e-01 1.50988955e-02 3.14278458e+02] [ 3.53439956e-01 9.35439988e-01 5.67675396e-03 7.97239074e+00] [-1.61307611e-02 2.69820923e-05 9.99869890e-01 -2.19143109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.31, Y:7.98, Z:-0.21 [[ 9.41490478e-01 -3.36701313e-01 1.50965546e-02 3.14311678e+02] [ 3.36653457e-01 9.41611466e-01 5.68297236e-03 7.98493902e+00] [-1.61285532e-02 -2.68157053e-04 9.99869890e-01 -2.10008521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.33, Y:7.99, Z:-0.22 [[ 9.35549992e-01 -3.52867104e-01 1.51993403e-02 3.14334818e+02] [ 3.52825759e-01 9.35673403e-01 5.40998070e-03 7.99229165e+00] [-1.61306227e-02 3.01411371e-04 9.99869848e-01 -2.19097917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.172320588 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:314.38, Y:8.01, Z:-0.21 [[ 9.45127621e-01 -3.26352597e-01 1.50918348e-02 3.14378528e+02] [ 3.26303226e-01 9.45247995e-01 5.69487998e-03 8.01216412e+00] [-1.61240655e-02 -4.57873977e-04 9.99869894e-01 -2.05217150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.39, Y:8.01, Z:-0.22 [[ 9.36253293e-01 -3.50983995e-01 1.54921767e-02 3.14389019e+02] [ 3.50955257e-01 9.36380805e-01 4.62563716e-03 8.01426824e+00] [-1.61301014e-02 1.10629281e-03 9.99869289e-01 -2.21876117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.42, Y:8.02, Z:-0.22 [[ 9.36108200e-01 -3.51388413e-01 1.50870907e-02 3.14416528e+02] [ 3.51342210e-01 9.36229770e-01 5.69820911e-03 8.02313400e+00] [-1.61272681e-02 -3.34084843e-05 9.99869947e-01 -2.21316959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:314.45, Y:8.04, Z:-0.21 [[ 9.41876880e-01 -3.35619417e-01 1.50847330e-02 3.14452150e+02] [ 3.35571079e-01 9.41997617e-01 5.70444387e-03 8.03830865e+00] [-1.61243046e-02 -3.10883674e-04 9.99869947e-01 -2.13370231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.47, Y:8.04, Z:-0.22 [[ 9.35534362e-01 -3.52905760e-01 1.52637327e-02 3.14472164e+02] [ 3.52867333e-01 9.35658742e-01 5.23096159e-03 8.04478560e+00] [-1.61276814e-02 4.92328344e-04 9.99869819e-01 -2.24586637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.50, Y:8.05, Z:-0.22 [[ 9.35324902e-01 -3.53468547e-01 1.50769191e-02 3.14499798e+02] [ 3.53422213e-01 9.35446410e-01 5.72310843e-03 8.05329754e+00] [-1.61265887e-02 -2.44477146e-05 9.99869958e-01 -2.23861697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:314.53, Y:8.06, Z:-0.22 [[ 9.35303029e-01 -3.53526523e-01 1.50745528e-02 3.14526354e+02] [ 3.53480096e-01 9.35424501e-01 5.72933449e-03 8.06278661e+00] [-1.61265777e-02 -3.01095297e-05 9.99869958e-01 -2.24673048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.55, Y:8.07, Z:-0.23 [[ 9.35373653e-01 -3.53339722e-01 1.50721839e-02 3.14554110e+02] [ 3.53293170e-01 9.35495077e-01 5.73555957e-03 8.07309204e+00] [-1.61265549e-02 -3.99916794e-05 9.99869958e-01 -2.25667832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.58, Y:8.08, Z:-0.23 [[ 9.35275887e-01 -3.53598505e-01 1.50702632e-02 3.14580669e+02] [ 3.53551906e-01 9.35397293e-01 5.74060172e-03 8.08261672e+00] [-1.61265516e-02 -4.09260812e-05 9.99869958e-01 -2.25718987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.61, Y:8.09, Z:-0.23 [[ 9.35016165e-01 -3.54284813e-01 1.50678914e-02 3.14606924e+02] [ 3.54238203e-01 9.35137567e-01 5.74682055e-03 8.09215370e+00] [-1.61265626e-02 -3.57473381e-05 9.99869958e-01 -2.25877703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.63, Y:8.10, Z:-0.23 [[ 9.34764851e-01 -3.54947465e-01 1.50655115e-02 3.14634237e+02] [ 3.54900840e-01 9.34886248e-01 5.75305291e-03 8.10093792e+00] [-1.61265710e-02 -3.09889779e-05 9.99869958e-01 -2.25804427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.502320588 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:314.67, Y:8.11, Z:-0.21 [[ 9.42070067e-01 -3.35077740e-01 1.50631357e-02 3.14666678e+02] [ 3.35028456e-01 9.42190408e-01 5.75926649e-03 8.11119426e+00] [-1.61221440e-02 -3.79053457e-04 9.99869958e-01 -2.13253587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:314.69, Y:8.12, Z:-0.23 [[ 9.34826015e-01 -3.54783159e-01 1.51403935e-02 3.14690194e+02] [ 3.54739676e-01 9.34948597e-01 5.55725616e-03 8.12137404e+00] [-1.61271106e-02 1.75830669e-04 9.99869934e-01 -2.26003615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.72, Y:8.13, Z:-0.23 [[ 9.34814919e-01 -3.54815844e-01 1.50593325e-02 3.14716490e+02] [ 3.54768947e-01 9.34936209e-01 5.76886325e-03 8.13192734e+00] [-1.61263993e-02 -5.02359173e-05 9.99869960e-01 -2.27078586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.74, Y:8.14, Z:-0.23 [[ 9.34924568e-01 -3.54526926e-01 1.50569511e-02 3.14743082e+02] [ 3.54479891e-01 9.35045804e-01 5.77507203e-03 8.14193987e+00] [-1.61263575e-02 -6.18703436e-05 9.99869960e-01 -2.28276300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.77, Y:8.15, Z:-0.23 [[ 9.34754097e-01 -3.54976250e-01 1.50545603e-02 3.14770887e+02] [ 3.54929174e-01 9.34875317e-01 5.78129762e-03 8.15124331e+00] [-1.61263602e-02 -6.07889807e-05 9.99869960e-01 -2.27692000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65232058799995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:314.81, Y:8.17, Z:-0.21 [[ 9.43731384e-01 -3.30370243e-01 1.50524714e-02 3.14811431e+02] [ 3.30319921e-01 9.43851293e-01 5.78673123e-03 8.16783294e+00] [-1.61190584e-02 -4.88988699e-04 9.99869960e-01 -2.13418135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.83, Y:8.17, Z:-0.23 [[ 9.34019933e-01 -3.56890862e-01 1.53517788e-02 3.14826262e+02] [ 3.56856670e-01 9.34145742e-01 5.00505889e-03 8.17247844e+00] [-1.61270586e-02 8.03559879e-04 9.99869628e-01 -2.29799480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.85, Y:8.18, Z:-0.23 [[ 9.33495234e-01 -3.58273994e-01 1.50463633e-02 3.14853077e+02] [ 3.58227082e-01 9.33616487e-01 5.79769865e-03 8.18194648e+00] [-1.61246975e-02 -2.21092544e-05 9.99869988e-01 -2.31003157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.88, Y:8.19, Z:-0.23 [[ 9.32880403e-01 -3.59871967e-01 1.50439679e-02 3.14879698e+02] [ 3.59825162e-01 9.33001697e-01 5.80390760e-03 8.19225111e+00] [-1.61247112e-02 -1.15347135e-06 9.99869988e-01 -2.32070503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:314.91, Y:8.20, Z:-0.22 [[ 9.36397402e-01 -3.50618963e-01 1.50415691e-02 3.14907474e+02] [ 3.50570860e-01 9.36518187e-01 5.81011780e-03 8.20106818e+00] [-1.61238405e-02 -1.67443402e-04 9.99869988e-01 -2.23833974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.94, Y:8.22, Z:-0.22 [[ 9.39694945e-01 -3.41682931e-01 1.50394580e-02 3.14943569e+02] [ 3.41633592e-01 9.39815231e-01 5.81557718e-03 8.21829920e+00] [-1.61213951e-02 -3.26884419e-04 9.99869988e-01 -2.22326560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.96, Y:8.22, Z:-0.23 [[ 9.32339310e-01 -3.61262028e-01 1.52694930e-02 3.14960996e+02] [ 3.61224924e-01 9.32464114e-01 5.21823121e-03 8.22320108e+00] [-1.61234031e-02 6.50559368e-04 9.99869798e-01 -2.33716807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.99, Y:8.23, Z:-0.24 [[ 9.32261607e-01 -3.61472255e-01 1.50368060e-02 3.14987204e+02] [ 3.61425407e-01 9.32382866e-01 5.81947496e-03 8.23307400e+00] [-1.61236390e-02 9.41067335e-06 9.99870006e-01 -2.35116729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.01, Y:8.24, Z:-0.24 [[ 9.31890566e-01 -3.62427841e-01 1.50343955e-02 3.15013357e+02] [ 3.62381017e-01 9.32011835e-01 5.82569575e-03 8.24352865e+00] [-1.61236289e-02 1.92686271e-05 9.99870006e-01 -2.35866361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.04, Y:8.25, Z:-0.24 [[ 9.31705733e-01 -3.62902832e-01 1.50319869e-02 3.15039908e+02] [ 3.62855970e-01 9.31826987e-01 5.83190423e-03 8.25337005e+00] [-1.61236256e-02 2.08275605e-05 9.99870006e-01 -2.37011180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:315.07, Y:8.26, Z:-0.24 [[ 9.31548578e-01 -3.63306149e-01 1.50295812e-02 3.15066959e+02] [ 3.63259239e-01 9.31669814e-01 5.83809727e-03 8.26280416e+00] [-1.61236238e-02 2.11630331e-05 9.99870006e-01 -2.35885397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.11, Y:8.28, Z:-0.22 [[ 9.40964521e-01 -3.38171488e-01 1.50271666e-02 3.15105462e+02] [ 3.38121242e-01 9.41084412e-01 5.84430600e-03 8.27843713e+00] [-1.61182099e-02 -4.18280380e-04 9.99870006e-01 -2.21631872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:315.14, Y:8.29, Z:-0.22 [[ 9.41489319e-01 -3.36696114e-01 1.52836022e-02 3.15138773e+02] [ 3.36656335e-01 9.41613326e-01 5.18226419e-03 8.29349888e+00] [-1.61360917e-02 2.66275125e-04 9.99869769e-01 -2.21399871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04232058799994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:315.17, Y:8.30, Z:-0.22 [[ 9.41311309e-01 -3.37188005e-01 1.54035292e-02 3.15167855e+02] [ 3.37153339e-01 9.41437136e-01 4.87284928e-03 8.30457583e+00] [-1.61445208e-02 6.06483170e-04 9.99869485e-01 -2.22979719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.18, Y:8.31, Z:-0.24 [[ 9.30297624e-01 -3.66481947e-01 1.54049791e-02 3.15178021e+02] [ 3.66451297e-01 9.30424494e-01 4.86912262e-03 8.30543656e+00] [-1.61176154e-02 1.11544139e-03 9.99869481e-01 -2.38227316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:315.22, Y:8.33, Z:-0.22 [[ 9.41025549e-01 -3.38002618e-01 1.50048836e-02 3.15222245e+02] [ 3.37951646e-01 9.41145052e-01 5.88863594e-03 8.32502559e+00] [-1.61121463e-02 -4.70431766e-04 9.99870080e-01 -2.23856372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.23, Y:8.33, Z:-0.24 [[ 9.29937440e-01 -3.67394298e-01 1.54203699e-02 3.15232681e+02] [ 3.67364555e-01 9.30064533e-01 4.82172536e-03 8.32560937e+00] [-1.61134135e-02 1.18099439e-03 9.99869473e-01 -2.38731599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.26, Y:8.33, Z:-0.24 [[ 9.30244354e-01 -3.66633933e-01 1.50000491e-02 3.15259993e+02] [ 3.66586589e-01 9.30365282e-01 5.89184863e-03 8.33426530e+00] [-1.61156766e-02 1.79579268e-05 9.99870134e-01 -2.36579195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.29, Y:8.34, Z:-0.24 [[ 9.29769108e-01 -3.67837568e-01 1.49976092e-02 3.15286772e+02] [ 3.67790281e-01 9.29890059e-01 5.89805290e-03 8.34434452e+00] [-1.61156531e-02 3.21475091e-05 9.99870134e-01 -2.37545021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.31, Y:8.35, Z:-0.24 [[ 9.29328701e-01 -3.68948927e-01 1.49951785e-02 3.15312738e+02] [ 3.68901685e-01 9.29449669e-01 5.90422629e-03 8.35456761e+00] [-1.61156216e-02 4.47796608e-05 9.99870134e-01 -2.39498192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.34, Y:8.36, Z:-0.24 [[ 9.28933133e-01 -3.69943850e-01 1.49927391e-02 3.15339413e+02] [ 3.69896637e-01 9.29054113e-01 5.91041409e-03 8.36498758e+00] [-1.61155873e-02 5.53843033e-05 9.99870134e-01 -2.38685075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:315.37, Y:8.38, Z:-0.24 [[ 9.29243428e-01 -3.69163841e-01 1.49902972e-02 3.15366005e+02] [ 3.69116427e-01 9.29364330e-01 5.91660089e-03 8.37520260e+00] [-1.61156426e-02 3.52024602e-05 9.99870134e-01 -2.39027942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.39, Y:8.39, Z:-0.24 [[ 9.29141202e-01 -3.69421157e-01 1.49878492e-02 3.15392837e+02] [ 3.69373676e-01 9.29262077e-01 5.92279561e-03 8.38512533e+00] [-1.61156459e-02 3.30035485e-05 9.99870134e-01 -2.38662745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:315.42, Y:8.39, Z:-0.24 [[ 9.29306079e-01 -3.69006300e-01 1.49853996e-02 3.15419416e+02] [ 3.68958666e-01 9.29426893e-01 5.92898708e-03 8.39480219e+00] [-1.61156670e-02 1.91493051e-05 9.99870134e-01 -2.38815089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.45, Y:8.41, Z:-0.24 [[ 9.28973512e-01 -3.69842839e-01 1.49829522e-02 3.15445353e+02] [ 3.69795214e-01 9.29094330e-01 5.93516535e-03 8.40519798e+00] [-1.61156543e-02 2.70126106e-05 9.99870134e-01 -2.39748502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.47, Y:8.42, Z:-0.24 [[ 9.29101884e-01 -3.69520328e-01 1.49804952e-02 3.15470727e+02] [ 3.69472561e-01 9.29222646e-01 5.94136031e-03 8.41682330e+00] [-1.61156688e-02 1.47528860e-05 9.99870134e-01 -2.42437559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.50, Y:8.43, Z:-0.24 [[ 9.29338541e-01 -3.68924837e-01 1.49780427e-02 3.15497140e+02] [ 3.68876893e-01 9.29459233e-01 5.94753656e-03 8.42647163e+00] [-1.61156741e-02 -2.22107936e-06 9.99870134e-01 -2.42312830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.52, Y:8.44, Z:-0.24 [[ 9.29438028e-01 -3.68674226e-01 1.49755886e-02 3.15523796e+02] [ 3.68626150e-01 9.29558667e-01 5.95370957e-03 8.43631283e+00] [-1.61156674e-02 -1.32105157e-05 9.99870134e-01 -2.42835780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.55, Y:8.45, Z:-0.24 [[ 9.29292202e-01 -3.69041745e-01 1.49731301e-02 3.15549615e+02] [ 3.68993617e-01 9.29412820e-01 5.95988602e-03 8.44785393e+00] [-1.61156658e-02 -1.34861557e-05 9.99870134e-01 -2.44154600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.58, Y:8.46, Z:-0.25 [[ 9.29061613e-01 -3.69621968e-01 1.49706669e-02 3.15575826e+02] [ 3.69573815e-01 9.29182222e-01 5.96606694e-03 8.45913718e+00] [-1.61156670e-02 -1.00772763e-05 9.99870134e-01 -2.46764665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.60, Y:8.47, Z:-0.25 [[ 9.28919021e-01 -3.69980277e-01 1.49682021e-02 3.15603575e+02] [ 3.69932072e-01 9.29039609e-01 5.97224462e-03 8.46873148e+00] [-1.61156653e-02 -1.05136137e-05 9.99870134e-01 -2.45129838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.63, Y:8.48, Z:-0.24 [[ 9.28478082e-01 -3.71085527e-01 1.49660371e-02 3.15630537e+02] [ 3.71037378e-01 9.28598692e-01 5.97766484e-03 8.47795022e+00] [-1.61156674e-02 2.82839650e-06 9.99870134e-01 -2.44489451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.66, Y:8.49, Z:-0.24 [[ 9.28496588e-01 -3.71039321e-01 1.49635666e-02 3.15657147e+02] [ 3.70991066e-01 9.28617156e-01 5.98384283e-03 8.48815735e+00] [-1.61156656e-02 -4.62812295e-06 9.99870134e-01 -2.44455133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.68, Y:8.50, Z:-0.25 [[ 9.28336939e-01 -3.71438681e-01 1.49610957e-02 3.15683720e+02] [ 3.71390379e-01 9.28457488e-01 5.99001431e-03 8.49921650e+00] [-1.61156644e-02 -4.34455321e-06 9.99870134e-01 -2.45396088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.71, Y:8.51, Z:-0.25 [[ 9.28252841e-01 -3.71648898e-01 1.49586232e-02 3.15709812e+02] [ 3.71600524e-01 9.28373360e-01 5.99618255e-03 8.50941200e+00] [-1.61156619e-02 -7.34128450e-06 9.99870134e-01 -2.45585676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.74, Y:8.52, Z:-0.25 [[ 9.28252837e-01 -3.71649008e-01 1.49561325e-02 3.15736712e+02] [ 3.71600534e-01 9.28373316e-01 6.00238866e-03 8.51957686e+00] [-1.61156561e-02 -1.40274945e-05 9.99870134e-01 -2.46028248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.76, Y:8.53, Z:-0.24 [[ 9.28421402e-01 -3.71227812e-01 1.49536401e-02 3.15763748e+02] [ 3.71179184e-01 9.28541819e-01 6.00859148e-03 8.52968532e+00] [-1.61156364e-02 -2.80250145e-05 9.99870134e-01 -2.44343118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.79, Y:8.54, Z:-0.24 [[ 9.27886146e-01 -3.72563771e-01 1.49511550e-02 3.15790817e+02] [ 3.72515216e-01 9.28006593e-01 6.01476880e-03 8.53924064e+00] [-1.61156553e-02 -1.14879208e-05 9.99870134e-01 -2.44335314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.82, Y:8.55, Z:-0.24 [[ 9.27725135e-01 -3.72964624e-01 1.49486624e-02 3.15816878e+02] [ 3.72916021e-01 9.27845563e-01 6.02095730e-03 8.54964334e+00] [-1.61156541e-02 -1.11977251e-05 9.99870134e-01 -2.44487999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.84, Y:8.56, Z:-0.25 [[ 9.27414707e-01 -3.73735968e-01 1.49461632e-02 3.15843350e+02] [ 3.73687365e-01 9.27535135e-01 6.02715478e-03 8.56100355e+00] [-1.61156560e-02 -4.47963127e-06 9.99870134e-01 -2.46335754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.87, Y:8.57, Z:-0.25 [[ 9.27104483e-01 -3.74504959e-01 1.49436722e-02 3.15869048e+02] [ 3.74456357e-01 9.27224911e-01 6.03332455e-03 8.57187980e+00] [-1.61156551e-02 2.23082831e-06 9.99870134e-01 -2.47855535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.91, Y:8.59, Z:-0.24 [[ 9.34736348e-01 -3.55027776e-01 1.49411778e-02 3.15907577e+02] [ 3.54976567e-01 9.34855690e-01 6.03949552e-03 8.58964149e+00] [-1.61120338e-02 -3.41567987e-04 9.99870134e-01 -2.36365485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:315.92, Y:8.59, Z:-0.25 [[ 9.26611335e-01 -3.75712158e-01 1.52252431e-02 3.15924096e+02] [ 3.75675092e-01 9.26736085e-01 5.33428880e-03 8.59398530e+00] [-1.61139394e-02 7.76932140e-04 9.99869860e-01 -2.49799892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.95, Y:8.60, Z:-0.25 [[ 9.26536957e-01 -3.75907155e-01 1.49358293e-02 3.15951154e+02] [ 3.75858483e-01 9.26657332e-01 6.04891489e-03 8.60369627e+00] [-1.61142261e-02 9.21496941e-06 9.99870157e-01 -2.49569153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:315.99, Y:8.62, Z:-0.24 [[ 9.32289041e-01 -3.61405783e-01 1.49333167e-02 3.15986132e+02] [ 3.61355141e-01 9.32408600e-01 6.05511152e-03 8.62048186e+00] [-1.61123053e-02 -2.48883344e-04 9.99870157e-01 -2.42077908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.01, Y:8.63, Z:-0.25 [[ 9.26008829e-01 -3.77198336e-01 1.51348704e-02 3.16005409e+02] [ 3.77157811e-01 9.26132334e-01 5.55749575e-03 8.62756463e+00] [-1.61131710e-02 5.61944464e-04 9.99870017e-01 -2.52003448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:316.04, Y:8.64, Z:-0.24 [[ 9.32196707e-01 -3.61644148e-01 1.49268217e-02 3.16040417e+02] [ 3.61593311e-01 9.32316171e-01 6.06918636e-03 8.64282504e+00] [-1.61114030e-02 -2.60236667e-04 9.99870169e-01 -2.42369964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:316.07, Y:8.65, Z:-0.24 [[ 9.31126305e-01 -3.64383186e-01 1.51227777e-02 3.16067026e+02] [ 3.64340489e-01 9.31249053e-01 5.58655508e-03 8.65352907e+00] [-1.61187192e-02 3.08051847e-04 9.99870038e-01 -2.44421435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:316.09, Y:8.66, Z:-0.24 [[ 9.30142479e-01 -3.66889143e-01 1.50772930e-02 3.16093622e+02] [ 3.66844965e-01 9.30264642e-01 5.69810890e-03 8.66358380e+00] [-1.61164469e-02 2.30975879e-04 9.99870095e-01 -2.44476790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:316.12, Y:8.67, Z:-0.24 [[ 9.29922737e-01 -3.67447450e-01 1.50357697e-02 3.16120527e+02] [ 3.67401699e-01 9.30044275e-01 5.79974880e-03 8.67402918e+00] [-1.61150344e-02 1.30849057e-04 9.99870136e-01 -2.44844550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:316.15, Y:8.69, Z:-0.24 [[ 9.31654480e-01 -3.63034337e-01 1.50333008e-02 3.16154304e+02] [ 3.62987913e-01 9.31775760e-01 5.80578303e-03 8.68868903e+00] [-1.61153639e-02 4.79227349e-05 9.99870138e-01 -2.43771953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.17, Y:8.69, Z:-0.26 [[ 9.23826336e-01 -3.82510198e-01 1.51937227e-02 3.16171263e+02] [ 3.82472748e-01 9.23950914e-01 5.41341488e-03 8.69232431e+00] [-1.61089404e-02 8.10129646e-04 9.99869914e-01 -2.55709796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.20, Y:8.70, Z:-0.25 [[ 9.23117721e-01 -3.84228661e-01 1.48999654e-02 3.16197622e+02] [ 3.84179801e-01 9.23237960e-01 6.12771854e-03 8.70239669e+00] [-1.61106587e-02 6.76601487e-05 9.99870213e-01 -2.54183351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.23, Y:8.72, Z:-0.25 [[ 9.28573861e-01 -3.70848555e-01 1.48974379e-02 3.16231021e+02] [ 3.70797865e-01 9.28693340e-01 6.13385713e-03 8.71831032e+00] [-1.61098834e-02 -1.71801248e-04 9.99870213e-01 -2.46224139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.25, Y:8.73, Z:-0.26 [[ 9.21635761e-01 -3.87764718e-01 1.50348495e-02 3.16251789e+02] [ 3.87721638e-01 9.21758260e-01 5.80016462e-03 8.72727948e+00] [-1.61075959e-02 4.83697323e-04 9.99870147e-01 -2.58043449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.28, Y:8.74, Z:-0.26 [[ 9.21120953e-01 -3.88991576e-01 1.48911022e-02 3.16278588e+02] [ 3.88943004e-01 9.21241303e-01 6.14832037e-03 8.73578521e+00] [-1.61099433e-02 1.28443327e-04 9.99870218e-01 -2.57063390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.31, Y:8.75, Z:-0.26 [[ 9.20435490e-01 -3.90610854e-01 1.48885843e-02 3.16305839e+02] [ 3.90562395e-01 9.20555886e-01 6.15441176e-03 8.74511843e+00] [-1.61097539e-02 1.50182136e-04 9.99870218e-01 -2.56432333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.33, Y:8.76, Z:-0.26 [[ 9.19592721e-01 -3.92590923e-01 1.48860566e-02 3.16332239e+02] [ 3.92542625e-01 9.19713181e-01 6.16051943e-03 8.75730881e+00] [-1.61094665e-02 1.78242931e-04 9.99870218e-01 -2.58006594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.36, Y:8.77, Z:-0.26 [[ 9.18865533e-01 -3.94289999e-01 1.48838562e-02 3.16357666e+02] [ 3.94241838e-01 9.18986048e-01 6.16583113e-03 8.76894096e+00] [-1.61091817e-02 2.02269120e-04 9.99870218e-01 -2.59822403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.38, Y:8.78, Z:-0.26 [[ 9.18458293e-01 -3.95237788e-01 1.48813436e-02 3.16383583e+02] [ 3.95189653e-01 9.18578819e-01 6.17188939e-03 8.77934999e+00] [-1.61090509e-02 2.12330017e-04 9.99870218e-01 -2.59417714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:316.43, Y:8.80, Z:-0.25 [[ 9.27505883e-01 -3.73512325e-01 1.48788431e-02 3.16426546e+02] [ 3.73461270e-01 9.27625201e-01 6.17791152e-03 8.79787709e+00] [-1.61095159e-02 -1.73377632e-04 9.99870218e-01 -2.45458362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:316.45, Y:8.81, Z:-0.25 [[ 9.26807536e-01 -3.75226742e-01 1.52539401e-02 3.16453410e+02] [ 3.75190636e-01 9.26932679e-01 5.27212826e-03 8.80953554e+00] [-1.61176191e-02 8.36887293e-04 9.99869753e-01 -2.46435425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:316.47, Y:8.82, Z:-0.25 [[ 9.24629758e-01 -3.80564009e-01 1.51936042e-02 3.16474184e+02] [ 3.80526234e-01 9.24754258e-01 5.41727970e-03 8.81823618e+00] [-1.61119719e-02 7.72586985e-04 9.99869895e-01 -2.48903046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:316.50, Y:8.83, Z:-0.25 [[ 9.23927684e-01 -3.82272506e-01 1.50121815e-02 3.16501092e+02] [ 3.82227882e-01 9.24049577e-01 5.85029821e-03 8.82896307e+00] [-1.61084081e-02 3.32821857e-04 9.99870196e-01 -2.49772813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.53, Y:8.84, Z:-0.25 [[ 9.23874994e-01 -3.82400685e-01 1.49903585e-02 3.16530073e+02] [ 3.82355233e-01 9.23996558e-01 5.90229694e-03 8.84151350e+00] [-1.61080820e-02 2.78657464e-04 9.99870218e-01 -2.49106533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:316.56, Y:8.85, Z:-0.25 [[ 9.21906658e-01 -3.87120286e-01 1.50331983e-02 3.16555916e+02] [ 3.87077117e-01 9.22029100e-01 5.80034318e-03 8.85274021e+00] [-1.61064768e-02 4.71632060e-04 9.99870171e-01 -2.52179449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.58, Y:8.86, Z:-0.25 [[ 9.21826771e-01 -3.87311932e-01 1.49956930e-02 3.16583444e+02] [ 3.87267338e-01 9.21948656e-01 5.88935531e-03 8.86382186e+00] [-1.61062766e-02 3.78376715e-04 9.99870214e-01 -2.52754161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66232058799994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:316.61, Y:8.87, Z:-0.25 [[ 9.18094719e-01 -3.96077197e-01 1.49980462e-02 3.16605719e+02] [ 3.96033857e-01 9.18217058e-01 5.88378327e-03 8.87032967e+00] [-1.61018942e-02 5.37863723e-04 9.99870211e-01 -2.48991126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.64, Y:8.89, Z:-0.25 [[ 9.20230088e-01 -3.91096446e-01 1.48376421e-02 3.16641610e+02] [ 3.91046305e-01 9.20349699e-01 6.26246335e-03 8.88694797e+00] [-1.61050466e-02 3.92979159e-05 9.99870305e-01 -2.51240040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.66, Y:8.89, Z:-0.26 [[ 9.11378641e-01 -4.11292815e-01 1.50728985e-02 3.16659049e+02] [ 4.11254460e-01 9.11502727e-01 5.70508970e-03 8.89313568e+00] [-1.60854505e-02 9.99299818e-04 9.99870121e-01 -2.64042367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.69, Y:8.90, Z:-0.26 [[ 9.09956282e-01 -4.14439053e-01 1.48268879e-02 3.16685661e+02] [ 4.14391605e-01 9.10076970e-01 6.28542042e-03 8.90215426e+00] [-1.60985329e-02 4.24680094e-04 9.99870320e-01 -2.64963462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:316.72, Y:8.92, Z:-0.25 [[ 9.17207641e-01 -3.98133622e-01 1.48243967e-02 3.16720962e+02] [ 3.98083933e-01 9.17327424e-01 6.29129062e-03 8.91575820e+00] [-1.61035999e-02 1.30934304e-04 9.99870320e-01 -2.51124058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.812320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:316.74, Y:8.92, Z:-0.27 [[ 9.08689363e-01 -4.17203423e-01 1.49981565e-02 3.16740563e+02] [ 4.17162960e-01 9.08812671e-01 5.88157873e-03 8.92417845e+00] [-1.60843295e-02 9.12147356e-04 9.99870223e-01 -2.65479204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.77, Y:8.93, Z:-0.27 [[ 9.08254217e-01 -4.18156337e-01 1.48173671e-02 3.16768071e+02] [ 4.18109042e-01 9.08374955e-01 6.30636406e-03 8.93472183e+00] [-1.60967713e-02 4.67493412e-04 9.99870329e-01 -2.67092511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.872320588 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:316.82, Y:8.96, Z:-0.25 [[ 9.21307657e-01 -3.88552071e-01 1.48151869e-02 3.16816870e+02] [ 3.88500811e-01 9.21426766e-01 6.31148184e-03 8.95954812e+00] [-1.61034491e-02 -5.91044242e-05 9.99870329e-01 -2.48218754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.82, Y:8.96, Z:-0.27 [[ 9.09138540e-01 -4.16208338e-01 1.54186727e-02 3.16818657e+02] [ 4.16184455e-01 9.09267119e-01 4.87902249e-03 8.95684757e+00] [-1.60503820e-02 1.98130454e-03 9.99869221e-01 -2.66689166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.932320588 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:316.86, Y:8.98, Z:-0.25 [[ 9.21980254e-01 -3.86953580e-01 1.48100554e-02 3.16862885e+02] [ 3.86902171e-01 9.22099192e-01 6.30799720e-03 8.97605564e+00] [-1.60972423e-02 -8.58062632e-05 9.99870427e-01 -2.48922333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.87, Y:8.98, Z:-0.27 [[ 9.10513852e-01 -4.13197624e-01 1.52397269e-02 3.16872391e+02] [ 4.13166346e-01 9.10640184e-01 5.29397972e-03 8.97790570e+00] [-1.60653676e-02 1.47630044e-03 9.99869854e-01 -2.65857114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.992320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:316.90, Y:8.99, Z:-0.27 [[ 9.10315808e-01 -4.13649676e-01 1.48011877e-02 3.16899388e+02] [ 4.13601543e-01 9.10436055e-01 6.32090038e-03 8.98783735e+00] [-1.60901733e-02 3.67778529e-04 9.99870477e-01 -2.66122972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.93, Y:9.00, Z:-0.27 [[ 9.10360103e-01 -4.13552273e-01 1.47986659e-02 3.16925180e+02] [ 4.13504031e-01 9.10480306e-01 6.32679887e-03 8.99900275e+00] [-1.60903560e-02 3.59642749e-04 9.99870477e-01 -2.65984873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.96, Y:9.01, Z:-0.25 [[ 9.19132629e-01 -3.93670274e-01 1.47961352e-02 3.16958326e+02] [ 3.93619336e-01 9.19251715e-01 6.33271173e-03 9.01275078e+00] [-1.60943731e-02 3.44294331e-06 9.99870477e-01 -2.52916057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:316.99, Y:9.03, Z:-0.25 [[ 9.22144854e-01 -3.86556323e-01 1.49357625e-02 3.16994374e+02] [ 3.86509728e-01 9.22265772e-01 6.00627944e-03 9.03117417e+00] [-1.60965078e-02 2.34157817e-04 9.99870415e-01 -2.53518229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.112320588 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:317.02, Y:9.04, Z:-0.26 [[ 9.18908758e-01 -3.94178677e-01 1.51613007e-02 3.17016963e+02] [ 3.94141741e-01 9.19033341e-01 5.47768396e-03 9.03927114e+00] [-1.60929271e-02 9.42209713e-04 9.99870057e-01 -2.58023192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14232058799996 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:317.05, Y:9.05, Z:-0.26 [[ 9.18497007e-01 -3.95144048e-01 1.49809993e-02 3.17046135e+02] [ 3.95100361e-01 9.18619034e-01 5.89710564e-03 9.05129302e+00] [-1.60920373e-02 5.02524345e-04 9.99870389e-01 -2.59346396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.172320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:317.06, Y:9.06, Z:-0.27 [[ 9.10015948e-01 -4.14301373e-01 1.50115492e-02 3.17064040e+02] [ 4.14261420e-01 9.10139293e-01 5.82616809e-03 9.05746955e+00] [-1.60763902e-02 9.16799820e-04 9.99870346e-01 -2.73142742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:317.09, Y:9.07, Z:-0.27 [[ 9.10339286e-01 -4.13599178e-01 1.47683836e-02 3.17089903e+02] [ 4.13549942e-01 9.10459024e-01 6.38832088e-03 9.06825735e+00] [-1.60882123e-02 2.91924691e-04 9.99870534e-01 -2.72863754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23232058799994 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:317.13, Y:9.09, Z:-0.26 [[ 9.21241505e-01 -3.88710767e-01 1.47658194e-02 3.17134583e+02] [ 3.88658201e-01 9.21359819e-01 6.39424215e-03 9.09008992e+00] [-1.60901435e-02 -1.51784462e-04 9.99870534e-01 -2.59201472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26232058799997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:317.16, Y:9.10, Z:-0.26 [[ 9.20481960e-01 -3.90487790e-01 1.52396393e-02 3.17159701e+02] [ 3.90453409e-01 9.20607475e-01 5.29275364e-03 9.09920619e+00] [-1.60964815e-02 1.07848488e-03 9.99869862e-01 -2.59231870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:317.17, Y:9.10, Z:-0.28 [[ 9.10537838e-01 -4.13151109e-01 1.50667658e-02 3.17173728e+02] [ 4.13113240e-01 9.10661887e-01 5.69014399e-03 9.10329604e+00] [-1.60716187e-02 1.04318903e-03 9.99870299e-01 -2.75431474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32232058799997 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:317.21, Y:9.12, Z:-0.26 [[ 9.19149323e-01 -3.93633622e-01 1.47340846e-02 3.17210955e+02] [ 3.93580794e-01 9.19267401e-01 6.45010684e-03 9.11963672e+00] [-1.60835426e-02 -1.29558614e-04 9.99870643e-01 -2.61620040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.23, Y:9.13, Z:-0.28 [[ 9.10728084e-01 -4.12734739e-01 1.49797101e-02 3.17228291e+02] [ 4.12693542e-01 9.10850901e-01 5.88869198e-03 9.12637455e+00] [-1.60747502e-02 8.19032443e-04 9.99870457e-01 -2.76237415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38232058799997 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:317.27, Y:9.15, Z:-0.26 [[ 9.22572971e-01 -3.85541568e-01 1.47245866e-02 3.17270793e+02] [ 3.85487397e-01 9.22690422e-01 6.46937273e-03 9.14640215e+00] [-1.60804471e-02 -2.92325870e-04 9.99870659e-01 -2.58254280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41232058799994 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:317.28, Y:9.15, Z:-0.27 [[ 9.11567837e-01 -4.10870784e-01 1.51419059e-02 3.17282684e+02] [ 4.10835527e-01 9.11692805e-01 5.51349630e-03 9.14902444e+00] [-1.60701012e-02 1.19490699e-03 9.99870154e-01 -2.73765805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442320588 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:317.32, Y:9.17, Z:-0.26 [[ 9.21323030e-01 -3.88519226e-01 1.47202666e-02 3.17321600e+02] [ 3.88465386e-01 9.21440585e-01 6.47245052e-03 9.16788013e+00] [-1.60785226e-02 -2.44903653e-04 9.99870702e-01 -2.59872607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47232058799995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:317.35, Y:9.18, Z:-0.26 [[ 9.19741137e-01 -3.92237487e-01 1.50330870e-02 3.17347776e+02] [ 3.92195675e-01 9.19863791e-01 5.75836136e-03 9.18039986e+00] [-1.60870376e-02 5.99709889e-04 9.99870415e-01 -2.62058476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502320588 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:317.36, Y:9.19, Z:-0.28 [[ 9.10670229e-01 -4.12862090e-01 1.49876324e-02 3.17363718e+02] [ 4.12821351e-01 9.10793156e-01 5.86166576e-03 9.18587652e+00] [-1.60706926e-02 8.49170170e-04 9.99870497e-01 -2.75661649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53232058799995 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:317.39, Y:9.20, Z:-0.28 [[ 9.10250698e-01 -4.13796374e-01 1.47046833e-02 3.17389778e+02] [ 4.13745327e-01 9.10369449e-01 6.50162016e-03 9.19584820e+00] [-1.60770413e-02 1.65889732e-04 9.99870742e-01 -2.75146624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:317.43, Y:9.22, Z:-0.26 [[ 9.19387445e-01 -3.93078333e-01 1.47020147e-02 3.17429416e+02] [ 3.93024514e-01 9.19504966e-01 6.50764915e-03 9.21531971e+00] [-1.60765914e-02 -2.04798753e-04 9.99870742e-01 -2.63747220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59232058799995 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:317.45, Y:9.23, Z:-0.26 [[ 9.18326117e-01 -3.95538891e-01 1.50375882e-02 3.17454634e+02] [ 3.95497706e-01 9.18448984e-01 5.74694222e-03 9.22623384e+00] [-1.60843968e-02 6.69764506e-04 9.99870413e-01 -2.63604174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:317.47, Y:9.23, Z:-0.28 [[ 9.08137578e-01 -4.18405533e-01 1.49314637e-02 3.17471473e+02] [ 4.18363493e-01 9.08259959e-01 5.98623604e-03 9.23278824e+00] [-1.60663249e-02 8.10453417e-04 9.99870600e-01 -2.79713084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65232058799995 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:317.51, Y:9.25, Z:-0.27 [[ 9.17122378e-01 -3.98335158e-01 1.46848885e-02 3.17511010e+02] [ 3.98281495e-01 9.17239925e-01 6.53990998e-03 9.24893307e+00] [-1.60746421e-02 -1.49178452e-04 9.99870783e-01 -2.66464389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.53, Y:9.25, Z:-0.28 [[ 9.05862037e-01 -4.23307061e-01 1.50033999e-02 3.17525499e+02] [ 4.23268399e-01 9.05985636e-01 5.82151222e-03 9.25177834e+00] [-1.60571521e-02 1.07697815e-03 9.99870496e-01 -2.79651079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:317.55, Y:9.26, Z:-0.28 [[ 9.05508706e-01 -4.24073620e-01 1.46815483e-02 3.17552299e+02] [ 4.24023237e-01 9.05627669e-01 6.54364224e-03 9.26179277e+00] [-1.60710025e-02 2.99992637e-04 9.99870808e-01 -2.79622505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.742320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:317.58, Y:9.27, Z:-0.28 [[ 9.04834891e-01 -4.25509518e-01 1.46789077e-02 3.17579111e+02] [ 4.25459228e-01 9.04953893e-01 6.54956057e-03 9.27240712e+00] [-1.60706350e-02 3.19005799e-04 9.99870808e-01 -2.79013985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77232058799996 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:317.61, Y:9.28, Z:-0.28 [[ 9.04526715e-01 -4.26164320e-01 1.46762839e-02 3.17605423e+02] [ 4.26114021e-01 9.04645714e-01 6.55543469e-03 9.28314249e+00] [-1.60705297e-02 3.24204533e-04 9.99870808e-01 -2.79720880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.802320588 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:317.64, Y:9.30, Z:-0.27 [[ 9.13783776e-01 -4.05935826e-01 1.46736499e-02 3.17643505e+02] [ 4.05882797e-01 9.13901583e-01 6.56132518e-03 9.30052554e+00] [-1.60737489e-02 -3.98504205e-05 9.99870808e-01 -2.66598234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:317.66, Y:9.31, Z:-0.28 [[ 9.04072635e-01 -4.27117171e-01 1.49530449e-02 3.17659983e+02] [ 4.27077145e-01 9.04195710e-01 5.93550631e-03 9.30665320e+00] [-1.60556357e-02 1.01997488e-03 9.99870580e-01 -2.80976576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.862320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:317.69, Y:9.32, Z:-0.28 [[ 9.03624753e-01 -4.28073869e-01 1.46651909e-02 3.17686084e+02] [ 4.28023466e-01 9.03743687e-01 6.57733153e-03 9.31681326e+00] [-1.60691575e-02 3.33606253e-04 9.99870827e-01 -2.81072970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89232058799996 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:317.71, Y:9.33, Z:-0.28 [[ 9.04645143e-01 -4.25913343e-01 1.46625510e-02 3.17713340e+02] [ 4.25862560e-01 9.04763915e-01 6.58321139e-03 9.32827200e+00] [-1.60700246e-02 2.88761293e-04 9.99870827e-01 -2.79732749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.922320588 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:317.74, Y:9.34, Z:-0.28 [[ 9.04482759e-01 -4.26258156e-01 1.46602380e-02 3.17740040e+02] [ 4.26207336e-01 9.04601515e-01 6.58835812e-03 9.33871587e+00] [-1.60700149e-02 2.89244648e-04 9.99870827e-01 -2.79746272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95232058799996 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:317.77, Y:9.35, Z:-0.28 [[ 9.05162819e-01 -4.24812225e-01 1.46575784e-02 3.17766846e+02] [ 4.24761119e-01 9.05281452e-01 6.59426994e-03 9.35081467e+00] [-1.60705603e-02 2.57081414e-04 9.99870827e-01 -2.78740423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98232058799994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:317.79, Y:9.36, Z:-0.28 [[ 9.04864236e-01 -4.25447927e-01 1.46552518e-02 3.17792459e+02] [ 4.25396821e-01 9.04982868e-01 6.59943636e-03 9.36328052e+00] [-1.60704684e-02 2.62703610e-04 9.99870827e-01 -2.80113073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01232058799997 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:317.82, Y:9.38, Z:-0.28 [[ 9.05378637e-01 -4.24352242e-01 1.46525797e-02 3.17818425e+02] [ 4.24300896e-01 9.05497166e-01 6.60536384e-03 9.37547016e+00] [-1.60708704e-02 2.36747412e-04 9.99870827e-01 -2.80985329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04232058799994 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:317.84, Y:9.39, Z:-0.28 [[ 9.05206647e-01 -4.24719092e-01 1.46498987e-02 3.17844864e+02] [ 4.24667698e-01 9.05325155e-01 6.61130479e-03 9.38699241e+00] [-1.60708692e-02 2.36741708e-04 9.99870827e-01 -2.81443130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07232058799997 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:317.87, Y:9.40, Z:-0.28 [[ 9.05742041e-01 -4.23576219e-01 1.46472175e-02 3.17871525e+02] [ 4.23524580e-01 9.05860443e-01 6.61723946e-03 9.39641412e+00] [-1.60712402e-02 2.09944682e-04 9.99870827e-01 -2.81994974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10232058799994 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:317.90, Y:9.41, Z:-0.28 [[ 9.05332889e-01 -4.24450111e-01 1.46445434e-02 3.17897668e+02] [ 4.24398491e-01 9.05451299e-01 6.62315227e-03 9.40677448e+00] [-1.60711186e-02 2.18964540e-04 9.99870827e-01 -2.81170935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13232058799997 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:317.92, Y:9.42, Z:-0.28 [[ 9.05628093e-01 -4.23819977e-01 1.46418636e-02 3.17923204e+02] [ 4.23768178e-01 9.05746425e-01 6.62907123e-03 9.41814492e+00] [-1.60713484e-02 2.01282725e-04 9.99870827e-01 -2.80724472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16232058799994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:317.95, Y:9.43, Z:-0.28 [[ 9.06056174e-01 -4.22904132e-01 1.46391753e-02 3.17948484e+02] [ 4.22852118e-01 9.06174411e-01 6.63500265e-03 9.43038356e+00] [-1.60716161e-02 1.78521156e-04 9.99870827e-01 -2.81525851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.192320588 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:317.97, Y:9.44, Z:-0.28 [[ 9.05635254e-01 -4.23804862e-01 1.46364679e-02 3.17974879e+02] [ 4.23752869e-01 9.05753500e-01 6.64096971e-03 9.44141720e+00] [-1.60715073e-02 1.87948966e-04 9.99870827e-01 -2.81738573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22232058799995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:318.00, Y:9.45, Z:-0.28 [[ 9.05798830e-01 -4.23455230e-01 1.46337704e-02 3.18001002e+02] [ 4.23403095e-01 9.05917015e-01 6.64690832e-03 9.45258532e+00] [-1.60716497e-02 1.75221912e-04 9.99870827e-01 -2.81750267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.252320588 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:318.04, Y:9.47, Z:-0.27 [[ 9.13416626e-01 -4.06762830e-01 1.46310634e-02 3.18035253e+02] [ 4.06708440e-01 9.13533789e-01 6.65286159e-03 9.46933866e+00] [-1.60721076e-02 -1.26257403e-04 9.99870827e-01 -2.73651173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28232058799995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:318.06, Y:9.48, Z:-0.28 [[ 9.05516864e-01 -4.24051957e-01 1.48036245e-02 3.18055889e+02] [ 4.24005968e-01 9.05637666e-01 6.27347633e-03 9.47779076e+00] [-1.60669999e-02 5.96086553e-04 9.99870740e-01 -2.83118828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.312320588 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:318.08, Y:9.49, Z:-0.28 [[ 9.05195648e-01 -4.24743496e-01 1.46219398e-02 3.18082178e+02] [ 4.24691130e-01 9.05313721e-01 6.67166874e-03 9.48762736e+00] [-1.60711907e-02 1.70642630e-04 9.99870836e-01 -2.82215872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34232058799995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:318.11, Y:9.50, Z:-0.28 [[ 9.05298814e-01 -4.24523658e-01 1.46192034e-02 3.18108760e+02] [ 4.24471166e-01 9.05416831e-01 6.67765948e-03 9.49838574e+00] [-1.60712973e-02 1.60153105e-04 9.99870836e-01 -2.80304883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.372320588 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:318.13, Y:9.51, Z:-0.28 [[ 9.04977821e-01 -4.25207597e-01 1.46164892e-02 3.18134619e+02] [ 4.25155099e-01 9.05095836e-01 6.68359529e-03 9.51040789e+00] [-1.60712390e-02 1.65769397e-04 9.99870836e-01 -2.81521719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:318.16, Y:9.52, Z:-0.28 [[ 9.05227993e-01 -4.24674839e-01 1.46137711e-02 3.18160565e+02] [ 4.24622175e-01 9.05345933e-01 6.68953308e-03 9.52263012e+00] [-1.60713946e-02 1.49778676e-04 9.99870836e-01 -2.82060042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.432320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:318.19, Y:9.53, Z:-0.28 [[ 9.04964839e-01 -4.25235415e-01 1.46110478e-02 3.18186651e+02] [ 4.25182728e-01 9.05082769e-01 6.69547609e-03 9.53361398e+00] [-1.60713611e-02 1.53194705e-04 9.99870836e-01 -2.82116835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46232058799995 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:318.22, Y:9.55, Z:-0.27 [[ 9.12380995e-01 -4.09081308e-01 1.46083123e-02 3.18220594e+02] [ 4.09026438e-01 9.12497925e-01 6.70143903e-03 9.54882000e+00] [-1.60714881e-02 -1.39079667e-04 9.99870836e-01 -2.71884970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.492320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:318.24, Y:9.56, Z:-0.28 [[ 9.04133839e-01 -4.26993385e-01 1.47868426e-02 3.18241392e+02] [ 4.26947160e-01 9.04254544e-01 6.31199124e-03 9.55694741e+00] [-1.60662481e-02 6.06315594e-04 9.99870746e-01 -2.81384147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52232058799996 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:318.27, Y:9.57, Z:-0.28 [[ 9.03507194e-01 -4.28324096e-01 1.46020327e-02 3.18266996e+02] [ 4.28271514e-01 9.03625162e-01 6.71393512e-03 9.56881345e+00] [-1.60705044e-02 1.87545992e-04 9.99870844e-01 -2.81506985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.552320588 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:318.30, Y:9.59, Z:-0.27 [[ 9.11622160e-01 -4.10769886e-01 1.45992907e-02 3.18300948e+02] [ 4.10714936e-01 9.11739044e-01 6.71989225e-03 9.58529049e+00] [-1.60710728e-02 -1.29855922e-04 9.99870844e-01 -2.74406100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:318.32, Y:9.59, Z:-0.28 [[ 9.04284934e-01 -4.26673593e-01 1.47784725e-02 3.18320972e+02] [ 4.26627023e-01 9.04405500e-01 6.33046204e-03 9.59345565e+00] [-1.60667728e-02 5.80354304e-04 9.99870753e-01 -2.84305605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.612320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:318.35, Y:9.60, Z:-0.28 [[ 9.03401532e-01 -4.28547245e-01 1.45921673e-02 3.18347428e+02] [ 4.28494365e-01 9.03519358e-01 6.73416780e-03 9.60399723e+00] [-1.60702147e-02 1.69003966e-04 9.99870851e-01 -2.83863074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:318.37, Y:9.62, Z:-0.28 [[ 9.03256608e-01 -4.28852713e-01 1.45894171e-02 3.18373544e+02] [ 4.28799776e-01 9.03374409e-01 6.74012090e-03 9.61527089e+00] [-1.60702252e-02 1.67880036e-04 9.99870851e-01 -2.84800262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.40, Y:9.63, Z:-0.29 [[ 9.02774233e-01 -4.29867322e-01 1.45866492e-02 3.18399551e+02] [ 4.29814421e-01 9.02892050e-01 6.74610572e-03 9.62636295e+00] [-1.60701000e-02 1.79341762e-04 9.99870852e-01 -2.85482690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:318.43, Y:9.64, Z:-0.29 [[ 9.03174184e-01 -4.29026460e-01 1.45838950e-02 3.18425070e+02] [ 4.28973354e-01 9.03291908e-01 6.75205445e-03 9.63819984e+00] [-1.60703244e-02 1.57821100e-04 9.99870852e-01 -2.86312075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:318.45, Y:9.65, Z:-0.29 [[ 9.02987426e-01 -4.29419490e-01 1.45811355e-02 3.18450992e+02] [ 4.29366339e-01 9.03105130e-01 6.75800842e-03 9.65006565e+00] [-1.60703188e-02 1.58252140e-04 9.99870852e-01 -2.87836275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:318.48, Y:9.66, Z:-0.29 [[ 9.02855140e-01 -4.29697648e-01 1.45783618e-02 3.18477671e+02] [ 4.29644436e-01 9.02972816e-01 6.76398670e-03 9.66049145e+00] [-1.60703335e-02 1.56611855e-04 9.99870852e-01 -2.86224872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:318.50, Y:9.67, Z:-0.29 [[ 9.02491072e-01 -4.30461864e-01 1.45755974e-02 3.18504118e+02] [ 4.30408656e-01 9.02608751e-01 6.76993841e-03 9.67185582e+00] [-1.60702620e-02 1.63654297e-04 9.99870852e-01 -2.86955226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:318.53, Y:9.68, Z:-0.29 [[ 9.02127939e-01 -4.31222466e-01 1.45727998e-02 3.18529711e+02] [ 4.31169260e-01 9.02245618e-01 6.77595506e-03 9.68343918e+00] [-1.60701888e-02 1.70564915e-04 9.99870852e-01 -2.86779393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.56, Y:9.70, Z:-0.29 [[ 9.01058115e-01 -4.33453559e-01 1.45700097e-02 3.18555534e+02] [ 4.33400547e-01 9.01175882e-01 6.78194909e-03 9.69546269e+00] [-1.60698013e-02 2.03719918e-04 9.99870852e-01 -2.86722243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:318.58, Y:9.71, Z:-0.29 [[ 9.00407687e-01 -4.34803165e-01 1.45672370e-02 3.18582368e+02] [ 4.34750233e-01 9.00525490e-01 6.78789951e-03 9.70747622e+00] [-1.60695684e-02 2.21232784e-04 9.99870852e-01 -2.88811939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:318.61, Y:9.72, Z:-0.29 [[ 9.00441503e-01 -4.34733211e-01 1.45648361e-02 3.18609010e+02] [ 4.34680187e-01 9.00559265e-01 6.79304724e-03 9.71820986e+00] [-1.60696613e-02 2.14304021e-04 9.99870852e-01 -2.87311947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942320588 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:318.63, Y:9.73, Z:-0.29 [[ 8.99972771e-01 -4.35702833e-01 1.45620643e-02 3.18634710e+02] [ 4.35649840e-01 9.00090546e-01 6.79898397e-03 9.72948631e+00] [-1.60695129e-02 2.25060523e-04 9.99870852e-01 -2.86863082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:318.66, Y:9.74, Z:-0.29 [[ 9.00474182e-01 -4.34665703e-01 1.45593017e-02 3.18660246e+02] [ 4.34612479e-01 9.00591853e-01 6.80489445e-03 9.74182273e+00] [-1.60698428e-02 2.00022456e-04 9.99870852e-01 -2.87321702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:318.68, Y:9.76, Z:-0.29 [[ 9.00872841e-01 -4.33838947e-01 1.45565216e-02 3.18684611e+02] [ 4.33785519e-01 9.00990420e-01 6.81083625e-03 9.75574496e+00] [-1.60700926e-02 1.78710889e-04 9.99870852e-01 -2.89131557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.71, Y:9.77, Z:-0.29 [[ 9.00615508e-01 -4.34372991e-01 1.45537597e-02 3.18710320e+02] [ 4.34319538e-01 9.00733074e-01 6.81673306e-03 9.76834500e+00] [-1.60700574e-02 1.81726669e-04 9.99870852e-01 -2.89421021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.74, Y:9.78, Z:-0.29 [[ 9.00779909e-01 -4.34032054e-01 1.45509782e-02 3.18735576e+02] [ 4.33978460e-01 9.00897412e-01 6.82266527e-03 9.78022642e+00] [-1.60701940e-02 1.69091307e-04 9.99870852e-01 -2.88646052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:318.76, Y:9.79, Z:-0.29 [[ 8.99695866e-01 -4.36274799e-01 1.45481764e-02 3.18762878e+02] [ 4.36221401e-01 8.99813458e-01 6.82863430e-03 9.79138303e+00] [-1.60698060e-02 2.02531858e-04 9.99870852e-01 -2.90275556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122320588 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:318.79, Y:9.80, Z:-0.29 [[ 8.99183786e-01 -4.37329326e-01 1.45457424e-02 3.18789024e+02] [ 4.37275983e-01 8.99301403e-01 6.83381525e-03 9.80248692e+00] [-1.60696343e-02 2.15647912e-04 9.99870852e-01 -2.90331696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:318.82, Y:9.81, Z:-0.29 [[ 8.98190623e-01 -4.39365574e-01 1.45429667e-02 3.18815694e+02] [ 4.39312402e-01 8.98308317e-01 6.83971701e-03 9.81478142e+00] [-1.60692041e-02 2.45535944e-04 9.99870852e-01 -2.90030719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.182320588 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:318.84, Y:9.83, Z:-0.29 [[ 8.97689300e-01 -4.40389024e-01 1.45405389e-02 3.18841255e+02] [ 4.40335903e-01 8.97807017e-01 6.84487439e-03 9.82636715e+00] [-1.60690054e-02 2.58150811e-04 9.99870852e-01 -2.90171366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:318.87, Y:9.84, Z:-0.29 [[ 8.97070312e-01 -4.41648626e-01 1.45377675e-02 3.18867267e+02] [ 4.41595574e-01 8.97188061e-01 6.85075543e-03 9.83827925e+00] [-1.60687382e-02 2.74204483e-04 9.99870852e-01 -2.90448239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.89, Y:9.85, Z:-0.29 [[ 8.96061872e-01 -4.43691171e-01 1.45349904e-02 3.18893252e+02] [ 4.43638292e-01 8.96179699e-01 6.85664255e-03 9.84906478e+00] [-1.60681950e-02 3.04302345e-04 9.99870852e-01 -2.91242787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:318.92, Y:9.86, Z:-0.29 [[ 8.95517185e-01 -4.44789598e-01 1.45322249e-02 3.18919012e+02] [ 4.44736768e-01 8.95635033e-01 6.86249872e-03 9.85996926e+00] [-1.60679378e-02 3.17529213e-04 9.99870852e-01 -2.90489674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.302320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:318.94, Y:9.87, Z:-0.29 [[ 8.96035251e-01 -4.43745111e-01 1.45294759e-02 3.18944545e+02] [ 4.43692050e-01 8.96152995e-01 6.86831407e-03 9.87255836e+00] [-1.60684141e-02 2.92361422e-04 9.99870852e-01 -2.91163432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:318.97, Y:9.88, Z:-0.29 [[ 8.96173632e-01 -4.43465664e-01 1.45267193e-02 3.18970164e+02] [ 4.43412472e-01 8.96291318e-01 6.87413946e-03 9.88386253e+00] [-1.60686172e-02 2.80905989e-04 9.99870852e-01 -2.90387654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.362320588 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:319.00, Y:9.90, Z:-0.29 [[ 8.96316164e-01 -4.43177603e-01 1.45239574e-02 3.18995966e+02] [ 4.43124279e-01 8.96433790e-01 6.87996986e-03 9.89591377e+00] [-1.60688148e-02 2.69289974e-04 9.99870852e-01 -2.90142168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39232058799996 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:319.02, Y:9.91, Z:-0.29 [[ 8.96124589e-01 -4.43564941e-01 1.45211556e-02 3.19021523e+02] [ 4.43511572e-01 8.96242194e-01 6.88587841e-03 9.90704033e+00] [-1.60688066e-02 2.69695597e-04 9.99870852e-01 -2.91632588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.422320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:319.05, Y:9.92, Z:-0.29 [[ 8.95754505e-01 -4.44311923e-01 1.45183305e-02 3.19048049e+02] [ 4.44258556e-01 8.95872111e-01 6.89182994e-03 9.91814700e+00] [-1.60686896e-02 2.76504798e-04 9.99870852e-01 -2.91386825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.07, Y:9.93, Z:-0.29 [[ 8.95516950e-01 -4.44790616e-01 1.45155401e-02 3.19073795e+02] [ 4.44737216e-01 8.95634541e-01 6.89770199e-03 9.92996226e+00] [-1.60686522e-02 2.78591850e-04 9.99870852e-01 -2.90513288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:319.10, Y:9.94, Z:-0.29 [[ 8.95750939e-01 -4.44319294e-01 1.45127419e-02 3.19098937e+02] [ 4.44265737e-01 8.95868459e-01 6.90358426e-03 9.94266192e+00] [-1.60689034e-02 2.63621909e-04 9.99870852e-01 -2.92306806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51232058799997 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:319.13, Y:9.95, Z:-0.29 [[ 8.95518646e-01 -4.44787384e-01 1.45099468e-02 3.19125231e+02] [ 4.44733793e-01 8.95636150e-01 6.90945404e-03 9.95433995e+00] [-1.60688709e-02 2.65518763e-04 9.99870852e-01 -2.92189030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54232058799994 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:319.16, Y:9.97, Z:-0.28 [[ 9.02642813e-01 -4.30145899e-01 1.45071503e-02 3.19156322e+02] [ 4.30090307e-01 9.02759384e-01 6.91532062e-03 9.96811623e+00] [-1.60710629e-02 -2.67971273e-06 9.99870852e-01 -2.76535240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57232058799997 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:319.18, Y:9.98, Z:-0.28 [[ 9.02282383e-01 -4.30898070e-01 1.46066966e-02 3.19184337e+02] [ 4.30845944e-01 9.02400573e-01 6.70654526e-03 9.98179012e+00] [-1.60709288e-02 2.42038337e-04 9.99870825e-01 -2.83663289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60232058799994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:319.21, Y:9.99, Z:-0.29 [[ 8.95822860e-01 -4.44169901e-01 1.46458862e-02 3.19205933e+02] [ 4.44120865e-01 8.95942394e-01 6.62447559e-03 9.99153130e+00] [-1.60642631e-02 5.70186993e-04 9.99870799e-01 -2.93034110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63232058799997 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:319.23, Y:10.00, Z:-0.29 [[ 8.96014385e-01 -4.43788369e-01 1.44950518e-02 3.19231236e+02] [ 4.43734160e-01 8.96131596e-01 6.93953537e-03 1.00034535e+01] [-1.60691590e-02 2.14026131e-04 9.99870860e-01 -2.93261100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66232058799994 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:319.26, Y:10.02, Z:-0.28 [[ 9.03208523e-01 -4.28957268e-01 1.44922442e-02 3.19263407e+02] [ 4.28901041e-01 9.03324780e-01 6.94539385e-03 1.00189360e+01] [-1.60704804e-02 -5.74003185e-05 9.99870860e-01 -2.82594353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.692320588 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:319.29, Y:10.03, Z:-0.29 [[ 8.97299179e-01 -4.41179930e-01 1.46442125e-02 3.19285047e+02] [ 4.41130436e-01 8.97418524e-01 6.62811350e-03 1.00287601e+01] [-1.60661782e-02 5.12607065e-04 9.99870799e-01 -2.94706623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72232058799995 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:319.31, Y:10.04, Z:-0.29 [[ 8.97566902e-01 -4.40640190e-01 1.44872267e-02 3.19310271e+02] [ 4.40585319e-01 8.97683799e-01 6.95511139e-03 1.00407695e+01] [-1.60696503e-02 1.40181592e-04 9.99870865e-01 -2.94829586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.752320588 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:319.34, Y:10.05, Z:-0.29 [[ 8.98128381e-01 -4.39494726e-01 1.44843731e-02 3.19336365e+02] [ 4.39439610e-01 8.98245163e-01 6.96104900e-03 1.00528410e+01] [-1.60698624e-02 1.13091593e-04 9.99870865e-01 -2.94531396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78232058799995 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:319.36, Y:10.06, Z:-0.29 [[ 8.97789783e-01 -4.40186087e-01 1.44815023e-02 3.19362242e+02] [ 4.40130965e-01 8.97906562e-01 6.96701620e-03 1.00638771e+01] [-1.60698196e-02 1.18841614e-04 9.99870865e-01 -2.94195201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.812320588 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:319.39, Y:10.08, Z:-0.28 [[ 9.03664561e-01 -4.27996180e-01 1.44786413e-02 3.19393231e+02] [ 4.27939387e-01 9.03780537e-01 6.97295670e-03 1.00772354e+01] [-1.60699131e-02 -1.05232953e-04 9.99870865e-01 -2.83726577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:319.42, Y:10.09, Z:-0.29 [[ 8.98607324e-01 -4.38511501e-01 1.45787774e-02 3.19416288e+02] [ 4.38459427e-01 8.98725523e-01 6.76501108e-03 1.00885359e+01] [-1.60688545e-02 3.13113910e-04 9.99870839e-01 -2.93336598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.872320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:319.44, Y:10.10, Z:-0.29 [[ 8.99329021e-01 -4.37032959e-01 1.44742509e-02 3.19441820e+02] [ 4.36977191e-01 8.99445490e-01 6.98171308e-03 1.01008245e+01] [-1.60700384e-02 4.60602976e-05 9.99870868e-01 -2.94330012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:319.47, Y:10.11, Z:-0.29 [[ 8.99412780e-01 -4.36860653e-01 1.44713772e-02 3.19467426e+02] [ 4.36804766e-01 8.99529193e-01 6.98766439e-03 1.01123164e+01] [-1.60700619e-02 3.63718799e-05 9.99870868e-01 -2.93771561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.932320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:319.49, Y:10.12, Z:-0.29 [[ 8.99233357e-01 -4.37229952e-01 1.44685068e-02 3.19493563e+02] [ 4.37174018e-01 8.99349747e-01 6.99360287e-03 1.01245278e+01] [-1.60700605e-02 3.63742428e-05 9.99870868e-01 -2.94229303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96232058799995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:319.52, Y:10.14, Z:-0.30 [[ 8.99509737e-01 -4.36661172e-01 1.44656328e-02 3.19519606e+02] [ 4.36605068e-01 8.99626045e-01 6.99954229e-03 1.01364470e+01] [-1.60700884e-02 1.96121566e-05 9.99870868e-01 -2.95514388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.992320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:319.55, Y:10.15, Z:-0.29 [[ 9.00524428e-01 -4.34564821e-01 1.44627518e-02 3.19545015e+02] [ 4.34508351e-01 9.00640559e-01 7.00549006e-03 1.01482904e+01] [-1.60700804e-02 -2.44284814e-05 9.99870868e-01 -2.93513250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:319.57, Y:10.16, Z:-0.29 [[ 9.01284843e-01 -4.32985616e-01 1.44598581e-02 3.19570533e+02] [ 4.32928848e-01 9.01400828e-01 7.01145793e-03 1.01611623e+01] [-1.60699885e-02 -5.92310715e-05 9.99870868e-01 -2.92595895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.052320588 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:319.60, Y:10.18, Z:-0.28 [[ 9.06205482e-01 -4.22590370e-01 1.44569722e-02 3.19598287e+02] [ 4.22532176e-01 9.06320758e-01 7.01740332e-03 1.01751751e+01] [-1.60681410e-02 -2.50673449e-04 9.99870868e-01 -2.82807773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08232058799996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:319.63, Y:10.19, Z:-0.28 [[ 9.08642198e-01 -4.17323904e-01 1.44953772e-02 3.19630985e+02] [ 4.17266301e-01 9.08757775e-01 6.93830284e-03 1.01941143e+01] [-1.60683064e-02 -2.56002310e-04 9.99870864e-01 -2.81722542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.112320588 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:319.66, Y:10.21, Z:-0.28 [[ 9.07846741e-01 -4.19043974e-01 1.47120012e-02 3.19656923e+02] [ 4.18993783e-01 9.07965899e-01 6.49122707e-03 1.02058452e+01] [-1.60781050e-02 2.71197701e-04 9.99870702e-01 -2.84842114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14232058799996 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:319.68, Y:10.22, Z:-0.29 [[ 9.06323570e-01 -4.22330160e-01 1.46567972e-02 3.19684185e+02] [ 4.22278561e-01 9.06442053e-01 6.60473711e-03 1.02179712e+01] [-1.60749170e-02 2.03222294e-04 9.99870770e-01 -2.87107108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.172320588 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:319.70, Y:10.23, Z:-0.30 [[ 8.98900962e-01 -4.37907086e-01 1.46438986e-02 3.19704015e+02] [ 4.37857108e-01 8.99020122e-01 6.63120180e-03 1.02253371e+01] [-1.60690098e-02 4.51141434e-04 9.99870783e-01 -2.97381747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20232058799996 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:319.73, Y:10.24, Z:-0.30 [[ 8.97937962e-01 -4.39885270e-01 1.44348654e-02 3.19729650e+02] [ 4.39828633e-01 8.98053979e-01 7.05867529e-03 1.02363949e+01] [-1.60682956e-02 1.06145917e-05 9.99870897e-01 -2.96932461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23232058799994 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:319.76, Y:10.25, Z:-0.30 [[ 8.97261060e-01 -4.41264444e-01 1.44319522e-02 3.19755101e+02] [ 4.41207889e-01 8.97377117e-01 7.06462635e-03 1.02480651e+01] [-1.60682721e-02 2.86770491e-05 9.99870897e-01 -2.96505060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26232058799997 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:319.79, Y:10.27, Z:-0.28 [[ 9.04853386e-01 -4.25478734e-01 1.44290320e-02 3.19790937e+02] [ 4.25420060e-01 9.04968386e-01 7.07058580e-03 1.02682445e+01] [-1.60662017e-02 -2.59443856e-04 9.99870897e-01 -2.81811168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29232058799994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:319.81, Y:10.27, Z:-0.30 [[ 8.94912443e-01 -4.45998232e-01 1.47409654e-02 3.19807447e+02] [ 4.45952595e-01 8.95033468e-01 6.43226419e-03 1.02743636e+01] [-1.60624358e-02 8.17458493e-04 9.99870657e-01 -2.96600235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:319.85, Y:10.29, Z:-0.29 [[ 9.04019093e-01 -4.27248719e-01 1.44225919e-02 3.19845041e+02] [ 4.27190108e-01 9.04134102e-01 7.08075926e-03 1.02936299e+01] [-1.60652025e-02 -2.39952945e-04 9.99870918e-01 -2.87627433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35232058799994 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:319.88, Y:10.31, Z:-0.28 [[ 9.03460221e-01 -4.28418068e-01 1.47508705e-02 3.19875814e+02] [ 4.28370439e-01 9.03580478e-01 6.40985140e-03 1.03068881e+01] [-1.60746948e-02 5.27791113e-04 9.99870654e-01 -2.81911497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:319.89, Y:10.31, Z:-0.30 [[ 8.92038704e-01 -4.51716482e-01 1.48043826e-02 3.19888742e+02] [ 4.51673796e-01 8.92160906e-01 6.30069243e-03 1.03109336e+01] [-1.60540180e-02 1.06629017e-03 9.99870557e-01 -2.97772557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:319.91, Y:10.32, Z:-0.30 [[ 8.91736102e-01 -4.52326402e-01 1.44066237e-02 3.19913796e+02] [ 4.52270600e-01 8.91852451e-01 7.10700486e-03 1.03243550e+01] [-1.60632686e-02 1.78119557e-04 9.99870962e-01 -2.97486526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:319.94, Y:10.34, Z:-0.30 [[ 8.91173640e-01 -4.53433651e-01 1.44037316e-02 3.19939484e+02] [ 4.53377900e-01 8.91290013e-01 7.11286146e-03 1.03354625e+01] [-1.60631129e-02 1.91538957e-04 9.99870962e-01 -2.95990253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47232058799995 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:319.97, Y:10.35, Z:-0.28 [[ 9.00134547e-01 -4.35373878e-01 1.44008351e-02 3.19974429e+02] [ 4.35315698e-01 9.00249725e-01 7.11872105e-03 1.03515162e+01] [-1.60636530e-02 -1.38897178e-04 9.99870962e-01 -2.80993174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.99, Y:10.36, Z:-0.30 [[ 8.89072039e-01 -4.57533453e-01 1.46303648e-02 3.19992283e+02] [ 4.57485730e-01 8.89192068e-01 6.65372387e-03 1.03596577e+01] [-1.60535056e-02 7.77543269e-04 9.99870832e-01 -2.95691532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:320.02, Y:10.37, Z:-0.30 [[ 8.89105068e-01 -4.57476759e-01 1.43941764e-02 3.20017521e+02] [ 4.57421251e-01 8.89221544e-01 7.13051604e-03 1.03735602e+01] [-1.60616571e-02 2.44424214e-04 9.99870973e-01 -2.98132453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562320588 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:320.05, Y:10.40, Z:-0.29 [[ 8.99694564e-01 -4.36282687e-01 1.43912895e-02 3.20054781e+02] [ 4.36224341e-01 8.99809645e-01 7.13633782e-03 1.03956751e+01] [-1.60628817e-02 -1.42693569e-04 9.99870973e-01 -2.91316089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.07, Y:10.40, Z:-0.30 [[ 8.88173918e-01 -4.59270012e-01 1.47698110e-02 3.20068647e+02] [ 4.59227212e-01 8.88296004e-01 6.37000366e-03 1.04010036e+01] [-1.60455158e-02 1.12502803e-03 9.99870629e-01 -3.01454942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:10.41, Z:-0.30 [[ 8.88120676e-01 -4.59385153e-01 1.43856465e-02 3.20094746e+02] [ 4.59329681e-01 8.88237137e-01 7.14363644e-03 1.04125080e+01] [-1.60595460e-02 2.63343190e-04 9.99871002e-01 -3.02300539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:10.43, Z:-0.30 [[ 8.87932082e-01 -4.59749663e-01 1.43827775e-02 3.20120634e+02] [ 4.59694146e-01 8.88048522e-01 7.14940815e-03 1.04252120e+01] [-1.60595423e-02 2.63489750e-04 9.99871003e-01 -3.00788044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:10.44, Z:-0.30 [[ 8.88643052e-01 -4.58374024e-01 1.43798926e-02 3.20146461e+02] [ 4.58318233e-01 8.88759360e-01 7.15520592e-03 1.04372360e+01] [-1.60600247e-02 2.32142936e-04 9.99871003e-01 -3.00163245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:320.17, Y:10.45, Z:-0.30 [[ 8.88243886e-01 -4.59147145e-01 1.43769998e-02 3.20171813e+02] [ 4.59091361e-01 8.88360198e-01 7.16101371e-03 1.04495125e+01] [-1.60599134e-02 2.39629765e-04 9.99871003e-01 -2.96854519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.742320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:320.20, Y:10.46, Z:-0.30 [[ 8.87798646e-01 -4.60007554e-01 1.43740847e-02 3.20196763e+02] [ 4.59951789e-01 8.87914967e-01 7.16686034e-03 1.04630716e+01] [-1.60597748e-02 2.48657068e-04 9.99871003e-01 -2.98525454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:320.22, Y:10.48, Z:-0.30 [[ 8.87258573e-01 -4.61048473e-01 1.43712008e-02 3.20222094e+02] [ 4.60992750e-01 8.87374914e-01 7.17263847e-03 1.04768059e+01] [-1.60595771e-02 2.61034431e-04 9.99871003e-01 -3.00303865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.25, Y:10.49, Z:-0.30 [[ 8.86162324e-01 -4.63152122e-01 1.43683056e-02 3.20247358e+02] [ 4.63096581e-01 8.86278752e-01 7.17843361e-03 1.04885912e+01] [-1.60590307e-02 2.92655783e-04 9.99871003e-01 -3.02534530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:320.27, Y:10.50, Z:-0.30 [[ 8.85332797e-01 -4.64735918e-01 1.43654024e-02 3.20273128e+02] [ 4.64680492e-01 8.85449280e-01 7.18423876e-03 1.04996071e+01] [-1.60586090e-02 3.14880051e-04 9.99871003e-01 -3.02394104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.862320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:320.31, Y:10.52, Z:-0.29 [[ 8.94059230e-01 -4.47718452e-01 1.43625024e-02 3.20311644e+02] [ 4.47660715e-01 8.94174585e-01 7.19003156e-03 1.05175564e+01] [-1.60616945e-02 1.21402855e-06 9.99871003e-01 -2.91229676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89232058799996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:320.33, Y:10.52, Z:-0.30 [[ 8.82453846e-01 -4.70169421e-01 1.46944073e-02 3.20325782e+02] [ 4.70125537e-01 8.82575432e-01 6.52574826e-03 1.05243499e+01] [-1.60371301e-02 1.14954447e-03 9.99870736e-01 -3.03640845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.922320588 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:320.35, Y:10.54, Z:-0.30 [[ 8.81387480e-01 -4.72175909e-01 1.43534282e-02 3.20351661e+02] [ 4.72121127e-01 8.81504242e-01 7.20503612e-03 1.05363737e+01] [-1.60546523e-02 4.26128051e-04 9.99871025e-01 -3.03566928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95232058799996 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:320.38, Y:10.55, Z:-0.31 [[ 8.81672812e-01 -4.71642993e-01 1.43505640e-02 3.20377871e+02] [ 4.71588048e-01 8.81789498e-01 7.21073630e-03 1.05474404e+01] [-1.60550699e-02 4.10044308e-04 9.99871025e-01 -3.05700706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98232058799994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:320.40, Y:10.56, Z:-0.31 [[ 8.81791900e-01 -4.71420396e-01 1.43476901e-02 3.20403121e+02] [ 4.71365328e-01 8.81908527e-01 7.21645014e-03 1.05593908e+01] [-1.60553320e-02 3.99596381e-04 9.99871025e-01 -3.06995727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01232058799997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:320.43, Y:10.57, Z:-0.31 [[ 8.82200722e-01 -4.70654981e-01 1.43448323e-02 3.20428665e+02] [ 4.70599720e-01 8.82317259e-01 7.22212651e-03 1.05725904e+01] [-1.60558229e-02 3.79308820e-04 9.99871025e-01 -3.07601448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04232058799994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:320.45, Y:10.58, Z:-0.31 [[ 8.82287560e-01 -4.70492264e-01 1.43419514e-02 3.20454263e+02] [ 4.70436888e-01 8.82404042e-01 7.22784296e-03 1.05842137e+01] [-1.60560401e-02 3.69947044e-04 9.99871025e-01 -3.06934861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07232058799997 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:320.49, Y:10.61, Z:-0.30 [[ 8.92439620e-01 -4.50938928e-01 1.43390476e-02 3.20493984e+02] [ 4.50880906e-01 8.92554807e-01 7.23359914e-03 1.06050107e+01] [-1.60602973e-02 9.65229772e-06 9.99871025e-01 -2.98310108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10232058799994 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:320.51, Y:10.61, Z:-0.31 [[ 8.81356910e-01 -4.72221395e-01 1.47292688e-02 3.20506806e+02] [ 4.72178925e-01 8.81479075e-01 6.45783509e-03 1.06104146e+01] [-1.60330701e-02 1.26319271e-03 9.99870664e-01 -3.07089488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13232058799997 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:320.54, Y:10.63, Z:-0.30 [[ 8.88865611e-01 -4.57943859e-01 1.43299292e-02 3.20540433e+02] [ 4.57886522e-01 8.88981106e-01 7.24743934e-03 1.06267354e+01] [-1.60579566e-02 1.19481833e-04 9.99871056e-01 -2.97150606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16232058799994 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:320.56, Y:10.64, Z:-0.31 [[ 8.80540734e-01 -4.73747840e-01 1.45257911e-02 3.20560471e+02] [ 4.73698915e-01 8.80660137e-01 6.86003921e-03 1.06359798e+01] [-1.60422139e-02 8.40307500e-04 9.99870962e-01 -3.09940009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.192320588 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:320.59, Y:10.65, Z:-0.31 [[ 8.80810577e-01 -4.73252186e-01 1.43211871e-02 3.20586010e+02] [ 4.73196594e-01 8.80926913e-01 7.26345577e-03 1.06477338e+01] [-1.60533654e-02 3.79008282e-04 9.99871065e-01 -3.09802021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22232058799995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:320.61, Y:10.66, Z:-0.31 [[ 8.81748636e-01 -4.71502204e-01 1.43182822e-02 3.20611471e+02] [ 4.71446290e-01 8.81864817e-01 7.26917766e-03 1.06597136e+01] [-1.60542226e-02 3.40713501e-04 9.99871065e-01 -3.09014853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.252320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:320.64, Y:10.67, Z:-0.31 [[ 8.82150531e-01 -4.70749944e-01 1.43153785e-02 3.20636278e+02] [ 4.70693838e-01 8.82266619e-01 7.27489148e-03 1.06734406e+01] [-1.60546353e-02 3.20611036e-04 9.99871065e-01 -3.09929662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28232058799995 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:320.66, Y:10.69, Z:-0.31 [[ 8.81602513e-01 -4.71775543e-01 1.43124624e-02 3.20662474e+02] [ 4.71719479e-01 8.81718621e-01 7.28062399e-03 1.06855838e+01] [-1.60543849e-02 3.32850890e-04 9.99871065e-01 -3.07081989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.312320588 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:320.69, Y:10.70, Z:-0.31 [[ 8.82849405e-01 -4.69438137e-01 1.43095430e-02 3.20688081e+02] [ 4.69381672e-01 8.82965319e-01 7.28635733e-03 1.06982146e+01] [-1.60553242e-02 2.83880981e-04 9.99871065e-01 -3.07881198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34232058799995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:320.71, Y:10.71, Z:-0.31 [[ 8.83153371e-01 -4.68866126e-01 1.43066188e-02 3.20713665e+02] [ 4.68809493e-01 8.83269203e-01 7.29209445e-03 1.07110562e+01] [-1.60556118e-02 2.67040892e-04 9.99871065e-01 -3.08785121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.372320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:320.74, Y:10.72, Z:-0.31 [[ 8.83025577e-01 -4.69106850e-01 1.43036640e-02 3.20739764e+02] [ 4.69050155e-01 8.83141378e-01 7.29788583e-03 1.07232751e+01] [-1.60556457e-02 2.64915948e-04 9.99871065e-01 -3.08464364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40232058799995 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:320.77, Y:10.74, Z:-0.31 [[ 8.83118639e-01 -4.68931720e-01 1.43007249e-02 3.20765814e+02] [ 4.68874909e-01 8.83234384e-01 7.30364060e-03 1.07353963e+01] [-1.60558007e-02 2.55269924e-04 9.99871065e-01 -3.08650928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.432320588 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:320.79, Y:10.75, Z:-0.31 [[ 8.82738961e-01 -4.69646143e-01 1.42977747e-02 3.20791032e+02] [ 4.69589332e-01 8.82854706e-01 7.30941137e-03 1.07483840e+01] [-1.60556946e-02 2.61780284e-04 9.99871065e-01 -3.10315872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46232058799995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:320.82, Y:10.76, Z:-0.31 [[ 8.82677144e-01 -4.69762405e-01 1.42948233e-02 3.20816002e+02] [ 4.69705516e-01 8.82792850e-01 7.31517891e-03 1.07621424e+01] [-1.60557638e-02 2.57416114e-04 9.99871065e-01 -3.11085142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.492320588 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:320.84, Y:10.77, Z:-0.31 [[ 8.82438736e-01 -4.70210186e-01 1.42918648e-02 3.20841853e+02] [ 4.70153262e-01 8.82554425e-01 7.32095434e-03 1.07743126e+01] [-1.60557358e-02 2.59073171e-04 9.99871065e-01 -3.10700637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52232058799996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:320.87, Y:10.79, Z:-0.31 [[ 8.82431801e-01 -4.70223292e-01 1.42888952e-02 3.20867618e+02] [ 4.70166276e-01 8.82547445e-01 7.32674588e-03 1.07854347e+01] [-1.60558345e-02 2.52803056e-04 9.99871065e-01 -3.10422299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.552320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:320.89, Y:10.80, Z:-0.31 [[ 8.82446636e-01 -4.70195542e-01 1.42859174e-02 3.20893541e+02] [ 4.70138428e-01 8.82562231e-01 7.33254744e-03 1.07966917e+01] [-1.60559422e-02 2.45776923e-04 9.99871065e-01 -3.09090117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58232058799996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:320.92, Y:10.81, Z:-0.31 [[ 8.82579650e-01 -4.69945912e-01 1.42829315e-02 3.20918543e+02] [ 4.69888671e-01 8.82695182e-01 7.33835906e-03 1.08105078e+01] [-1.60561066e-02 2.34701322e-04 9.99871065e-01 -3.09647304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.612320588 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:320.94, Y:10.82, Z:-0.31 [[ 8.82236804e-01 -4.70589315e-01 1.42799719e-02 3.20944014e+02] [ 4.70532066e-01 8.82352333e-01 7.34411358e-03 1.08237765e+01] [-1.60560279e-02 2.39937412e-04 9.99871065e-01 -3.12722885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64232058799996 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:320.97, Y:10.84, Z:-0.31 [[ 8.81981798e-01 -4.71067166e-01 1.42769961e-02 3.20970173e+02] [ 4.71009886e-01 8.82097311e-01 7.34989415e-03 1.08356753e+01] [-1.60559937e-02 2.42133427e-04 9.99871065e-01 -3.13140939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.672320588 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:321.00, Y:10.85, Z:-0.31 [[ 8.82290053e-01 -4.70489654e-01 1.42740168e-02 3.20995931e+02] [ 4.70432205e-01 8.82405482e-01 7.35567557e-03 1.08486133e+01] [-1.60562399e-02 2.25117807e-04 9.99871065e-01 -3.12881533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:321.02, Y:10.86, Z:-0.31 [[ 8.86477694e-01 -4.62551226e-01 1.42710341e-02 3.21021879e+02] [ 4.62492650e-01 8.86592555e-01 7.36145783e-03 1.08594790e+01] [-1.60576439e-02 7.44802261e-05 9.99871065e-01 -3.08846332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73232058799994 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:321.05, Y:10.87, Z:-0.31 [[ 8.82941701e-01 -4.69265785e-01 1.42680258e-02 3.21045561e+02] [ 4.69207988e-01 8.83056956e-01 7.36728394e-03 1.08742705e+01] [-1.60566937e-02 1.89789465e-04 9.99871065e-01 -3.14414582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76232058799997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:321.07, Y:10.89, Z:-0.31 [[ 8.84071516e-01 -4.67133875e-01 1.42652436e-02 3.21071712e+02] [ 4.67075713e-01 8.84186588e-01 7.37266713e-03 1.08863455e+01] [-1.60571597e-02 1.44983832e-04 9.99871065e-01 -3.12815769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79232058799994 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:321.10, Y:10.90, Z:-0.31 [[ 8.83959265e-01 -4.67346346e-01 1.42622238e-02 3.21096998e+02] [ 4.67288118e-01 8.84074303e-01 7.37850434e-03 1.08987045e+01] [-1.60571826e-02 1.42270427e-04 9.99871065e-01 -3.14023185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82232058799997 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:321.13, Y:10.92, Z:-0.31 [[ 8.92767809e-01 -4.50291366e-01 1.42592224e-02 3.21133105e+02] [ 4.50230847e-01 8.92881659e-01 7.38430013e-03 1.09183918e+01] [-1.60568847e-02 -1.72523686e-04 9.99871065e-01 -3.05062796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85232058799994 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:321.16, Y:10.93, Z:-0.31 [[ 8.92318882e-01 -4.51171198e-01 1.45451960e-02 3.21159104e+02] [ 4.51119710e-01 8.92437300e-01 6.83182503e-03 1.09317013e+01] [-1.60629981e-02 4.65458103e-04 9.99870873e-01 -3.06088241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88232058799997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:321.18, Y:10.94, Z:-0.32 [[ 8.81492372e-01 -4.71974594e-01 1.45320930e-02 3.21177309e+02] [ 4.71925481e-01 8.81611774e-01 6.85708407e-03 1.09372561e+01] [-1.60480338e-02 8.13597687e-04 9.99870891e-01 -3.16145498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91232058799994 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:321.20, Y:10.95, Z:-0.32 [[ 8.81710922e-01 -4.71575097e-01 1.42400365e-02 3.21202925e+02] [ 4.71516786e-01 8.81825889e-01 7.41775849e-03 1.09494834e+01] [-1.60552630e-02 1.74097549e-04 9.99871091e-01 -3.16160739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942320588 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:321.23, Y:10.96, Z:-0.32 [[ 8.81503017e-01 -4.71963704e-01 1.42370297e-02 3.21228069e+02] [ 4.71905350e-01 8.81617962e-01 7.42352493e-03 1.09621347e+01] [-1.60552555e-02 1.74670878e-04 9.99871091e-01 -3.17390699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97232058799995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:321.25, Y:10.97, Z:-0.32 [[ 8.81473617e-01 -4.72018704e-01 1.42339993e-02 3.21253951e+02] [ 4.71960263e-01 8.81588518e-01 7.42933093e-03 1.09743408e+01] [-1.60553135e-02 1.69122860e-04 9.99871091e-01 -3.17253154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002320588 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:321.28, Y:10.98, Z:-0.31 [[ 8.83494466e-01 -4.68225382e-01 1.42309574e-02 3.21275154e+02] [ 4.68166355e-01 8.83609067e-01 7.43515326e-03 1.09816934e+01] [-1.60559304e-02 9.35386784e-05 9.99871091e-01 -3.12593917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03232058799995 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:321.31, Y:11.00, Z:-0.32 [[ 8.82121851e-01 -4.70811712e-01 1.40489149e-02 3.21306215e+02] [ 4.70747441e-01 8.82233681e-01 7.78320171e-03 1.09999278e+01] [-1.60588485e-02 -2.52241554e-04 9.99871017e-01 -3.17518844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062320588 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:321.33, Y:11.01, Z:-0.32 [[ 8.82669489e-01 -4.69778695e-01 1.42320200e-02 3.21331101e+02] [ 4.69719910e-01 8.82784211e-01 7.43259253e-03 1.10148795e+01] [-1.60554762e-02 1.24540512e-04 9.99871095e-01 -3.19533547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09232058799995 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:321.36, Y:11.03, Z:-0.32 [[ 8.82612041e-01 -4.69886700e-01 1.42293448e-02 3.21355935e+02] [ 4.69827847e-01 8.82726727e-01 7.43771051e-03 1.10279550e+01] [-1.60555042e-02 1.20729601e-04 9.99871095e-01 -3.20746868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122320588 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:321.38, Y:11.04, Z:-0.32 [[ 8.82489889e-01 -4.70116164e-01 1.42262935e-02 3.21381140e+02] [ 4.70057247e-01 8.82604542e-01 7.44354232e-03 1.10404381e+01] [-1.60555208e-02 1.18321523e-04 9.99871095e-01 -3.20754654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:321.41, Y:11.05, Z:-0.32 [[ 8.83595174e-01 -4.68035541e-01 1.42232517e-02 3.21406255e+02] [ 4.67976260e-01 8.83709639e-01 7.44935015e-03 1.10536460e+01] [-1.60557852e-02 7.39342849e-05 9.99871095e-01 -3.19356224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.43, Y:11.07, Z:-0.32 [[ 8.84330932e-01 -4.66643964e-01 1.42201797e-02 3.21430925e+02] [ 4.66584409e-01 8.84445255e-01 7.45520967e-03 1.10679702e+01] [-1.60558991e-02 4.20416256e-05 9.99871095e-01 -3.19937138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.46, Y:11.08, Z:-0.32 [[ 8.85044804e-01 -4.65288694e-01 1.42171031e-02 3.21455367e+02] [ 4.65228869e-01 8.85158987e-01 7.46107213e-03 1.10827341e+01] [-1.60559491e-02 1.08236805e-05 9.99871095e-01 -3.20796590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.48, Y:11.09, Z:-0.32 [[ 8.88877880e-01 -4.57923658e-01 1.42140047e-02 3.21481795e+02] [ 4.57862793e-01 8.88991511e-01 7.46697028e-03 1.10945109e+01] [-1.60554318e-02 -1.29160838e-04 9.99871095e-01 -3.15524668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:321.51, Y:11.11, Z:-0.32 [[ 8.86583519e-01 -4.62350206e-01 1.42109021e-02 3.21506326e+02] [ 4.62289815e-01 8.86697403e-01 7.47287028e-03 1.11080807e+01] [-1.60558531e-02 -5.57683222e-05 9.99871095e-01 -3.19456180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.53, Y:11.12, Z:-0.32 [[ 8.87197829e-01 -4.61170407e-01 1.42080406e-02 3.21530936e+02] [ 4.61109777e-01 8.87311585e-01 7.47830684e-03 1.11220628e+01] [-1.60557329e-02 -8.32711476e-05 9.99871095e-01 -3.18974570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.55, Y:11.14, Z:-0.32 [[ 8.87791333e-01 -4.60026921e-01 1.42049518e-02 3.21554833e+02] [ 4.59966050e-01 8.87904961e-01 7.48416951e-03 1.11366733e+01] [-1.60555666e-02 -1.10585264e-04 9.99871095e-01 -3.22037225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.58, Y:11.15, Z:-0.32 [[ 8.88813997e-01 -4.58048017e-01 1.42018499e-02 3.21579440e+02] [ 4.57986799e-01 8.88927438e-01 7.49005096e-03 1.11511671e+01] [-1.60552170e-02 -1.53002355e-04 9.99871095e-01 -3.22728033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.60, Y:11.16, Z:-0.32 [[ 8.88377394e-01 -4.58894325e-01 1.41987612e-02 3.21604834e+02] [ 4.58833122e-01 8.88490843e-01 7.49590165e-03 1.11638804e+01] [-1.60552960e-02 -1.44327657e-04 9.99871095e-01 -3.22833410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.63, Y:11.18, Z:-0.32 [[ 8.87959215e-01 -4.59703073e-01 1.41956650e-02 3.21630222e+02] [ 4.59641880e-01 8.88072669e-01 7.50176048e-03 1.11764125e+01] [-1.60553645e-02 -1.36335179e-04 9.99871095e-01 -3.21271353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:321.66, Y:11.19, Z:-0.32 [[ 8.87634049e-01 -4.60330713e-01 1.41925592e-02 3.21655264e+02] [ 4.60269506e-01 8.87747496e-01 7.50763171e-03 1.11897945e+01] [-1.60554024e-02 -1.31627296e-04 9.99871095e-01 -3.22601502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.68, Y:11.20, Z:-0.32 [[ 8.86388591e-01 -4.62724460e-01 1.41894499e-02 3.21680313e+02] [ 4.62663465e-01 8.86502152e-01 7.51350378e-03 1.12019697e+01] [-1.60556599e-02 -9.49439583e-05 9.99871095e-01 -3.24813414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.71, Y:11.21, Z:-0.32 [[ 8.85105817e-01 -4.65173560e-01 1.41863432e-02 3.21705837e+02] [ 4.65112785e-01 8.85219496e-01 7.51936510e-03 1.12133631e+01] [-1.60558374e-02 -5.71842077e-05 9.99871095e-01 -3.24488302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.73, Y:11.22, Z:-0.32 [[ 8.82450945e-01 -4.70190563e-01 1.41832351e-02 3.21732702e+02] [ 4.70130341e-01 8.82564918e-01 7.52522302e-03 1.12231333e+01] [-1.60559146e-02 2.73289857e-05 9.99871095e-01 -3.23542057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.76, Y:11.24, Z:-0.32 [[ 8.81619722e-01 -4.71747380e-01 1.41801073e-02 3.21758379e+02] [ 4.71687265e-01 8.81733751e-01 7.53111237e-03 1.12352643e+01] [-1.60558617e-02 4.89988113e-05 9.99871095e-01 -3.23700648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.78, Y:11.25, Z:-0.32 [[ 8.81239271e-01 -4.72457787e-01 1.41769770e-02 3.21783260e+02] [ 4.72397668e-01 8.81353298e-01 7.53700042e-03 1.12479103e+01] [-1.60558399e-02 5.52701035e-05 9.99871095e-01 -3.24348755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:321.81, Y:11.26, Z:-0.33 [[ 8.80708775e-01 -4.73446044e-01 1.41738431e-02 3.21808902e+02] [ 4.73385958e-01 8.80822819e-01 7.54288930e-03 1.12601568e+01] [-1.60557955e-02 6.66094966e-05 9.99871095e-01 -3.25672789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:321.84, Y:11.27, Z:-0.33 [[ 8.79811159e-01 -4.75112108e-01 1.41707425e-02 3.21835080e+02] [ 4.75052145e-01 8.79925268e-01 7.54870973e-03 1.12721609e+01] [-1.60556778e-02 9.04025846e-05 9.99871095e-01 -3.26249467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.692320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:321.86, Y:11.29, Z:-0.33 [[ 8.79615580e-01 -4.75474195e-01 1.41676358e-02 3.21860716e+02] [ 4.75414184e-01 8.79729664e-01 7.55453613e-03 1.12853983e+01] [-1.60556764e-02 9.04073253e-05 9.99871095e-01 -3.26706812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.89, Y:11.30, Z:-0.33 [[ 8.79413359e-01 -4.75848201e-01 1.41645244e-02 3.21886299e+02] [ 4.75788145e-01 8.79527419e-01 7.56036544e-03 1.12967389e+01] [-1.60556738e-02 9.06264054e-05 9.99871095e-01 -3.25178705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.91, Y:11.31, Z:-0.33 [[ 8.79795354e-01 -4.75141653e-01 1.41614128e-02 3.21911738e+02] [ 4.75081412e-01 8.79909316e-01 7.56618928e-03 1.13099078e+01] [-1.60557707e-02 7.11258084e-05 9.99871095e-01 -3.26247714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:321.94, Y:11.32, Z:-0.33 [[ 8.80189978e-01 -4.74410313e-01 1.41583099e-02 3.21937096e+02] [ 4.74349884e-01 8.80303841e-01 7.57199115e-03 1.13226185e+01] [-1.60558453e-02 5.12019404e-05 9.99871095e-01 -3.25656047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.96, Y:11.34, Z:-0.33 [[ 8.80532394e-01 -4.73774560e-01 1.41551913e-02 3.21962567e+02] [ 4.73713956e-01 8.80646163e-01 7.57781662e-03 1.13359727e+01] [-1.60558916e-02 3.29986547e-05 9.99871095e-01 -3.25691339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.99, Y:11.35, Z:-0.33 [[ 8.81469688e-01 -4.72028504e-01 1.41520641e-02 3.21987835e+02] [ 4.71967580e-01 8.81583287e-01 7.58365226e-03 1.13487385e+01] [-1.60559233e-02 -5.44413019e-06 9.99871095e-01 -3.26310889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.01, Y:11.36, Z:-0.33 [[ 8.81625048e-01 -4.71738363e-01 1.41489284e-02 3.22013270e+02] [ 4.71677308e-01 8.81738576e-01 7.58949813e-03 1.13617077e+01] [-1.60559134e-02 -1.73631739e-05 9.99871095e-01 -3.25697146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.04, Y:11.38, Z:-0.33 [[ 8.81431410e-01 -4.72100166e-01 1.41457925e-02 3.22037821e+02] [ 4.72039064e-01 8.81544913e-01 7.59533848e-03 1.13752442e+01] [-1.60559120e-02 -1.74032296e-05 9.99871095e-01 -3.27938599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.932320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:322.06, Y:11.39, Z:-0.33 [[ 8.80668393e-01 -4.73522087e-01 1.41426543e-02 3.22062963e+02] [ 4.73461074e-01 8.80781944e-01 7.60117753e-03 1.13892761e+01] [-1.60559200e-02 1.87946937e-06 9.99871095e-01 -3.29209577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:322.09, Y:11.40, Z:-0.33 [[ 8.80331866e-01 -4.74147529e-01 1.41395124e-02 3.22088137e+02] [ 4.74086503e-01 8.80445410e-01 7.60701740e-03 1.14015784e+01] [-1.60559173e-02 6.65218001e-06 9.99871095e-01 -3.29486376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:11.41, Z:-0.33 [[ 8.80150456e-01 -4.74484287e-01 1.41363642e-02 3.22114036e+02] [ 4.74423210e-01 8.80263973e-01 7.61286327e-03 1.14141020e+01] [-1.60559162e-02 6.15422936e-06 9.99871095e-01 -3.26934515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02232058799996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:322.14, Y:11.43, Z:-0.33 [[ 8.79944725e-01 -4.74865805e-01 1.41332137e-02 3.22138545e+02] [ 4.74804684e-01 8.80058218e-01 7.61870784e-03 1.14276636e+01] [-1.60559147e-02 6.47425949e-06 9.99871095e-01 -3.26543720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.052320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:322.16, Y:11.44, Z:-0.33 [[ 8.79683769e-01 -4.75349142e-01 1.41300747e-02 3.22162932e+02] [ 4.75287990e-01 8.79797245e-01 7.62452507e-03 1.14411060e+01] [-1.60559123e-02 8.68385236e-06 9.99871095e-01 -3.27484403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:322.19, Y:11.45, Z:-0.33 [[ 8.78520993e-01 -4.77494811e-01 1.41269429e-02 3.22188383e+02] [ 4.77433843e-01 8.78634568e-01 7.63032335e-03 1.14540738e+01] [-1.60558602e-02 4.12813912e-05 9.99871096e-01 -3.28679044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.21, Y:11.47, Z:-0.33 [[ 8.77358952e-01 -4.79626717e-01 1.41238037e-02 3.22213903e+02] [ 4.79565932e-01 8.77472624e-01 7.63612964e-03 1.14672638e+01] [-1.60557429e-02 7.36683880e-05 9.99871096e-01 -3.28694924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14232058799996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:322.24, Y:11.48, Z:-0.33 [[ 8.76829882e-01 -4.80593347e-01 1.41206372e-02 3.22238739e+02] [ 4.80532593e-01 8.76943571e-01 7.64198056e-03 1.14806317e+01] [-1.60556871e-02 8.47095008e-05 9.99871096e-01 -3.28143659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.26, Y:11.49, Z:-0.33 [[ 8.76051551e-01 -4.82010764e-01 1.41174898e-02 3.22263944e+02] [ 4.81950100e-01 8.76165289e-01 7.64779051e-03 1.14936504e+01] [-1.60555719e-02 1.04066887e-04 9.99871096e-01 -3.28015856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.29, Y:11.51, Z:-0.33 [[ 8.75822575e-01 -4.82426783e-01 1.41143535e-02 3.22288489e+02] [ 4.82366080e-01 8.75936292e-01 7.65357437e-03 1.15074130e+01] [-1.60555637e-02 1.05112162e-04 9.99871096e-01 -3.29345176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.31, Y:11.52, Z:-0.33 [[ 8.75677852e-01 -4.82689521e-01 1.41112126e-02 3.22313453e+02] [ 4.82628759e-01 8.75791537e-01 7.65936108e-03 1.15209738e+01] [-1.60555739e-02 1.03344151e-04 9.99871096e-01 -3.29702838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26232058799997 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:322.34, Y:11.53, Z:-0.33 [[ 8.75342319e-01 -4.83297823e-01 1.41080849e-02 3.22338302e+02] [ 4.83237047e-01 8.75455997e-01 7.66511778e-03 1.15336840e+01] [-1.60555422e-02 1.07947299e-04 9.99871096e-01 -3.29600494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.36, Y:11.55, Z:-0.33 [[ 8.74835829e-01 -4.84214129e-01 1.41049526e-02 3.22363487e+02] [ 4.84153379e-01 8.74949521e-01 7.67087730e-03 1.15467935e+01] [-1.60554687e-02 1.18202147e-04 9.99871096e-01 -3.29024795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:322.39, Y:11.56, Z:-0.33 [[ 8.74952477e-01 -4.84003412e-01 1.41018213e-02 3.22388262e+02] [ 4.83942541e-01 8.75066104e-01 7.67662940e-03 1.15604566e+01] [-1.60555407e-02 1.07785347e-04 9.99871096e-01 -3.29566704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35232058799994 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:322.41, Y:11.57, Z:-0.33 [[ 8.78684618e-01 -4.77194477e-01 1.40986793e-02 3.22413706e+02] [ 4.77132634e-01 8.78797719e-01 7.68239555e-03 1.15739552e+01] [-1.60558840e-02 -2.34627971e-05 9.99871096e-01 -3.27353972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.44, Y:11.59, Z:-0.33 [[ 8.75042288e-01 -4.83841187e-01 1.40960619e-02 3.22439081e+02] [ 4.83780126e-01 8.75155813e-01 7.68719487e-03 1.15890257e+01] [-1.60556320e-02 9.27740290e-05 9.99871096e-01 -3.32376258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41232058799994 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:322.46, Y:11.60, Z:-0.33 [[ 8.74479878e-01 -4.84857016e-01 1.40931785e-02 3.22464772e+02] [ 4.84796001e-01 8.74593427e-01 7.69247760e-03 1.16019287e+01] [-1.60555530e-02 1.05399699e-04 9.99871096e-01 -3.28747535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.49, Y:11.62, Z:-0.33 [[ 8.74062830e-01 -4.85608526e-01 1.40900412e-02 3.22490001e+02] [ 4.85547517e-01 8.74176382e-01 7.69821984e-03 1.16153068e+01] [-1.60555024e-02 1.12656675e-04 9.99871096e-01 -3.29153487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:11.63, Z:-0.33 [[ 8.73237982e-01 -4.87090327e-01 1.40869048e-02 3.22514573e+02] [ 4.87029418e-01 8.73351588e-01 7.70395468e-03 1.16287077e+01] [-1.60553425e-02 1.33351225e-04 9.99871096e-01 -3.29796763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502320588 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:322.54, Y:11.64, Z:-0.33 [[ 8.72626211e-01 -4.88185562e-01 1.40837723e-02 3.22539489e+02] [ 4.88124703e-01 8.72739844e-01 7.70967712e-03 1.16420221e+01] [-1.60552223e-02 1.46970821e-04 9.99871096e-01 -3.30257464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53232058799995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:322.56, Y:11.66, Z:-0.33 [[ 8.71619274e-01 -4.89981201e-01 1.40806291e-02 3.22564151e+02] [ 4.89920483e-01 8.71732982e-01 7.71541349e-03 1.16555973e+01] [-1.60549563e-02 1.73485495e-04 9.99871096e-01 -3.30160373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:322.60, Y:11.67, Z:-0.32 [[ 8.77737288e-01 -4.78935358e-01 1.40774919e-02 3.22595093e+02] [ 4.78873118e-01 8.77850170e-01 7.72113338e-03 1.16736185e+01] [-1.60558524e-02 -3.57942509e-05 9.99871096e-01 -3.23600097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:322.61, Y:11.68, Z:-0.33 [[ 8.70582115e-01 -4.91816225e-01 1.42682390e-02 3.22614988e+02] [ 4.91761323e-01 8.70698825e-01 7.37275846e-03 1.16844434e+01] [-1.60493812e-02 5.97976439e-04 9.99871022e-01 -3.31125218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:322.65, Y:11.71, Z:-0.32 [[ 8.79323487e-01 -4.76016947e-01 1.40737909e-02 3.22650996e+02] [ 4.75954239e-01 8.79436102e-01 7.72692799e-03 1.17054290e+01] [-1.60551485e-02 -9.59888104e-05 9.99871103e-01 -3.22465602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:322.67, Y:11.71, Z:-0.33 [[ 8.69678670e-01 -4.93407390e-01 1.44277171e-02 3.22666555e+02] [ 4.93357527e-01 8.69797807e-01 7.07998249e-03 1.17120550e+01] [-1.60425124e-02 9.60713059e-04 9.99870849e-01 -3.29138965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:11.73, Z:-0.33 [[ 8.69197151e-01 -4.94265476e-01 1.40695532e-02 3.22692083e+02] [ 4.94205054e-01 8.69310983e-01 7.73174684e-03 1.17250133e+01] [-1.60523527e-02 2.32831981e-04 9.99871126e-01 -3.27880580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71232058799995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:322.73, Y:11.75, Z:-0.32 [[ 8.77514785e-01 -4.79343236e-01 1.40664242e-02 3.22727033e+02] [ 4.79280786e-01 8.77627518e-01 7.73743519e-03 1.17471294e+01] [-1.60539682e-02 -4.79469039e-05 9.99871126e-01 -3.24944757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.742320588 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:322.75, Y:11.76, Z:-0.33 [[ 8.77007310e-01 -4.80261499e-01 1.43899560e-02 3.22752727e+02] [ 4.80208737e-01 8.77125122e-01 7.14761655e-03 1.17611141e+01] [-1.60545170e-02 6.41670651e-04 9.99870912e-01 -3.26015027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:322.77, Y:11.77, Z:-0.33 [[ 8.67600693e-01 -4.97053680e-01 1.43762598e-02 3.22768970e+02] [ 4.97002783e-01 8.67719303e-01 7.17253623e-03 1.17683294e+01] [-1.60396937e-02 9.22143732e-04 9.99870931e-01 -3.31885143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.79, Y:11.78, Z:-0.33 [[ 8.66994735e-01 -4.98119104e-01 1.40530095e-02 3.22794089e+02] [ 4.98058760e-01 8.67108577e-01 7.75808019e-03 1.17812507e+01] [-1.60499330e-02 2.73009815e-04 9.99871154e-01 -3.30976138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:322.82, Y:11.79, Z:-0.33 [[ 8.67079071e-01 -4.97972374e-01 1.40498902e-02 3.22818577e+02] [ 4.97911920e-01 8.67192853e-01 7.76372517e-03 1.17949473e+01] [-1.60500850e-02 2.63844198e-04 9.99871154e-01 -3.31134767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.862320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:322.86, Y:11.82, Z:-0.33 [[ 8.76294868e-01 -4.81570340e-01 1.40467795e-02 3.22855609e+02] [ 4.81507665e-01 8.76407443e-01 7.76934929e-03 1.18174868e+01] [-1.60521903e-02 -4.46089198e-05 9.99871154e-01 -3.26173513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89232058799996 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:322.87, Y:11.82, Z:-0.33 [[ 8.66086582e-01 -4.99684865e-01 1.44591941e-02 3.22869190e+02] [ 4.99636855e-01 8.66206515e-01 7.02040197e-03 1.18239893e+01] [-1.60326368e-02 1.14407035e-03 9.99870814e-01 -3.30509272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.922320588 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:322.90, Y:11.84, Z:-0.33 [[ 8.75033375e-01 -4.83858852e-01 1.40429258e-02 3.22904429e+02] [ 4.83796421e-01 8.75146051e-01 7.77250456e-03 1.18444337e+01] [-1.60504062e-02 -7.28366466e-06 9.99871184e-01 -3.25167866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95232058799996 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:322.93, Y:11.86, Z:-0.33 [[ 8.74084519e-01 -4.85561025e-01 1.43786270e-02 3.22930062e+02] [ 4.85508699e-01 8.74202479e-01 7.16437419e-03 1.18582995e+01] [-1.60485722e-02 7.18679899e-04 9.99870955e-01 -3.25993450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98232058799994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:322.96, Y:11.88, Z:-0.33 [[ 8.77176323e-01 -4.79954873e-01 1.43184696e-02 3.22955327e+02] [ 4.79900016e-01 8.77293040e-01 7.27294617e-03 1.18765591e+01] [-1.60521797e-02 4.91777643e-04 9.99871035e-01 -3.27921064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.97, Y:11.88, Z:-0.33 [[ 8.70391976e-01 -4.92150164e-01 1.43535649e-02 3.22971021e+02] [ 4.92097983e-01 8.70509963e-01 7.20973379e-03 1.18839448e+01] [-1.60431929e-02 7.88065905e-04 9.99870989e-01 -3.31908457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:323.00, Y:11.91, Z:-0.33 [[ 8.78538978e-01 -4.77464982e-01 1.40162125e-02 3.23004508e+02] [ 4.77401056e-01 8.78650761e-01 7.81479917e-03 1.19057014e+01] [-1.60466488e-02 -1.74251002e-04 9.99871229e-01 -3.25075650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07232058799997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:323.03, Y:11.92, Z:-0.33 [[ 8.76711524e-01 -4.80803620e-01 1.43102339e-02 3.23026351e+02] [ 4.80748659e-01 8.76828169e-01 7.28624403e-03 1.19185501e+01] [-1.60508687e-02 4.91691670e-04 9.99871056e-01 -3.28062708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:323.06, Y:11.94, Z:-0.33 [[ 8.78961771e-01 -4.76682161e-01 1.41535376e-02 3.23055568e+02] [ 4.76622108e-01 8.79075713e-01 7.56686268e-03 1.19383253e+01] [-1.60490196e-02 9.49058868e-05 9.99871202e-01 -3.31305332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.07, Y:11.95, Z:-0.34 [[ 8.71227676e-01 -4.90670264e-01 1.43188275e-02 3.23072530e+02] [ 4.90616879e-01 8.71345061e-01 7.27070475e-03 1.19453033e+01] [-1.60441582e-02 6.90619254e-04 9.99871046e-01 -3.36737877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.10, Y:11.96, Z:-0.34 [[ 8.70334509e-01 -4.92262048e-01 1.39970785e-02 3.23098040e+02] [ 4.92199540e-01 8.70447053e-01 7.84479273e-03 1.19583012e+01] [-1.60454095e-02 6.17617871e-05 9.99871262e-01 -3.36775034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.12, Y:11.97, Z:-0.34 [[ 8.68564140e-01 -4.95379154e-01 1.39938512e-02 3.23122911e+02] [ 4.95316957e-01 8.68676856e-01 7.85054560e-03 1.19725505e+01] [-1.60451313e-02 1.12689401e-04 9.99871262e-01 -3.38776729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.15, Y:11.99, Z:-0.34 [[ 8.67203262e-01 -4.97757737e-01 1.39906168e-02 3.23147422e+02] [ 4.97695756e-01 8.67316098e-01 7.85630541e-03 1.19860726e+01] [-1.60448240e-02 1.50056930e-04 9.99871262e-01 -3.40047653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.17, Y:12.00, Z:-0.34 [[ 8.64936231e-01 -5.01686823e-01 1.39874014e-02 3.23172442e+02] [ 5.01625262e-01 8.65049296e-01 7.86202604e-03 1.19985099e+01] [-1.60440666e-02 2.16282696e-04 9.99871262e-01 -3.41915009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.20, Y:12.01, Z:-0.34 [[ 8.63609339e-01 -5.03967609e-01 1.39842124e-02 3.23197611e+02] [ 5.03906255e-01 8.63722516e-01 7.86769409e-03 1.20110429e+01] [-1.60435421e-02 2.52118032e-04 9.99871262e-01 -3.42756464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.312320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:323.22, Y:12.02, Z:-0.34 [[ 8.62464246e-01 -5.05924851e-01 1.39810358e-02 3.23222358e+02] [ 5.05863662e-01 8.62577513e-01 7.87333502e-03 1.20239696e+01] [-1.60430429e-02 2.82028009e-04 9.99871262e-01 -3.43726250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.25, Y:12.04, Z:-0.35 [[ 8.60139053e-01 -5.09868050e-01 1.39778630e-02 3.23248304e+02] [ 5.09807290e-01 8.60252550e-01 7.87896383e-03 1.20375705e+01] [-1.60417242e-02 3.49011946e-04 9.99871262e-01 -3.47084289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.27, Y:12.05, Z:-0.35 [[ 8.58850572e-01 -5.12035537e-01 1.39751040e-02 3.23273886e+02] [ 5.11974983e-01 8.58964180e-01 7.88385441e-03 1.20502019e+01] [-1.60409274e-02 3.83850774e-04 9.99871262e-01 -3.47159064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.30, Y:12.06, Z:-0.35 [[ 8.56128830e-01 -5.16573530e-01 1.39719441e-02 3.23300598e+02] [ 5.16513487e-01 8.56242708e-01 7.88945052e-03 1.20623945e+01] [-1.60388566e-02 4.62311519e-04 9.99871262e-01 -3.48939561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.33, Y:12.08, Z:-0.35 [[ 8.55726661e-01 -5.17239542e-01 1.39691972e-02 3.23325640e+02] [ 5.17179508e-01 8.55840544e-01 7.89431119e-03 1.20751822e+01] [-1.60386553e-02 4.69210009e-04 9.99871262e-01 -3.48931040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.35, Y:12.09, Z:-0.35 [[ 8.54804083e-01 -5.18762882e-01 1.39660723e-02 3.23350710e+02] [ 5.18702961e-01 8.54918026e-01 7.89983577e-03 1.20893503e+01] [-1.60379885e-02 4.91431179e-04 9.99871262e-01 -3.51141504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.38, Y:12.10, Z:-0.35 [[ 8.53326015e-01 -5.21190692e-01 1.39633468e-02 3.23375726e+02] [ 5.21131016e-01 8.53440086e-01 7.90465020e-03 1.21017504e+01] [-1.60367100e-02 5.31489465e-04 9.99871262e-01 -3.52703219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.40, Y:12.11, Z:-0.35 [[ 8.52818019e-01 -5.22021589e-01 1.39602370e-02 3.23402238e+02] [ 5.21961935e-01 8.52932101e-01 7.91013860e-03 1.21145729e+01] [-1.60363974e-02 5.40803583e-04 9.99871262e-01 -3.53278529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.43, Y:12.13, Z:-0.35 [[ 8.52571340e-01 -5.22424442e-01 1.39575199e-02 3.23427660e+02] [ 5.22364763e-01 8.52685410e-01 7.91493002e-03 1.21273008e+01] [-1.60363265e-02 5.42874099e-04 9.99871262e-01 -3.51927603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.45, Y:12.14, Z:-0.35 [[ 8.52456446e-01 -5.22611980e-01 1.39544235e-02 3.23453063e+02] [ 5.22552237e-01 8.52570482e-01 7.92038541e-03 1.21413651e+01] [-1.60364179e-02 5.40131613e-04 9.99871262e-01 -3.53558036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.48, Y:12.16, Z:-0.35 [[ 8.52700788e-01 -5.22213285e-01 1.39517189e-02 3.23478306e+02] [ 5.22153412e-01 8.52814755e-01 7.92514661e-03 1.21558460e+01] [-1.60368486e-02 5.27158886e-04 9.99871263e-01 -3.54666867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.50, Y:12.17, Z:-0.35 [[ 8.53062181e-01 -5.21622797e-01 1.39489597e-02 3.23504155e+02] [ 5.21562766e-01 8.53176064e-01 7.93000023e-03 1.21692704e+01] [-1.60373874e-02 5.10474689e-04 9.99871263e-01 -3.53436802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.53, Y:12.18, Z:-0.35 [[ 8.53559549e-01 -5.20808602e-01 1.39461775e-02 3.23529623e+02] [ 5.20748382e-01 8.53673334e-01 7.93489001e-03 1.21829352e+01] [-1.60380388e-02 4.89548241e-04 9.99871263e-01 -3.51318092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.55, Y:12.20, Z:-0.35 [[ 8.53227491e-01 -5.21352496e-01 1.39435529e-02 3.23553485e+02] [ 5.21292273e-01 8.53341274e-01 7.93949942e-03 1.21975681e+01] [-1.60378871e-02 4.94467230e-04 9.99871263e-01 -3.54338016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.58, Y:12.21, Z:-0.36 [[ 8.52675378e-01 -5.22255080e-01 1.39402855e-02 3.23578676e+02] [ 5.22194884e-01 8.52789175e-01 7.94523232e-03 1.22125635e+01] [-1.60375625e-02 5.04841784e-04 9.99871263e-01 -3.56126738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.60, Y:12.22, Z:-0.35 [[ 8.51767183e-01 -5.23735057e-01 1.39375461e-02 3.23604053e+02] [ 5.23674980e-01 8.51881043e-01 7.95003487e-03 1.22249546e+01] [-1.60368433e-02 5.27165360e-04 9.99871263e-01 -3.54992338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.63, Y:12.24, Z:-0.36 [[ 8.51559574e-01 -5.24072633e-01 1.39344007e-02 3.23629263e+02] [ 5.24012512e-01 8.51673410e-01 7.95554414e-03 1.22389401e+01] [-1.60368415e-02 5.27180527e-04 9.99871263e-01 -3.55449307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.65, Y:12.25, Z:-0.36 [[ 8.51407648e-01 -5.24319499e-01 1.39312456e-02 3.23654851e+02] [ 5.24259320e-01 8.51521454e-01 7.96106537e-03 1.22529067e+01] [-1.60368963e-02 5.25473385e-04 9.99871263e-01 -3.56312621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.68, Y:12.27, Z:-0.36 [[ 8.50573653e-01 -5.25671436e-01 1.39284990e-02 3.23679070e+02] [ 5.25611359e-01 8.50687513e-01 7.96586779e-03 1.22679014e+01] [-1.60362293e-02 5.45420028e-04 9.99871263e-01 -3.58986994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.70, Y:12.28, Z:-0.36 [[ 8.50117851e-01 -5.26408324e-01 1.39253731e-02 3.23704396e+02] [ 5.26348256e-01 8.50231716e-01 7.97132848e-03 1.22823603e+01] [-1.60359675e-02 5.53027226e-04 9.99871263e-01 -3.60477591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.73, Y:12.30, Z:-0.36 [[ 8.50370845e-01 -5.25999607e-01 1.39226299e-02 3.23729751e+02] [ 5.25939406e-01 8.50484640e-01 7.97611689e-03 1.22954021e+01] [-1.60364172e-02 5.39802446e-04 9.99871263e-01 -3.59216152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.75, Y:12.31, Z:-0.36 [[ 8.49936169e-01 -5.26701771e-01 1.39195048e-02 3.23754187e+02] [ 5.26641575e-01 8.50049967e-01 7.98156694e-03 1.23090203e+01] [-1.60361800e-02 5.46767499e-04 9.99871263e-01 -3.59462826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.78, Y:12.32, Z:-0.36 [[ 8.49185851e-01 -5.27910717e-01 1.39163765e-02 3.23779520e+02] [ 5.27850594e-01 8.49299687e-01 7.98701763e-03 1.23232901e+01] [-1.60356064e-02 5.63305228e-04 9.99871263e-01 -3.59353529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.80, Y:12.34, Z:-0.36 [[ 8.48809940e-01 -5.28514992e-01 1.39136330e-02 3.23804037e+02] [ 5.28454873e-01 8.48923777e-01 7.99179398e-03 1.23374977e+01] [-1.60353968e-02 5.69212988e-04 9.99871263e-01 -3.60728937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.83, Y:12.35, Z:-0.36 [[ 8.49053026e-01 -5.28124471e-01 1.39104873e-02 3.23828560e+02] [ 5.28064210e-01 8.49166788e-01 7.99726558e-03 1.23511699e+01] [-1.60358755e-02 5.55527967e-04 9.99871263e-01 -3.61154087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.85, Y:12.37, Z:-0.36 [[ 8.48364711e-01 -5.29229537e-01 1.39073411e-02 3.23853419e+02] [ 5.29169334e-01 8.48478504e-01 8.00273318e-03 1.23656447e+01] [-1.60353628e-02 5.70102017e-04 9.99871263e-01 -3.61962890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.88, Y:12.38, Z:-0.36 [[ 8.47934110e-01 -5.29919256e-01 1.39042029e-02 3.23877797e+02] [ 5.29859056e-01 8.48047905e-01 8.00818184e-03 1.23793306e+01] [-1.60351199e-02 5.76857303e-04 9.99871263e-01 -3.63932094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.90, Y:12.39, Z:-0.36 [[ 8.47752514e-01 -5.30209804e-01 1.39010427e-02 3.23903304e+02] [ 5.30149554e-01 8.47866282e-01 8.01366378e-03 1.23927863e+01] [-1.60351485e-02 5.76027975e-04 9.99871263e-01 -3.63529249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.93, Y:12.41, Z:-0.36 [[ 8.47532008e-01 -5.30562290e-01 1.38978841e-02 3.23928359e+02] [ 5.30501997e-01 8.47645754e-01 8.01913794e-03 1.24060770e+01] [-1.60351346e-02 5.76379188e-04 9.99871263e-01 -3.62817897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.95, Y:12.42, Z:-0.36 [[ 8.47345834e-01 -5.30859656e-01 1.38947266e-02 3.23953460e+02] [ 5.30799314e-01 8.47459553e-01 8.02460521e-03 1.24202169e+01] [-1.60351579e-02 5.75695553e-04 9.99871263e-01 -3.62904411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:12.44, Z:-0.36 [[ 8.46661651e-01 -5.31950254e-01 1.38915868e-02 3.23978557e+02] [ 5.31889970e-01 8.46775400e-01 8.03003697e-03 1.24354960e+01] [-1.60346341e-02 5.90071306e-04 9.99871263e-01 -3.64905791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.00, Y:12.45, Z:-0.37 [[ 8.46371251e-01 -5.32412251e-01 1.38888490e-02 3.24003157e+02] [ 5.32351951e-01 8.46484993e-01 8.03476935e-03 1.24492311e+01] [-1.60345119e-02 5.93358101e-04 9.99871263e-01 -3.65476286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.03, Y:12.46, Z:-0.36 [[ 8.46487914e-01 -5.32226830e-01 1.38857116e-02 3.24029796e+02] [ 5.32166416e-01 8.46601595e-01 8.04018777e-03 1.24621368e+01] [-1.60348693e-02 5.83587619e-04 9.99871263e-01 -3.64869487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.06, Y:12.48, Z:-0.36 [[ 8.46615124e-01 -5.32024491e-01 1.38842382e-02 3.24055234e+02] [ 5.31964009e-01 8.46728769e-01 8.04273131e-03 1.24763952e+01] [-1.60351140e-02 5.76817068e-04 9.99871263e-01 -3.63740339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.08, Y:12.49, Z:-0.36 [[ 8.46442619e-01 -5.32298974e-01 1.38814800e-02 3.24080159e+02] [ 5.32238450e-01 8.46556242e-01 8.04748918e-03 1.24907734e+01] [-1.60351237e-02 5.76519569e-04 9.99871263e-01 -3.64889786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.10, Y:12.51, Z:-0.37 [[ 8.46250087e-01 -5.32605090e-01 1.38783269e-02 3.24104743e+02] [ 5.32544519e-01 8.46363684e-01 8.05292311e-03 1.25063367e+01] [-1.60351397e-02 5.76040048e-04 9.99871263e-01 -3.65548803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.13, Y:12.52, Z:-0.37 [[ 8.46483226e-01 -5.32234551e-01 1.38755608e-02 3.24129351e+02] [ 5.32173852e-01 8.46596755e-01 8.05768639e-03 1.25200589e+01] [-1.60355839e-02 5.63514282e-04 9.99871263e-01 -3.66438518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.16, Y:12.53, Z:-0.37 [[ 8.46383149e-01 -5.32393766e-01 1.38724060e-02 3.24155525e+02] [ 5.32332999e-01 8.46496642e-01 8.06311429e-03 1.25333564e+01] [-1.60356968e-02 5.60255409e-04 9.99871263e-01 -3.66631289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.18, Y:12.55, Z:-0.37 [[ 8.46129241e-01 -5.32797280e-01 1.38696268e-02 3.24180788e+02] [ 5.32736489e-01 8.46242721e-01 8.06789195e-03 1.25469999e+01] [-1.60356216e-02 5.62377002e-04 9.99871263e-01 -3.65036343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.21, Y:12.56, Z:-0.37 [[ 8.45950403e-01 -5.33081257e-01 1.38668565e-02 3.24205854e+02] [ 5.33020426e-01 8.46063861e-01 8.07265077e-03 1.25610595e+01] [-1.60356249e-02 5.62255566e-04 9.99871263e-01 -3.65361467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.23, Y:12.58, Z:-0.37 [[ 8.45181638e-01 -5.34299352e-01 1.38637016e-02 3.24230556e+02] [ 5.34238596e-01 8.45295136e-01 8.07806515e-03 1.25750990e+01] [-1.60350245e-02 5.79092159e-04 9.99871263e-01 -3.66554142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.26, Y:12.59, Z:-0.37 [[ 8.45350840e-01 -5.34031686e-01 1.38605398e-02 3.24255626e+02] [ 5.33970806e-01 8.45464272e-01 8.08348655e-03 1.25894020e+01] [-1.60354292e-02 5.67741485e-04 9.99871263e-01 -3.66837491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.28, Y:12.60, Z:-0.37 [[ 8.46071795e-01 -5.32888806e-01 1.38577633e-02 3.24280337e+02] [ 5.32827694e-01 8.46185103e-01 8.08824372e-03 1.26039519e+01] [-1.60363674e-02 5.40565171e-04 9.99871263e-01 -3.67789484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.30, Y:12.62, Z:-0.37 [[ 8.46262579e-01 -5.32585859e-01 1.38545856e-02 3.24304937e+02] [ 5.32524618e-01 8.46375817e-01 8.09368311e-03 1.26180756e+01] [-1.60367674e-02 5.28526792e-04 9.99871263e-01 -3.69086359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.33, Y:12.63, Z:-0.37 [[ 8.46582052e-01 -5.32077973e-01 1.38513736e-02 3.24329418e+02] [ 5.32016574e-01 8.46695204e-01 8.09917649e-03 1.26317798e+01] [-1.60372850e-02 5.12542861e-04 9.99871263e-01 -3.69226775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.35, Y:12.65, Z:-0.37 [[ 8.46370990e-01 -5.32413727e-01 1.38481347e-02 3.24354480e+02] [ 5.32352282e-01 8.46484117e-01 8.10471050e-03 1.26460350e+01] [-1.60372852e-02 5.12494287e-04 9.99871263e-01 -3.69683727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.38, Y:12.66, Z:-0.37 [[ 8.46774922e-01 -5.31771143e-01 1.38449183e-02 3.24379777e+02] [ 5.31709524e-01 8.46887954e-01 8.11020132e-03 1.26592777e+01] [-1.60378655e-02 4.93959811e-04 9.99871263e-01 -3.69424416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.40, Y:12.67, Z:-0.37 [[ 8.46321559e-01 -5.32492466e-01 1.38417140e-02 3.24404049e+02] [ 5.32430853e-01 8.46434595e-01 8.11566638e-03 1.26729526e+01] [-1.60376368e-02 5.01292166e-04 9.99871263e-01 -3.69931285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.43, Y:12.69, Z:-0.37 [[ 8.46384882e-01 -5.32391893e-01 1.38385042e-02 3.24427924e+02] [ 5.32330177e-01 8.46497861e-01 8.12113585e-03 1.26883997e+01] [-1.60378911e-02 4.93046816e-04 9.99871263e-01 -3.71961641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.45, Y:12.70, Z:-0.37 [[ 8.46284874e-01 -5.32550933e-01 1.38352957e-02 3.24452854e+02] [ 5.32489150e-01 8.46397817e-01 8.12659838e-03 1.27020523e+01] [-1.60379916e-02 4.89727531e-04 9.99871263e-01 -3.73455774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.48, Y:12.72, Z:-0.37 [[ 8.47422570e-01 -5.30738788e-01 1.38320655e-02 3.24478393e+02] [ 5.30676674e-01 8.47535331e-01 8.13209260e-03 1.27158026e+01] [-1.60391812e-02 4.49035702e-04 9.99871263e-01 -3.73537306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.50, Y:12.73, Z:-0.37 [[ 8.47044137e-01 -5.31342622e-01 1.38292609e-02 3.24502619e+02] [ 5.31280510e-01 8.47156899e-01 8.13685932e-03 1.27296856e+01] [-1.60390139e-02 4.54937799e-04 9.99871263e-01 -3.73581501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.53, Y:12.74, Z:-0.37 [[ 8.47647284e-01 -5.30379980e-01 1.38260205e-02 3.24527302e+02] [ 5.30317650e-01 8.47759926e-01 8.14236158e-03 1.27438803e+01] [-1.60396917e-02 4.30332036e-04 9.99871263e-01 -3.73910142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.55, Y:12.76, Z:-0.37 [[ 8.47679952e-01 -5.30327851e-01 1.38227930e-02 3.24552099e+02] [ 5.30265426e-01 8.47792540e-01 8.14783705e-03 1.27585056e+01] [-1.60398857e-02 4.22991094e-04 9.99871263e-01 -3.73784385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.58, Y:12.77, Z:-0.37 [[ 8.47424875e-01 -5.30735423e-01 1.38199634e-02 3.24576243e+02] [ 5.30672973e-01 8.47537451e-01 8.15263366e-03 1.27728536e+01] [-1.60398280e-02 4.25136495e-04 9.99871263e-01 -3.74541172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.60, Y:12.79, Z:-0.38 [[ 8.48287947e-01 -5.29354944e-01 1.38167156e-02 3.24600896e+02] [ 5.29292222e-01 8.48400371e-01 8.15813413e-03 1.27872643e+01] [-1.60406553e-02 3.92633249e-04 9.99871263e-01 -3.76719917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.63, Y:12.80, Z:-0.38 [[ 8.48792071e-01 -5.28546317e-01 1.38134572e-02 3.24625505e+02] [ 5.28483397e-01 8.48904384e-01 8.16364762e-03 1.28013690e+01] [-1.60411702e-02 3.70943418e-04 9.99871263e-01 -3.76207827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.65, Y:12.82, Z:-0.38 [[ 8.48515269e-01 -5.28990659e-01 1.38101852e-02 3.24651030e+02] [ 5.28927709e-01 8.48627565e-01 8.16917895e-03 1.28157304e+01] [-1.60411232e-02 3.72916558e-04 9.99871263e-01 -3.77374285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.68, Y:12.83, Z:-0.38 [[ 8.49115680e-01 -5.28026438e-01 1.38073302e-02 3.24675474e+02] [ 5.27963282e-01 8.49227860e-01 8.17400160e-03 1.28301660e+01] [-1.60416584e-02 3.49090438e-04 9.99871263e-01 -3.75370771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.70, Y:12.84, Z:-0.38 [[ 8.48999470e-01 -5.28213355e-01 1.38040700e-02 3.24699397e+02] [ 5.28150134e-01 8.49111613e-01 8.17950366e-03 1.28446403e+01] [-1.60417192e-02 3.46227146e-04 9.99871263e-01 -3.76374147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.72, Y:12.86, Z:-0.38 [[ 8.48733299e-01 -5.28641016e-01 1.38008104e-02 3.24724089e+02] [ 5.28577762e-01 8.48845425e-01 8.18499970e-03 1.28593043e+01] [-1.60416813e-02 3.47919671e-04 9.99871263e-01 -3.77377767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.75, Y:12.87, Z:-0.38 [[ 8.47751762e-01 -5.30213711e-01 1.37975333e-02 3.24749000e+02] [ 5.30150575e-01 8.47863953e-01 8.19052017e-03 1.28725463e+01] [-1.60411572e-02 3.71242318e-04 9.99871263e-01 -3.79153536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.77, Y:12.89, Z:-0.38 [[ 8.47345227e-01 -5.30863244e-01 1.37942705e-02 3.24774079e+02] [ 5.30800105e-01 8.47457417e-01 8.19601170e-03 1.28855247e+01] [-1.60410182e-02 3.77148812e-04 9.99871263e-01 -3.78706659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.80, Y:12.90, Z:-0.38 [[ 8.46679788e-01 -5.31924003e-01 1.37909953e-02 3.24799896e+02] [ 5.31860915e-01 8.46792007e-01 8.20151903e-03 1.28996000e+01] [-1.60406894e-02 3.90830957e-04 9.99871263e-01 -3.78921741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.82, Y:12.91, Z:-0.38 [[ 8.46317122e-01 -5.32500909e-01 1.37881060e-02 3.24824451e+02] [ 5.32437818e-01 8.46429339e-01 8.20637351e-03 1.29138606e+01] [-1.60405588e-02 3.96114657e-04 9.99871263e-01 -3.79737252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.85, Y:12.93, Z:-0.38 [[ 8.46611407e-01 -5.32032992e-01 1.37848306e-02 3.24848730e+02] [ 5.31969749e-01 8.46723539e-01 8.21187173e-03 1.29286304e+01] [-1.60409272e-02 3.80848597e-04 9.99871264e-01 -3.81385576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.87, Y:12.94, Z:-0.38 [[ 8.46877408e-01 -5.31609559e-01 1.37815553e-02 3.24873716e+02] [ 5.31546172e-01 8.46989458e-01 8.21736482e-03 1.29437421e+01] [-1.60412617e-02 3.66432340e-04 9.99871264e-01 -3.81638525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.90, Y:12.96, Z:-0.38 [[ 8.46797677e-01 -5.31736629e-01 1.37786889e-02 3.24898763e+02] [ 5.31673180e-01 8.46909691e-01 8.22216831e-03 1.29593345e+01] [-1.60413332e-02 3.63246325e-04 9.99871264e-01 -3.83865362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.92, Y:12.97, Z:-0.38 [[ 8.46588998e-01 -5.32068882e-01 1.37758217e-02 3.24923544e+02] [ 5.32005399e-01 8.46700994e-01 8.22696929e-03 1.29731538e+01] [-1.60413163e-02 3.63949844e-04 9.99871264e-01 -3.84248995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.95, Y:12.99, Z:-0.38 [[ 8.45667698e-01 -5.33532063e-01 1.37725244e-02 3.24948800e+02] [ 5.33468684e-01 8.45779752e-01 8.23248554e-03 1.29867949e+01] [-1.60408173e-02 3.85263385e-04 9.99871264e-01 -3.83870077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.97, Y:13.00, Z:-0.38 [[ 8.45713914e-01 -5.33458887e-01 1.37692437e-02 3.24974035e+02] [ 5.33395409e-01 8.45825912e-01 8.23796901e-03 1.30014292e+01] [-1.60410009e-02 3.77486368e-04 9.99871264e-01 -3.83082142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.00, Y:13.02, Z:-0.38 [[ 8.45481255e-01 -5.33827626e-01 1.37663692e-02 3.24999209e+02] [ 5.33764119e-01 8.45593237e-01 8.24276972e-03 1.30167927e+01] [-1.60409669e-02 3.78886661e-04 9.99871264e-01 -3.83601577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.02, Y:13.03, Z:-0.39 [[ 8.44456840e-01 -5.35446741e-01 1.37634812e-02 3.25024479e+02] [ 5.35383370e-01 8.44568898e-01 8.24758928e-03 1.30315130e+01] [-1.60403529e-02 4.04005764e-04 9.99871264e-01 -3.86274005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:13.05, Z:-0.39 [[ 8.44302400e-01 -5.35690306e-01 1.37605887e-02 3.25049536e+02] [ 5.35626889e-01 8.44414433e-01 8.25241247e-03 1.30463344e+01] [-1.60403770e-02 4.03009629e-04 9.99871264e-01 -3.86212589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:13.06, Z:-0.39 [[ 8.42416436e-01 -5.38651347e-01 1.37577264e-02 3.25073077e+02] [ 5.38588246e-01 8.42528647e-01 8.25718144e-03 1.30612111e+01] [-1.60390205e-02 4.53764357e-04 9.99871264e-01 -3.88301263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.10, Y:13.08, Z:-0.39 [[ 8.41592470e-01 -5.39937895e-01 1.37544517e-02 3.25097369e+02] [ 5.39874876e-01 8.41704727e-01 8.26263261e-03 1.30753842e+01] [-1.60384955e-02 4.71913545e-04 9.99871264e-01 -3.89297602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.12, Y:13.09, Z:-0.39 [[ 8.40426081e-01 -5.41751703e-01 1.37511873e-02 3.25122402e+02] [ 5.41688838e-01 8.40538424e-01 8.26806193e-03 1.30895643e+01] [-1.60376379e-02 5.00169780e-04 9.99871264e-01 -3.89056062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:13.10, Z:-0.39 [[ 8.40384750e-01 -5.41815898e-01 1.37479134e-02 3.25147827e+02] [ 5.41752952e-01 8.40497048e-01 8.27350209e-03 1.31035801e+01] [-1.60377956e-02 4.95047682e-04 9.99871264e-01 -3.86856643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.17, Y:13.12, Z:-0.39 [[ 8.40196380e-01 -5.42108030e-01 1.37450475e-02 3.25173147e+02] [ 5.42045046e-01 8.40308657e-01 8.27826065e-03 1.31186970e+01] [-1.60377939e-02 4.95070250e-04 9.99871264e-01 -3.86984345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:13.14, Z:-0.39 [[ 8.40045643e-01 -5.42341654e-01 1.37421853e-02 3.25196806e+02] [ 5.42278624e-01 8.40157893e-01 8.28300924e-03 1.31350834e+01] [-1.60378264e-02 4.93987496e-04 9.99871264e-01 -3.89302395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:13.15, Z:-0.39 [[ 8.39827678e-01 -5.42679189e-01 1.37393331e-02 3.25221608e+02] [ 5.42616127e-01 8.39939910e-01 8.28773755e-03 1.31501252e+01] [-1.60377969e-02 4.94912338e-04 9.99871264e-01 -3.89554149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:13.16, Z:-0.39 [[ 8.38490448e-01 -5.44743130e-01 1.37364847e-02 3.25245915e+02] [ 5.44680266e-01 8.38602792e-01 8.29245601e-03 1.31644516e+01] [-1.60367128e-02 5.28846966e-04 9.99871264e-01 -3.89940109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.27, Y:13.18, Z:-0.39 [[ 8.38206619e-01 -5.45179844e-01 1.37332050e-02 3.25271790e+02] [ 5.45116950e-01 8.38318946e-01 8.29788385e-03 1.31784589e+01] [-1.60366450e-02 5.30861678e-04 9.99871264e-01 -3.90220732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.30, Y:13.19, Z:-0.39 [[ 8.36578469e-01 -5.47675034e-01 1.37303522e-02 3.25296876e+02] [ 5.47612398e-01 8.36690940e-01 8.30260167e-03 1.31925757e+01] [-1.60351890e-02 5.73133316e-04 9.99871264e-01 -3.91019694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.32, Y:13.21, Z:-0.39 [[ 8.36501258e-01 -5.47793039e-01 1.37270810e-02 3.25321417e+02] [ 5.47730330e-01 8.36613688e-01 8.30800669e-03 1.32076279e+01] [-1.60353321e-02 5.69080535e-04 9.99871264e-01 -3.92442993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.35, Y:13.22, Z:-0.39 [[ 8.36497989e-01 -5.47798107e-01 1.37240078e-02 3.25346717e+02] [ 5.47735315e-01 8.36610373e-01 8.31308010e-03 1.32228676e+01] [-1.60355369e-02 5.63248975e-04 9.99871264e-01 -3.92032836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:13.24, Z:-0.39 [[ 8.36880312e-01 -5.47213919e-01 1.37211480e-02 3.25371475e+02] [ 5.47150972e-01 8.36992609e-01 8.31779774e-03 1.32374284e+01] [-1.60361142e-02 5.46538286e-04 9.99871264e-01 -3.91637299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.40, Y:13.25, Z:-0.39 [[ 8.36498841e-01 -5.47796960e-01 1.37178824e-02 3.25395647e+02] [ 5.47734003e-01 8.36611132e-01 8.32318000e-03 1.32522660e+01] [-1.60359458e-02 5.51420195e-04 9.99871264e-01 -3.92223584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:13.27, Z:-0.39 [[ 8.37109891e-01 -5.46862816e-01 1.37146041e-02 3.25419615e+02] [ 5.46799646e-01 8.37222063e-01 8.32857825e-03 1.32671254e+01] [-1.60367589e-02 5.27205441e-04 9.99871264e-01 -3.92934721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.45, Y:13.28, Z:-0.39 [[ 8.36901293e-01 -5.47182077e-01 1.37113238e-02 3.25445251e+02] [ 5.47118861e-01 8.37013439e-01 8.33397521e-03 1.32807185e+01] [-1.60367641e-02 5.27009211e-04 9.99871264e-01 -3.92894478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:13.29, Z:-0.39 [[ 8.36418575e-01 -5.47919744e-01 1.37084504e-02 3.25470491e+02] [ 5.47856550e-01 8.36530733e-01 8.33869882e-03 1.32945094e+01] [-1.60364778e-02 5.35621770e-04 9.99871264e-01 -3.93680837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.49, Y:13.31, Z:-0.39 [[ 8.36704800e-01 -5.47482644e-01 1.37051790e-02 3.25494257e+02] [ 5.47419303e-01 8.36816876e-01 8.34407211e-03 1.33097750e+01] [-1.60369598e-02 5.20954359e-04 9.99871264e-01 -3.94998429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.52, Y:13.33, Z:-0.39 [[ 8.36152504e-01 -5.48325859e-01 1.37018864e-02 3.25518729e+02] [ 5.48262543e-01 8.36264594e-01 8.34947552e-03 1.33252714e+01] [-1.60366358e-02 5.30796203e-04 9.99871264e-01 -3.94869292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.54, Y:13.34, Z:-0.40 [[ 8.37130079e-01 -5.46832303e-01 1.36990032e-02 3.25543131e+02] [ 5.46768710e-01 8.37242011e-01 8.35420329e-03 1.33403099e+01] [-1.60377292e-02 4.96631443e-04 9.99871264e-01 -3.96749087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.57, Y:13.35, Z:-0.40 [[ 8.36798985e-01 -5.47338914e-01 1.36957054e-02 3.25568606e+02] [ 5.47275300e-01 8.36910905e-01 8.35960611e-03 1.33544464e+01] [-1.60376229e-02 5.00011370e-04 9.99871264e-01 -3.97613316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.59, Y:13.37, Z:-0.40 [[ 8.36328716e-01 -5.48057284e-01 1.36928187e-02 3.25594300e+02] [ 5.47993688e-01 8.36440647e-01 8.36433175e-03 1.33688644e+01] [-1.60373631e-02 5.08247412e-04 9.99871264e-01 -3.97838383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.62, Y:13.38, Z:-0.40 [[ 8.36613076e-01 -5.47623180e-01 1.36899113e-02 3.25619500e+02] [ 5.47559449e-01 8.36724930e-01 8.36908770e-03 1.33827421e+01] [-1.60377965e-02 4.94352072e-04 9.99871264e-01 -3.99474795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.64, Y:13.40, Z:-0.40 [[ 8.36698956e-01 -5.47492041e-01 1.36865963e-02 3.25643932e+02] [ 5.47428204e-01 8.36810749e-01 8.37450547e-03 1.33973841e+01] [-1.60380660e-02 4.85488823e-04 9.99871264e-01 -3.99483314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.67, Y:13.41, Z:-0.40 [[ 8.37975213e-01 -5.45536660e-01 1.36855606e-02 3.25667777e+02] [ 5.45472534e-01 8.38086842e-01 8.37619758e-03 1.34133069e+01] [-1.60392111e-02 4.46051472e-04 9.99871264e-01 -4.02177891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.69, Y:13.43, Z:-0.40 [[ 8.37808666e-01 -5.45792473e-01 1.36826609e-02 3.25692040e+02] [ 5.45728304e-01 8.37920269e-01 8.38093158e-03 1.34276730e+01] [-1.60392283e-02 4.45398248e-04 9.99871264e-01 -4.02330796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.72, Y:13.44, Z:-0.40 [[ 8.38030449e-01 -5.45451961e-01 1.36793361e-02 3.25717072e+02] [ 5.45387659e-01 8.38141975e-01 8.38635485e-03 1.34418822e+01] [-1.60395795e-02 4.32520368e-04 9.99871264e-01 -4.01865888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.74, Y:13.46, Z:-0.40 [[ 8.38677660e-01 -5.44456379e-01 1.36760091e-02 3.25742193e+02] [ 5.44391856e-01 8.38789059e-01 8.39177680e-03 1.34561984e+01] [-1.60402432e-02 4.07112249e-04 9.99871264e-01 -4.03575742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.77, Y:13.47, Z:-0.40 [[ 8.39674966e-01 -5.42917119e-01 1.36730838e-02 3.25767135e+02] [ 5.42852314e-01 8.39786201e-01 8.39654048e-03 1.34715519e+01] [-1.60410927e-02 3.72100324e-04 9.99871264e-01 -4.03187925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.79, Y:13.49, Z:-0.40 [[ 8.41440337e-01 -5.40177087e-01 1.36701381e-02 3.25791655e+02] [ 5.40111842e-01 8.41551315e-01 8.40133348e-03 1.34870876e+01] [-1.60423306e-02 3.14182603e-04 9.99871264e-01 -4.02371201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.82, Y:13.50, Z:-0.40 [[ 8.41401319e-01 -5.40237937e-01 1.36671804e-02 3.25815564e+02] [ 5.40172621e-01 8.41512255e-01 8.40614232e-03 1.35024961e+01] [-1.60424168e-02 3.09697417e-04 9.99871264e-01 -4.03611127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.84, Y:13.52, Z:-0.40 [[ 8.42376525e-01 -5.38716150e-01 1.36637984e-02 3.25839718e+02] [ 5.38650546e-01 8.42487290e-01 8.41163603e-03 1.35187042e+01] [-1.60430607e-02 2.74247722e-04 9.99871264e-01 -4.04550159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.87, Y:13.54, Z:-0.39 [[ 8.51101559e-01 -5.24823321e-01 1.36608199e-02 3.25871542e+02] [ 5.24755830e-01 8.51211185e-01 8.41647048e-03 1.35376072e+01] [-1.60454027e-02 5.32371659e-06 9.99871264e-01 -3.91684957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.98, Y:14.97, Z:1.39 [[ 8.18178691e-01 5.74797787e-01 -1.38251387e-02 3.24982958e+02] [ 5.74741493e-01 -8.18294484e-01 -8.14576679e-03 1.49666868e+01] [-1.59952035e-02 -1.28118805e-03 -9.99871248e-01 1.39270483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.03, Y:13.53, Z:-0.41 [[ 7.98007665e-01 -6.02508967e-01 1.29116702e-02 3.26026323e+02] [ 6.02435692e-01 7.98112065e-01 9.40046172e-03 1.35337976e+01] [-1.59688222e-02 2.76810435e-04 9.99872452e-01 -4.06013860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.03, Y:14.89, Z:1.39 [[ 7.70822578e-01 6.36919100e-01 -1.29078852e-02 3.25028832e+02] [ 6.36850386e-01 -7.70930035e-01 -9.40565600e-03 1.48875586e+01] [-1.59417184e-02 -9.70299686e-04 -9.99872452e-01 1.39203520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.18, Y:13.54, Z:-0.41 [[ 7.47029337e-01 -6.64681060e-01 1.20936706e-02 3.26181345e+02] [ 6.64600441e-01 7.47127163e-01 1.03564670e-02 1.35412535e+01] [-1.59192572e-02 3.00874156e-04 9.99873235e-01 -4.07006700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.08, Y:14.81, Z:1.39 [[ 7.19541461e-01 6.94344244e-01 -1.20895250e-02 3.25080763e+02] [ 6.94267566e-01 -7.19642405e-01 -1.03613040e-02 1.48118581e+01] [-1.58944466e-02 -9.37977246e-04 -9.99873235e-01 1.39087450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.34, Y:13.56, Z:-0.41 [[ 6.92206119e-01 -7.21612857e-01 1.12059587e-02 3.26335986e+02] [ 7.21525345e-01 6.92296752e-01 1.12420511e-02 1.35606331e+01] [-1.58702574e-02 3.03566677e-04 9.99874013e-01 -4.08859641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.36, Y:13.58, Z:-0.41 [[ 6.92773542e-01 -7.21068199e-01 1.12014369e-02 3.26355449e+02] [ 7.20980543e-01 6.92864036e-01 1.12465547e-02 1.35814787e+01] [-1.58706057e-02 2.84702490e-04 9.99874013e-01 -4.09830004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.38, Y:13.60, Z:-0.41 [[ 6.92166284e-01 -7.21651207e-01 1.11969133e-02 3.26375115e+02] [ 7.21563555e-01 6.92256780e-01 1.12510566e-02 1.36014478e+01] [-1.58704777e-02 2.91682520e-04 9.99874013e-01 -4.11110297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.40, Y:13.62, Z:-0.41 [[ 6.92043806e-01 -7.21768731e-01 1.11923704e-02 3.26395121e+02] [ 7.21681021e-01 6.92134247e-01 1.12555740e-02 1.36213462e+01] [-1.58705442e-02 2.87971049e-04 9.99874014e-01 -4.11335689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:14.80, Z:1.39 [[ 6.61037692e-01 7.50269287e-01 -1.11878463e-02 3.25198756e+02] [ 7.50185387e-01 -6.61131678e-01 -1.12600690e-02 1.47980574e+01] [-1.58447236e-02 -9.49628802e-04 -9.99874014e-01 1.39009245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:14.71, Z:1.39 [[ 6.01766588e-01 7.98606355e-01 -1.02402849e-02 3.25243600e+02] [ 7.98515749e-01 -6.01853013e-01 -1.20643784e-02 1.47107184e+01] [-1.57978356e-02 -9.17088958e-04 -9.99874786e-01 1.38914095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.30, Y:14.63, Z:1.39 [[ 5.37115513e-01 8.43458150e-01 -9.23445028e-03 3.25296233e+02] [ 8.43361663e-01 -5.37194105e-01 -1.27905786e-02 1.46265938e+01] [-1.57490100e-02 -9.17963153e-04 -9.99875555e-01 1.38882573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.35, Y:14.55, Z:1.39 [[ 4.70344350e-01 8.82445071e-01 -8.17864766e-03 3.25354109e+02] [ 8.82343274e-01 -4.70414595e-01 -1.34333964e-02 1.45473571e+01] [-1.57015897e-02 -8.98052648e-04 -9.99876319e-01 1.38900609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:14.47, Z:1.39 [[ 3.99447818e-01 9.16728605e-01 -7.07850509e-03 3.25417893e+02] [ 9.16622291e-01 -3.99509517e-01 -1.39900459e-02 1.44730288e+01] [-1.56530054e-02 -9.00022252e-04 -9.99877079e-01 1.38755738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.49, Y:14.40, Z:1.39 [[ 3.27798818e-01 9.44728860e-01 -5.94273973e-03 3.25486783e+02] [ 9.44618643e-01 -3.27851515e-01 -1.44569321e-02 1.44041102e+01] [-1.56062172e-02 -8.74657485e-04 -9.99877833e-01 1.38839952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:14.34, Z:1.39 [[ 2.53674419e-01 9.67277862e-01 -4.77768219e-03 3.25562451e+02] [ 9.67164518e-01 -2.53717955e-01 -1.48322268e-02 1.43411515e+01] [-1.55590684e-02 -8.58248164e-04 -9.99878582e-01 1.38968050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.64, Y:14.28, Z:1.39 [[ 1.78265394e-01 9.83975894e-01 -3.59011108e-03 3.25641481e+02] [ 9.83860163e-01 -1.78299572e-01 -1.51143230e-02 1.42838216e+01] [-1.55122447e-02 -8.37806541e-04 -9.99879327e-01 1.38858736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.73, Y:14.23, Z:1.39 [[ 1.01136621e-01 9.94869683e-01 -2.38688627e-03 3.25725518e+02] [ 9.94752340e-01 -1.01161405e-01 -1.53020197e-02 1.42332497e+01] [-1.54649762e-02 -8.26766140e-04 -9.99880068e-01 1.38702326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.81, Y:14.19, Z:1.39 [[ 2.22567033e-02 9.99751596e-01 -1.17683891e-03 3.25813144e+02] [ 9.99633412e-01 -2.22721936e-02 -1.53945334e-02 1.41893943e+01] [-1.54169202e-02 -8.33775932e-04 -9.99880805e-01 1.38660749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.57, Y:14.12, Z:1.39 [[ 6.19980792e-02 -9.98076268e-01 3.33560594e-05 3.27571438e+02] [-9.97958002e-01 -6.19912472e-02 -1.53919221e-02 1.41240517e+01] [ 1.53643799e-02 9.20981658e-04 -9.99881537e-01 1.38744132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:325.84, Y:13.81, Z:-0.41 [[ 9.34658108e-02 9.95621597e-01 -1.33322764e-03 3.25840486e+02] [-9.95504366e-01 9.34752648e-02 1.52785062e-02 1.38099548e+01] [ 1.53362346e-02 -1.00784039e-04 9.99882388e-01 -4.12646725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.85, Y:13.75, Z:-0.41 [[ 9.08114513e-02 9.95867559e-01 -1.04186155e-03 3.25847005e+02] [-9.95750109e-01 9.08167462e-02 1.52983498e-02 1.37527869e+01] [ 1.53297487e-02 -3.51831591e-04 9.99882431e-01 -4.12423584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.85, Y:13.70, Z:-0.41 [[ 8.63787957e-02 9.96261877e-01 -9.87821472e-04 3.25853308e+02] [-9.96144415e-01 8.63837836e-02 1.53018384e-02 1.36951449e+01] [ 1.53299700e-02 -3.37741529e-04 9.99882432e-01 -4.10724909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.86, Y:13.64, Z:-0.41 [[ 8.39043330e-02 9.96473377e-01 -9.33942224e-04 3.25860310e+02] [-9.96355895e-01 8.39087855e-02 1.53051262e-02 1.36381917e+01] [ 1.53295167e-02 -3.53627565e-04 9.99882434e-01 -4.09918780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.55, Y:13.61, Z:1.39 [[ 9.86315797e-02 -9.95123686e-01 -8.13601950e-04 3.27554511e+02] [-9.95007157e-01 -9.86074345e-02 -1.54055907e-02 1.36142626e+01] [ 1.52502410e-02 2.32901751e-03 -9.99880996e-01 1.39296320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.81, Y:13.31, Z:-0.40 [[ 1.49777984e-01 9.88717830e-01 -1.89960555e-03 3.25813812e+02] [-9.88603146e-01 1.49789552e-01 1.50634947e-02 1.33089380e+01] [ 1.51780868e-02 -3.78223842e-04 9.99884735e-01 -4.04842823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.82, Y:13.25, Z:-0.40 [[ 1.48517865e-01 9.88908001e-01 -1.84662287e-03 3.25823599e+02] [-9.88793254e-01 1.48528773e-01 1.50699870e-02 1.32515431e+01] [ 1.51771074e-02 -4.12234061e-04 9.99884736e-01 -4.03859180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.83, Y:13.19, Z:-0.40 [[ 1.44608215e-01 9.89487366e-01 -1.79374388e-03 3.25833339e+02] [-9.89372587e-01 1.44618771e-01 1.50762785e-02 1.31948004e+01] [ 1.51771961e-02 -4.05472702e-04 9.99884738e-01 -4.04313711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.84, Y:13.14, Z:-0.40 [[ 1.43411765e-01 9.89661576e-01 -1.74097995e-03 3.25842759e+02] [-9.89546740e-01 1.43421656e-01 1.50823691e-02 1.31387633e+01] [ 1.51761354e-02 -4.40208133e-04 9.99884739e-01 -4.03056495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.85, Y:13.08, Z:-0.40 [[ 1.41484965e-01 9.89938963e-01 -1.68917519e-03 3.25852119e+02] [-9.89824082e-01 1.41494291e-01 1.50881689e-02 1.30819761e+01] [ 1.51753749e-02 -4.62762758e-04 9.99884740e-01 -4.02366043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.87, Y:13.00, Z:-0.40 [[ 1.34150519e-01 9.90959615e-01 -1.63677405e-03 3.25867470e+02] [-9.90844739e-01 1.34159898e-01 1.50938512e-02 1.30013087e+01] [ 1.51769865e-02 -4.03059018e-04 9.99884742e-01 -4.00890960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.88, Y:12.94, Z:-0.40 [[ 1.31958496e-01 9.91254074e-01 -1.52164356e-03 3.25876169e+02] [-9.91139093e-01 1.31966377e-01 1.51054490e-02 1.29437442e+01] [ 1.51741436e-02 -4.85131904e-04 9.99884748e-01 -3.99690155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.89, Y:12.89, Z:-0.40 [[ 1.27897862e-01 9.91786257e-01 -1.46881725e-03 3.25885298e+02] [-9.91671254e-01 1.27905411e-01 1.51105840e-02 1.28851677e+01] [ 1.51743392e-02 -4.76027548e-04 9.99884750e-01 -3.99195101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.89, Y:12.83, Z:-0.40 [[ 1.24354011e-01 9.92236913e-01 -1.41040188e-03 3.25894146e+02] [-9.92121881e-01 1.24361081e-01 1.51160344e-02 1.28285689e+01] [ 1.51740864e-02 -4.80448944e-04 9.99884751e-01 -4.00077719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:325.98, Y:12.68, Z:-0.40 [[ 5.72067726e-02 9.98362352e-01 1.42711419e-05 3.25982978e+02] [-9.98246358e-01 5.71999082e-02 1.52440166e-02 1.26845831e+01] [ 1.52182359e-02 -8.86307104e-04 9.99883803e-01 -3.96363292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:12.54, Z:-0.39 [[-1.01189808e-02 9.99947283e-01 1.74305056e-03 3.26061801e+02] [-9.99831771e-01 -1.01444495e-02 1.52813561e-02 1.25350899e+01] [ 1.52982328e-02 -1.58812558e-03 9.99881714e-01 -3.92238111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:12.52, Z:-0.39 [[-1.41498780e-02 9.99899632e-01 7.11657258e-04 3.26062002e+02] [-9.99782243e-01 -1.41591271e-02 1.53292465e-02 1.25162530e+01] [ 1.53377844e-02 -4.94595321e-04 9.99882247e-01 -3.92141363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:12.50, Z:-0.39 [[-1.71264234e-02 9.99853027e-01 7.81010979e-04 3.26061932e+02] [-9.99735699e-01 -1.71363850e-02 1.53257122e-02 1.25023543e+01] [ 1.53368435e-02 -5.18329919e-04 9.99882249e-01 -3.93807485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:12.49, Z:-0.39 [[-2.16790817e-02 9.99764630e-01 8.37753899e-04 3.26061935e+02] [-9.99647332e-01 -2.16893778e-02 1.53226099e-02 1.24916367e+01] [ 1.53371738e-02 -5.05278337e-04 9.99882251e-01 -3.93717800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:12.47, Z:-0.39 [[-2.61195700e-02 9.99658426e-01 8.94530027e-04 3.26061063e+02] [-9.99541160e-01 -2.61302142e-02 1.53192946e-02 1.24716241e+01] [ 1.53374362e-02 -4.93986194e-04 9.99882253e-01 -3.91931575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:12.47, Z:-0.39 [[-2.87849987e-02 9.99585174e-01 9.51060056e-04 3.26060273e+02] [-9.99467961e-01 -2.87961957e-02 1.53157843e-02 1.24656463e+01] [ 1.53368178e-02 -5.09689223e-04 9.99882254e-01 -3.92319462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:12.45, Z:-0.39 [[-3.31276495e-02 9.99450621e-01 1.00753126e-03 3.26059257e+02] [-9.99333445e-01 -3.31392015e-02 1.53120685e-02 1.24547777e+01] [ 1.53370452e-02 -4.99606840e-04 9.99882256e-01 -3.91801281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:12.43, Z:-0.39 [[-3.63569166e-02 9.99338302e-01 1.06440929e-03 3.26057673e+02] [-9.99221177e-01 -3.63689603e-02 1.53081137e-02 1.24301257e+01] [ 1.53366958e-02 -5.07024491e-04 9.99882257e-01 -3.91806540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:12.43, Z:-0.39 [[-3.91305130e-02 9.99233480e-01 1.12080565e-03 3.26057951e+02] [-9.99116413e-01 -3.91430945e-02 1.53039835e-02 1.24267662e+01] [ 1.53361245e-02 -5.20962596e-04 9.99882259e-01 -3.92971773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:12.41, Z:-0.39 [[-4.33311742e-02 9.99060070e-01 1.17704520e-03 3.26056231e+02] [-9.98943045e-01 -4.33441239e-02 1.52996568e-02 1.24130159e+01] [ 1.53362942e-02 -5.12849018e-04 9.99882261e-01 -3.91581948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.39, Z:-0.39 [[-4.72452836e-02 9.98882556e-01 1.23368620e-03 3.26054100e+02] [-9.98765579e-01 -4.72586412e-02 1.52950883e-02 1.23896884e+01] [ 1.53362992e-02 -5.09542527e-04 9.99882262e-01 -3.91404072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.37, Z:-0.39 [[-5.76144503e-02 9.98338075e-01 1.28975766e-03 3.26054204e+02] [-9.98221059e-01 -5.76274509e-02 1.52903586e-02 1.23724974e+01] [ 1.53392726e-02 -4.06517652e-04 9.99882264e-01 -3.91594252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.36, Z:-0.39 [[-6.13471836e-02 9.98115471e-01 1.42455819e-03 3.26053034e+02] [-9.97998656e-01 -6.13618090e-02 1.52777894e-02 1.23590341e+01] [ 1.53364115e-02 -4.84457809e-04 9.99882273e-01 -3.93247769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.34, Z:-0.39 [[-6.68927145e-02 9.97759075e-01 1.48074205e-03 3.26051372e+02] [-9.97642288e-01 -6.69075499e-02 1.52723421e-02 1.23445190e+01] [ 1.53371908e-02 -4.55642472e-04 9.99882275e-01 -3.92360611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.33, Z:-0.39 [[-7.80780293e-02 9.96946020e-01 1.56657170e-03 3.26050739e+02] [-9.96829237e-01 -7.80928679e-02 1.52635330e-02 1.23268247e+01] [ 1.53392566e-02 -3.69857893e-04 9.99882278e-01 -3.91619804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.31, Z:-0.39 [[-8.28148213e-02 9.96563436e-01 1.73896098e-03 3.26049174e+02] [-9.96446951e-01 -8.28317413e-02 1.52438678e-02 1.23050451e+01] [ 1.53355224e-02 -4.70364180e-04 9.99882293e-01 -3.92577932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.29, Z:-0.39 [[-8.77983980e-02 9.96136645e-01 1.79590221e-03 3.26047361e+02] [-9.96020205e-01 -8.78156056e-02 1.52371565e-02 1.22880063e+01] [ 1.53359982e-02 -4.50956958e-04 9.99882295e-01 -3.92174608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.29, Z:-0.39 [[-9.06300443e-02 9.95882880e-01 1.86653348e-03 3.26046913e+02] [-9.95766555e-01 -9.06480002e-02 1.52284994e-02 1.22871514e+01] [ 1.53349994e-02 -4.78472044e-04 9.99882298e-01 -3.91290236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.26, Z:-0.39 [[-9.51347944e-02 9.95462542e-01 1.92332381e-03 3.26045833e+02] [-9.95346272e-01 -9.51530917e-02 1.52213236e-02 1.22634463e+01] [ 1.53352676e-02 -4.66295700e-04 9.99882299e-01 -3.93363455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:12.26, Z:-0.39 [[-9.80462663e-02 9.95179888e-01 1.98013237e-03 3.26046080e+02] [-9.95063704e-01 -9.80650913e-02 1.52139298e-02 1.22555341e+01] [ 1.53347788e-02 -4.78688834e-04 9.99882301e-01 -3.94839942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.04, Y:12.24, Z:-0.40 [[-1.01280620e-01 9.94855813e-01 2.03663234e-03 3.26043891e+02] [-9.94739710e-01 -1.01299930e-01 1.52063626e-02 1.22413111e+01] [ 1.53344490e-02 -4.85809233e-04 9.99882302e-01 -3.95167869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.04, Y:12.23, Z:-0.39 [[-1.04533862e-01 9.94519125e-01 2.09323978e-03 3.26040683e+02] [-9.94403106e-01 -1.04553657e-01 1.51985663e-02 1.22269839e+01] [ 1.53341207e-02 -4.92759310e-04 9.99882304e-01 -3.94299156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.04, Y:12.18, Z:-0.39 [[-1.32371338e-01 9.91197865e-01 2.14968111e-03 3.26037074e+02] [-9.91081464e-01 -1.32388738e-01 1.51905791e-02 1.21768549e+01] [ 1.53414631e-02 -1.19711819e-04 9.99882306e-01 -3.93422352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.03, Y:12.15, Z:-0.39 [[-1.33981897e-01 9.90980427e-01 2.57768108e-03 3.26033273e+02] [-9.90865250e-01 -1.34005648e-01 1.51176029e-02 1.21510030e+01] [ 1.53266724e-02 -5.28649493e-04 9.99882400e-01 -3.93255652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.03, Y:12.13, Z:-0.39 [[-1.39157955e-01 9.90266697e-01 2.63298976e-03 3.26030483e+02] [-9.90151572e-01 -1.39181947e-01 1.51079638e-02 1.21308254e+01] [ 1.53273781e-02 -5.04665594e-04 9.99882401e-01 -3.94196718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.75, Y:11.83, Z:1.43 [[-1.48604757e-01 -9.88885923e-01 -4.61060555e-03 3.27750602e+02] [-9.88778716e-01 1.48657426e-01 -1.47519387e-02 1.18343866e+01] [ 1.52733853e-02 2.36666038e-03 -9.99880554e-01 1.42718677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.99, Y:11.97, Z:-0.39 [[-7.62697078e-02 9.97085832e-01 1.66575482e-03 3.25990389e+02] [-9.96971961e-01 -7.62861861e-02 1.50773545e-02 1.19744022e+01] [ 1.51604906e-02 -5.10765429e-04 9.99884943e-01 -3.90997551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.99, Y:11.97, Z:-0.39 [[-8.15678975e-02 9.96666278e-01 1.73465980e-03 3.25989679e+02] [-9.96552473e-01 -8.15848114e-02 1.50694228e-02 1.19664419e+01] [ 1.51607074e-02 -4.99498381e-04 9.99884945e-01 -3.91520600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.99, Y:11.96, Z:-0.39 [[-8.60304647e-02 9.96290900e-01 1.78931478e-03 3.25988618e+02] [-9.96177144e-01 -8.60476945e-02 1.50629304e-02 1.19559149e+01] [ 1.51610269e-02 -4.86603584e-04 9.99884947e-01 -3.91386693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.99, Y:11.96, Z:-0.39 [[-9.03089397e-02 9.95912092e-01 1.84425361e-03 3.25987976e+02] [-9.95798389e-01 -9.03265107e-02 1.50562009e-02 1.19621539e+01] [ 1.51612375e-02 -4.76795239e-04 9.99884948e-01 -3.90549313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.99, Y:11.95, Z:-0.39 [[-9.40638089e-02 9.95564357e-01 1.90016927e-03 3.25986485e+02] [-9.95450722e-01 -9.40817956e-02 1.50491407e-02 1.19495269e+01] [ 1.51611595e-02 -4.75945371e-04 9.99884950e-01 -3.90306660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.99, Y:11.94, Z:-0.39 [[-9.90488743e-02 9.95080646e-01 1.95689752e-03 3.25985763e+02] [-9.94967057e-01 -9.90671487e-02 1.50417606e-02 1.19405683e+01] [ 1.51616291e-02 -4.57179120e-04 9.99884951e-01 -3.91112918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.98, Y:11.93, Z:-0.39 [[-1.04206396e-01 9.94553655e-01 2.01378934e-03 3.25983499e+02] [-9.94440112e-01 -1.04224940e-01 1.50341400e-02 1.19256915e+01] [ 1.51621460e-02 -4.35939358e-04 9.99884953e-01 -3.89752829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.98, Y:11.91, Z:-0.39 [[-1.09514481e-01 9.93983022e-01 2.08095110e-03 3.25980527e+02] [-9.93869549e-01 -1.09533434e-01 1.50248381e-02 1.19077683e+01] [ 1.51623677e-02 -4.22756583e-04 9.99884955e-01 -3.90368573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.98, Y:11.90, Z:-0.39 [[-1.15435418e-01 9.93312688e-01 2.13749310e-03 3.25980204e+02] [-9.93199246e-01 -1.15454550e-01 1.50167900e-02 1.19017352e+01] [ 1.51631513e-02 -3.89487102e-04 9.99884957e-01 -3.89669320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.98, Y:11.88, Z:-0.39 [[-1.23641109e-01 9.92324508e-01 2.22414993e-03 3.25977467e+02] [-9.92211134e-01 -1.23660612e-01 1.50039442e-02 1.18799937e+01] [ 1.51638213e-02 -3.51722023e-04 9.99884961e-01 -3.89930795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.97, Y:11.87, Z:-0.39 [[-1.28510311e-01 9.91705453e-01 2.32245016e-03 3.25974345e+02] [-9.91592248e-01 -1.28530743e-01 1.49887130e-02 1.18664154e+01] [ 1.51628947e-02 -3.76719407e-04 9.99884966e-01 -3.89347061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.97, Y:11.87, Z:-0.39 [[-1.34559060e-01 9.90902719e-01 2.37923587e-03 3.25972846e+02] [-9.90789546e-01 -1.34579660e-01 1.49796937e-02 1.18670653e+01] [ 1.51636160e-02 -3.41668512e-04 9.99884967e-01 -3.89268164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.97, Y:11.86, Z:-0.39 [[-1.38102376e-01 9.90414962e-01 2.43656331e-03 3.25972256e+02] [-9.90301875e-01 -1.38123437e-01 1.49703632e-02 1.18595582e+01] [ 1.51634182e-02 -3.45490489e-04 9.99884969e-01 -3.89851006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.97, Y:11.84, Z:-0.39 [[-1.45807060e-01 9.89309905e-01 2.49260776e-03 3.25970797e+02] [-9.89196814e-01 -1.45828087e-01 1.49610258e-02 1.18442608e+01] [ 1.51645832e-02 -2.84256478e-04 9.99884971e-01 -3.90392715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.97, Y:11.83, Z:-0.39 [[-1.51543711e-01 9.88447159e-01 2.59168642e-03 3.25969457e+02] [-9.88334233e-01 -1.51565580e-01 1.49438428e-02 1.18323336e+01] [ 1.51640095e-02 -2.96807022e-04 9.99884976e-01 -3.91156614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.97, Y:11.82, Z:-0.39 [[-1.55259511e-01 9.87870164e-01 2.65016559e-03 3.25966115e+02] [-9.87757330e-01 -1.55281839e-01 1.49334649e-02 1.18151360e+01] [ 1.51638470e-02 -2.99158037e-04 9.99884978e-01 -3.91042051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.96, Y:11.79, Z:-0.39 [[-1.64886778e-01 9.86308789e-01 2.70626317e-03 3.25963279e+02] [-9.86195906e-01 -1.64908854e-01 1.49232919e-02 1.17948571e+01] [ 1.51652607e-02 -2.08252143e-04 9.99884979e-01 -3.89969392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.96, Y:11.79, Z:-0.39 [[-1.68850291e-01 9.85637615e-01 2.84106725e-03 3.25962461e+02] [-9.85525063e-01 -1.68873951e-01 1.48975840e-02 1.17903851e+01] [ 1.51634014e-02 -2.84481594e-04 9.99884989e-01 -3.89616701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.96, Y:11.79, Z:-0.39 [[-1.71490582e-01 9.85181493e-01 2.89946818e-03 3.25959862e+02] [-9.85069067e-01 -1.71514823e-01 1.48862090e-02 1.17850687e+01] [ 1.51629193e-02 -3.03331786e-04 9.99884990e-01 -3.88926647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.96, Y:11.77, Z:-0.39 [[-1.75151289e-01 9.84537086e-01 2.95853714e-03 3.25955898e+02] [-9.84424765e-01 -1.75176005e-01 1.48744601e-02 1.17677567e+01] [ 1.51627224e-02 -3.07176352e-04 9.99884992e-01 -3.87980514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.95, Y:11.75, Z:-0.39 [[-1.78723043e-01 9.83894802e-01 3.01549342e-03 3.25953120e+02] [-9.83782583e-01 -1.78748211e-01 1.48629045e-02 1.17499895e+01] [ 1.51625485e-02 -3.10246400e-04 9.99884994e-01 -3.89187374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.95, Y:11.73, Z:-0.39 [[-1.81512715e-01 9.83383800e-01 3.07180571e-03 3.25951110e+02] [-9.83271704e-01 -1.81538415e-01 1.48512570e-02 1.17299874e+01] [ 1.51621362e-02 -3.24727670e-04 9.99884995e-01 -3.90270319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.95, Y:11.71, Z:-0.39 [[-1.83746804e-01 9.82968632e-01 3.12739508e-03 3.25947519e+02] [-9.82856673e-01 -1.83773089e-01 1.48395417e-02 1.17149531e+01] [ 1.51615350e-02 -3.47062765e-04 9.99884997e-01 -3.90684806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.94, Y:11.70, Z:-0.39 [[-1.86383895e-01 9.82471833e-01 3.18446470e-03 3.25942017e+02] [-9.82360009e-01 -1.86410741e-01 1.48272848e-02 1.16985912e+01] [ 1.51610081e-02 -3.64723672e-04 9.99884999e-01 -3.88352885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.94, Y:11.70, Z:-0.39 [[-1.90089283e-01 9.81761458e-01 3.24114998e-03 3.25941875e+02] [-9.81649740e-01 -1.90116561e-01 1.48148834e-02 1.16951688e+01] [ 1.51608778e-02 -3.65523469e-04 9.99885000e-01 -3.88575620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.94, Y:11.68, Z:-0.39 [[-1.94530788e-01 9.80890834e-01 3.30820758e-03 3.25939626e+02] [-9.80779244e-01 -1.94558572e-01 1.47998941e-02 1.16762470e+01] [ 1.51607207e-02 -3.65586257e-04 9.99885003e-01 -3.90656709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.94, Y:11.66, Z:-0.39 [[-2.00285265e-01 9.79731845e-01 3.36516910e-03 3.25936780e+02] [-9.79620308e-01 -2.00313253e-01 1.47869310e-02 1.16626610e+01] [ 1.51613152e-02 -3.34983589e-04 9.99885005e-01 -3.90621156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.93, Y:11.64, Z:-0.39 [[-2.08421910e-01 9.78032920e-01 3.45180170e-03 3.25932051e+02] [-9.77921483e-01 -2.08450279e-01 1.47666802e-02 1.16443677e+01] [ 1.51618284e-02 -2.97891344e-04 9.99885008e-01 -3.90073651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.93, Y:11.63, Z:-0.39 [[-2.13408684e-01 9.76956440e-01 3.58444147e-03 3.25928703e+02] [-9.76845387e-01 -2.13438485e-01 1.47344130e-02 1.16279351e+01] [ 1.51599375e-02 -3.56993426e-04 9.99885018e-01 -3.90684988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.93, Y:11.61, Z:-0.39 [[-2.16092104e-01 9.76366139e-01 3.65583336e-03 3.25925578e+02] [-9.76255299e-01 -2.16122677e-01 1.47166783e-02 1.16117194e+01] [ 1.51589749e-02 -3.88868704e-04 9.99885021e-01 -3.91003203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.92, Y:11.59, Z:-0.39 [[-2.19741039e-01 9.75551174e-01 3.71242227e-03 3.25920305e+02] [-9.75440458e-01 -2.19772049e-01 1.47023894e-02 1.15892991e+01] [ 1.51588199e-02 -3.90528562e-04 9.99885022e-01 -3.90966255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.92, Y:11.59, Z:-0.39 [[-2.23994541e-01 9.74583114e-01 3.76828514e-03 3.25921473e+02] [-9.74472500e-01 -2.24025911e-01 1.46880575e-02 1.15886363e+01] [ 1.51589264e-02 -3.82045524e-04 9.99885024e-01 -3.92758814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.92, Y:11.58, Z:-0.39 [[-2.28816037e-01 9.73462170e-01 3.82419150e-03 3.25919950e+02] [-9.73351642e-01 -2.28847700e-01 1.46734873e-02 1.15796050e+01] [ 1.51592422e-02 -3.64753865e-04 9.99885026e-01 -3.93267242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.92, Y:11.56, Z:-0.39 [[-2.34787513e-01 9.72038980e-01 3.87873465e-03 3.25915152e+02] [-9.71928495e-01 -2.34819321e-01 1.46590554e-02 1.15591363e+01] [ 1.51599751e-02 -3.28089568e-04 9.99885027e-01 -3.92036912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.91, Y:11.56, Z:-0.39 [[-2.38482671e-01 9.71138686e-01 3.95824985e-03 3.25914874e+02] [-9.71028431e-01 -2.38515256e-01 1.46375532e-02 1.15553980e+01] [ 1.51591971e-02 -3.52770369e-04 9.99885031e-01 -3.92254846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.91, Y:11.54, Z:-0.39 [[-2.41670889e-01 9.70349928e-01 4.02477357e-03 3.25912785e+02] [-9.70239867e-01 -2.41704115e-01 1.46192388e-02 1.15435042e+01] [ 1.51585816e-02 -3.71951334e-04 9.99885033e-01 -3.90977563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.91, Y:11.52, Z:-0.39 [[-2.44625212e-01 9.69609129e-01 4.07953402e-03 3.25906849e+02] [-9.69499218e-01 -2.44658927e-01 1.46039418e-02 1.15166415e+01] [ 1.51582097e-02 -3.82612692e-04 9.99885035e-01 -3.91174708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.90, Y:11.49, Z:-0.39 [[-2.54606279e-01 9.67035956e-01 4.13554361e-03 3.25900616e+02] [-9.66925959e-01 -2.54639705e-01 1.45880637e-02 1.14888004e+01] [ 1.51602558e-02 -2.84551839e-04 9.99885036e-01 -3.91060015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.90, Y:11.47, Z:-0.39 [[-2.57256072e-01 9.66333778e-01 4.28285978e-03 3.25895490e+02] [-9.66224394e-01 -2.57291416e-01 1.45446849e-02 1.14727332e+01] [ 1.51569633e-02 -3.96495086e-04 9.99885048e-01 -3.91600663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.89, Y:11.47, Z:-0.39 [[-2.58642878e-01 9.65963275e-01 4.33751830e-03 3.25894407e+02] [-9.65854109e-01 -2.58678886e-01 1.45283663e-02 1.14709069e+01] [ 1.51558927e-02 -4.31751401e-04 9.99885050e-01 -3.91695022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.89, Y:11.44, Z:-0.39 [[-2.62841812e-01 9.64828943e-01 4.39243328e-03 3.25886083e+02] [-9.64719896e-01 -2.62878170e-01 1.45117446e-02 1.14414352e+01] [ 1.51560260e-02 -4.23174534e-04 9.99885051e-01 -3.91475038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.88, Y:11.42, Z:-0.39 [[-2.63324274e-01 9.64697025e-01 4.46948904e-03 3.25879323e+02] [-9.64588355e-01 -2.63361735e-01 1.44879732e-02 1.14189416e+01] [ 1.51535971e-02 -4.96182043e-04 9.99885055e-01 -3.92336474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.612320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:325.87, Y:11.40, Z:-0.39 [[-2.66574548e-01 9.63803686e-01 4.52383526e-03 3.25873832e+02] [-9.63695174e-01 -2.66612458e-01 1.44709839e-02 1.14028069e+01] [ 1.51532984e-02 -5.02002220e-04 9.99885056e-01 -3.90787033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:325.87, Y:11.39, Z:-0.39 [[-2.68910891e-01 9.63154187e-01 4.57649454e-03 3.25869044e+02] [-9.63045862e-01 -2.68949327e-01 1.44543110e-02 1.13895646e+01] [ 1.51525753e-02 -5.20452488e-04 9.99885058e-01 -3.89991054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.86, Y:11.38, Z:-0.39 [[-2.70078224e-01 9.62827257e-01 4.62883910e-03 3.25864718e+02] [-9.62719167e-01 -2.70117313e-01 1.44375288e-02 1.13761414e+01] [ 1.51511758e-02 -5.57009993e-04 9.99885059e-01 -3.90839853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.86, Y:11.36, Z:-0.39 [[-2.72282626e-01 9.62205879e-01 4.69234531e-03 3.25859907e+02] [-9.62098048e-01 -2.72322418e-01 1.44168590e-02 1.13621034e+01] [ 1.51498173e-02 -5.89036041e-04 9.99885061e-01 -3.90559673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:325.85, Y:11.35, Z:-0.39 [[-2.75606922e-01 9.61258675e-01 4.75231488e-03 3.25854652e+02] [-9.61151041e-01 -2.75647239e-01 1.43970638e-02 1.13451039e+01] [ 1.51492649e-02 -5.99761969e-04 9.99885063e-01 -3.90042197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.85, Y:11.34, Z:-0.39 [[-2.78608892e-01 9.60392632e-01 4.80403263e-03 3.25853166e+02] [-9.60285164e-01 -2.78649646e-01 1.43797858e-02 1.13377186e+01] [ 1.51488823e-02 -6.06905085e-04 9.99885065e-01 -3.90456384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79232058799994 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:325.85, Y:11.31, Z:-0.39 [[-2.82050927e-01 9.59387146e-01 4.85568758e-03 3.25845245e+02] [-9.59279828e-01 -2.82092068e-01 1.43623220e-02 1.13142436e+01] [ 1.51487781e-02 -6.07056900e-04 9.99885066e-01 -3.89434507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:325.84, Y:11.30, Z:-0.39 [[-2.87417553e-01 9.57792812e-01 4.90703367e-03 3.25839246e+02] [-9.57685560e-01 -2.87458861e-01 1.43447577e-02 1.12955758e+01] [ 1.51498761e-02 -5.76460128e-04 9.99885068e-01 -3.90013670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85232058799994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:325.84, Y:11.28, Z:-0.39 [[-2.88561857e-01 9.57448182e-01 5.00327013e-03 3.25835714e+02] [-9.57341449e-01 -2.88604474e-01 1.43111128e-02 1.12825556e+01] [ 1.51461151e-02 -6.60196590e-04 9.99885073e-01 -3.89388283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88232058799997 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:325.83, Y:11.26, Z:-0.39 [[-2.94003053e-01 9.55791118e-01 5.05406612e-03 3.25827770e+02] [-9.55684446e-01 -2.94045821e-01 1.42931513e-02 1.12620155e+01] [ 1.51473941e-02 -6.27862251e-04 9.99885075e-01 -3.88541815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91232058799994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:325.83, Y:11.26, Z:-0.39 [[-2.96318288e-01 9.55075608e-01 5.10439979e-03 3.25826696e+02] [-9.54969137e-01 -2.96361548e-01 1.42751534e-02 1.12622367e+01] [ 1.51465986e-02 -6.44555243e-04 9.99885076e-01 -3.88966174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:325.82, Y:11.24, Z:-0.39 [[-3.01035751e-01 9.53598922e-01 5.15482850e-03 3.25821187e+02] [-9.53492545e-01 -3.01079237e-01 1.42569201e-02 1.12447313e+01] [ 1.51473955e-02 -6.23247906e-04 9.99885077e-01 -3.89978180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.82, Y:11.24, Z:-0.39 [[-3.05165678e-01 9.52285048e-01 5.20546906e-03 3.25818253e+02] [-9.52178793e-01 -3.05209459e-01 1.42384063e-02 1.12363875e+01] [ 1.51477798e-02 -6.11464357e-04 9.99885079e-01 -3.89660786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.81, Y:11.22, Z:-0.39 [[-3.10459449e-01 9.50572023e-01 5.26880997e-03 3.25811559e+02] [-9.50465917e-01 -3.10503585e-01 1.42149288e-02 1.12164560e+01] [ 1.51482980e-02 -5.94665347e-04 9.99885081e-01 -3.90274191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.45, Y:10.62, Z:1.46 [[-3.25960985e-01 -9.45357151e-01 -7.02085759e-03 3.27449547e+02] [-9.45262518e-01 3.26029049e-01 -1.35584140e-02 1.06172741e+01] [ 1.51065472e-02 2.21703953e-03 -9.99883432e-01 1.45759340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.75, Y:11.07, Z:-0.39 [[-2.56565112e-01 9.66517403e-01 4.29562757e-03 3.25746356e+02] [-9.66410639e-01 -2.56600651e-01 1.43729631e-02 1.10687508e+01] [ 1.49939798e-02 -4.63739310e-04 9.99887476e-01 -3.86811210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:325.74, Y:11.06, Z:-0.39 [[-2.61184400e-01 9.65278793e-01 4.42277206e-03 3.25743376e+02] [-9.65172507e-01 -2.61221316e-01 1.43337319e-02 1.10575244e+01] [ 1.49913698e-02 -5.24990831e-04 9.99887485e-01 -3.86803341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.41, Y:10.53, Z:1.46 [[-2.69869229e-01 -9.62879144e-01 -5.86111757e-03 3.27407651e+02] [-9.62780905e-01 2.69926209e-01 -1.38842092e-02 1.05342809e+01] [ 1.49508847e-02 1.89605125e-03 -9.99886432e-01 1.45980980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:325.68, Y:10.90, Z:-0.37 [[-1.93314473e-01 9.81130746e-01 3.46025221e-03 3.25684763e+02] [-9.81024384e-01 -1.93344510e-01 1.44588252e-02 1.08965635e+01] [ 1.48550188e-02 -5.99491607e-04 9.99889478e-01 -3.69699416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.38, Y:10.51, Z:1.46 [[-2.05645979e-01 -9.78620334e-01 -3.46025221e-03 3.27383525e+02] [-9.78513603e-01 2.05674674e-01 -1.44588252e-02 1.05081061e+01] [ 1.48613866e-02 4.12504589e-04 -9.99889478e-01 1.46266430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:325.64, Y:10.76, Z:-0.39 [[-1.37826058e-01 9.90453266e-01 2.51119511e-03 3.25642423e+02] [-9.90345443e-01 -1.37848126e-01 1.46218261e-02 1.07646485e+01] [ 1.48283989e-02 -4.71681983e-04 9.99889942e-01 -3.85157143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.64, Y:10.76, Z:-0.39 [[-1.40724648e-01 9.90045449e-01 2.56548737e-03 3.25641882e+02] [-9.89937729e-01 -1.40747201e-01 1.46122940e-02 1.07626111e+01] [ 1.48279203e-02 -4.83362823e-04 9.99889944e-01 -3.85502239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.64, Y:10.75, Z:-0.39 [[-1.46657093e-01 9.89183922e-01 2.62015126e-03 3.25639391e+02] [-9.89076237e-01 -1.46679807e-01 1.46024856e-02 1.07493554e+01] [ 1.48288672e-02 -4.49971263e-04 9.99889945e-01 -3.85474277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.64, Y:10.73, Z:-0.38 [[-1.51654171e-01 9.88429971e-01 2.68415752e-03 3.25636670e+02] [-9.88322373e-01 -1.51677285e-01 1.45907108e-02 1.07329421e+01] [ 1.48290215e-02 -4.40070774e-04 9.99889947e-01 -3.84107677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.63, Y:10.72, Z:-0.37 [[-1.55862198e-01 9.87775012e-01 2.73896706e-03 3.25634883e+02] [-9.87667491e-01 -1.55885661e-01 1.45804147e-02 1.07171818e+01] [ 1.48291350e-02 -4.32653247e-04 9.99889949e-01 -3.71872764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.35, Y:10.39, Z:1.45 [[-1.59384544e-01 -9.87212776e-01 -2.73896706e-03 3.27348338e+02] [-9.87105172e-01 1.59407625e-01 -1.45804147e-02 1.03866630e+01] [ 1.48305839e-02 3.79755796e-04 -9.99889949e-01 1.45281310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.60, Y:10.57, Z:-0.38 [[-9.73667408e-02 9.95247228e-01 1.63500544e-03 3.25598142e+02] [-9.95138400e-01 -9.73802745e-02 1.47189179e-02 1.05739946e+01] [ 1.48081796e-02 -1.93923632e-04 9.99890334e-01 -3.84161426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.60, Y:10.57, Z:-0.38 [[-1.02000317e-01 9.94782537e-01 1.90750121e-03 3.25597027e+02] [-9.94674244e-01 -1.02017369e-01 1.46835192e-02 1.05671405e+01] [ 1.48015068e-02 -3.99618707e-04 9.99890372e-01 -3.84636449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.59, Y:10.55, Z:-0.38 [[-1.07428446e-01 9.94210879e-01 1.96394132e-03 3.25593370e+02] [-9.94102625e-01 -1.07445740e-01 1.46759664e-02 1.05464114e+01] [ 1.48020226e-02 -3.75742954e-04 9.99890373e-01 -3.83599620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.59, Y:10.54, Z:-0.38 [[-1.15630837e-01 9.93290203e-01 2.02025831e-03 3.25593110e+02] [-9.93181941e-01 -1.15648067e-01 1.46682099e-02 1.05413205e+01] [ 1.48034281e-02 -3.10386692e-04 9.99890375e-01 -3.82701997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:325.59, Y:10.51, Z:-0.37 [[-1.20731099e-01 9.92682978e-01 2.12296564e-03 3.25589574e+02] [-9.92574878e-01 -1.20749290e-01 1.46533298e-02 1.05131603e+01] [ 1.48024576e-02 -3.38089743e-04 9.99890380e-01 -3.72672594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.32, Y:10.28, Z:1.47 [[-1.06284539e-01 -9.94333490e-01 -2.12296564e-03 3.27321556e+02] [-9.94225666e-01 1.06304300e-01 -1.46533298e-02 1.02814956e+01] [ 1.47959769e-02 5.53284517e-04 -9.99890380e-01 1.46827161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.38, Z:-0.38 [[-5.99492874e-02 9.98200712e-01 1.19212499e-03 3.25562404e+02] [-9.98092091e-01 -5.99603540e-02 1.47286776e-02 1.03841557e+01] [ 1.47736567e-02 -3.06876802e-04 9.99890816e-01 -3.82775345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.37, Z:-0.38 [[-6.62714833e-02 9.97800848e-01 1.24854824e-03 3.25562135e+02] [-9.97692243e-01 -6.62826941e-02 1.47238931e-02 1.03652761e+01] [ 1.47742701e-02 -2.69892660e-04 9.99890818e-01 -3.83523234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.37, Z:-0.38 [[-7.04501593e-02 9.97514448e-01 1.30460214e-03 3.25562939e+02] [-9.97405883e-01 -7.04617421e-02 1.47189248e-02 1.03707321e+01] [ 1.47742647e-02 -2.64267258e-04 9.99890820e-01 -3.83012641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.34, Z:-0.38 [[-7.52382884e-02 9.97164654e-01 1.36112977e-03 3.25560977e+02] [-9.97056125e-01 -7.52501839e-02 1.47136956e-02 1.03420158e+01] [ 1.47744024e-02 -2.50089504e-04 9.99890821e-01 -3.82606399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.33, Z:-0.38 [[-7.87865713e-02 9.96890477e-01 1.43257482e-03 3.25560545e+02] [-9.96782026e-01 -7.87991344e-02 1.47067362e-02 1.03315955e+01] [ 1.47738909e-02 -2.69271510e-04 9.99890824e-01 -3.81860552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.32, Z:-0.38 [[-8.26757065e-02 9.96575392e-01 1.48846668e-03 3.25559875e+02] [-9.96466990e-01 -8.26886708e-02 1.47010772e-02 1.03170115e+01] [ 1.47738111e-02 -2.67785967e-04 9.99890825e-01 -3.82013361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.30, Z:-0.38 [[-8.58648083e-02 9.96305601e-01 1.54428934e-03 3.25559016e+02] [-9.96197258e-01 -8.58782488e-02 1.46952110e-02 1.03031998e+01] [ 1.47735419e-02 -2.76615338e-04 9.99890827e-01 -3.81736322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.28, Z:-0.38 [[-8.78206799e-02 9.96135012e-01 1.60196455e-03 3.25558566e+02] [-9.96026752e-01 -8.78347580e-02 1.46889210e-02 1.02838498e+01] [ 1.47728566e-02 -3.05608518e-04 9.99890829e-01 -3.83756829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.27, Z:-0.38 [[-9.07717274e-02 9.95870343e-01 1.65921124e-03 3.25558218e+02] [-9.95762154e-01 -9.07863285e-02 1.46824518e-02 1.02703740e+01] [ 1.47724520e-02 -3.19428246e-04 9.99890830e-01 -3.83595246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.26, Z:-0.38 [[-9.39035731e-02 9.95579818e-01 1.71609004e-03 3.25556883e+02] [-9.95471699e-01 -9.39186720e-02 1.46758008e-02 1.02557247e+01] [ 1.47721039e-02 -3.30208944e-04 9.99890832e-01 -3.82851992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:10.25, Z:-0.38 [[-9.68801326e-02 9.95294478e-01 1.77279255e-03 3.25555688e+02] [-9.95186433e-01 -9.68957437e-02 1.46689481e-02 1.02484425e+01] [ 1.47716991e-02 -3.43129453e-04 9.99890834e-01 -3.82769324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.55, Y:10.23, Z:-0.38 [[-9.90902674e-02 9.95076740e-01 1.84416224e-03 3.25553843e+02] [-9.94968818e-01 -9.91066897e-02 1.46599701e-02 1.02325817e+01] [ 1.47705641e-02 -3.82223561e-04 9.99890836e-01 -3.82151140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.55, Y:10.19, Z:-0.38 [[-1.03033577e-01 9.94676065e-01 1.89915137e-03 3.25549970e+02] [-9.94568204e-01 -1.03050381e-01 1.46528430e-02 1.01946362e+01] [ 1.47705405e-02 -3.79100737e-04 9.99890838e-01 -3.81734965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.55, Y:10.19, Z:-0.38 [[-1.05178785e-01 9.94451349e-01 1.98431077e-03 3.25549469e+02] [-9.94343656e-01 -1.05196610e-01 1.46413016e-02 1.01903102e+01] [ 1.47688049e-02 -4.33132516e-04 9.99890841e-01 -3.82796438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.54, Y:10.16, Z:-0.38 [[-1.07451104e-01 9.94208278e-01 2.03945453e-03 3.25544139e+02] [-9.94100682e-01 -1.07469494e-01 1.46336163e-02 1.01603055e+01] [ 1.47680416e-02 -4.55024911e-04 9.99890843e-01 -3.80647631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.54, Y:10.15, Z:-0.38 [[-1.09313595e-01 9.94005107e-01 2.09415478e-03 3.25541251e+02] [-9.93897616e-01 -1.09332587e-01 1.46257842e-02 1.01464379e+01] [ 1.47670636e-02 -4.82578395e-04 9.99890845e-01 -3.79354326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.54, Y:10.13, Z:-0.38 [[-1.12807034e-01 9.93614593e-01 2.14797938e-03 3.25538860e+02] [-9.93507178e-01 -1.12826440e-01 1.46178752e-02 1.01287268e+01] [ 1.47668829e-02 -4.85033796e-04 9.99890846e-01 -3.79687151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.54, Y:10.11, Z:-0.38 [[-1.14052679e-01 9.93472246e-01 2.20984957e-03 3.25536912e+02] [-9.93364975e-01 -1.14072859e-01 1.46085160e-02 1.01101335e+01] [ 1.47652391e-02 -5.29046777e-04 9.99890848e-01 -3.79769952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.53, Y:10.09, Z:-0.38 [[-1.16305958e-01 9.93210856e-01 2.26286732e-03 3.25534190e+02] [-9.93103689e-01 -1.16326673e-01 1.46002989e-02 1.00917835e+01] [ 1.47644072e-02 -5.49160126e-04 9.99890849e-01 -3.80362267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.53, Y:10.07, Z:-0.38 [[-1.18040631e-01 9.93006067e-01 2.31534791e-03 3.25529275e+02] [-9.92899016e-01 -1.18061929e-01 1.45919717e-02 1.00720710e+01] [ 1.47632709e-02 -5.76461107e-04 9.99890851e-01 -3.79362454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.53, Y:10.07, Z:-0.38 [[-1.21156981e-01 9.92630535e-01 2.36806778e-03 3.25527541e+02] [-9.92523573e-01 -1.21178717e-01 1.45834110e-02 1.00663371e+01] [ 1.47628985e-02 -5.83481041e-04 9.99890852e-01 -3.79500988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.52, Y:10.04, Z:-0.38 [[-1.25010604e-01 9.92152432e-01 2.42921924e-03 3.25522471e+02] [-9.92045571e-01 -1.25032821e-01 1.45732177e-02 1.00399235e+01] [ 1.47625855e-02 -5.88089445e-04 9.99890854e-01 -3.78645944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.52, Y:10.03, Z:-0.38 [[-1.28334074e-01 9.91727854e-01 2.49588436e-03 3.25520904e+02] [-9.91621126e-01 -1.28356911e-01 1.45617913e-02 1.00309318e+01] [ 1.47616981e-02 -6.06197649e-04 9.99890856e-01 -3.78859595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.52, Y:10.03, Z:-0.38 [[-1.32392469e-01 9.91194101e-01 2.54723612e-03 3.25520014e+02] [-9.91087443e-01 -1.32415621e-01 1.45528031e-02 1.00273769e+01] [ 1.47619464e-02 -5.97852202e-04 9.99890858e-01 -3.80210333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.24, Y:9.72, Z:1.48 [[-1.52008172e-01 -9.88369387e-01 -4.41244331e-03 3.27236775e+02] [-9.88269544e-01 1.52056297e-01 -1.42193797e-02 9.71754195e+00] [ 1.47249394e-02 2.19922142e-03 -9.99889164e-01 1.47957747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.48, Y:9.87, Z:-0.38 [[-6.91541162e-02 9.97604727e-01 1.58628257e-03 3.25480885e+02] [-9.97499104e-01 -6.91698952e-02 1.45280214e-02 9.87257165e+00] [ 1.46029458e-02 -5.77642962e-04 9.99893204e-01 -3.78108766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.48, Y:9.83, Z:-0.38 [[-8.93014017e-02 9.96003300e-01 1.63909489e-03 3.25478046e+02] [-9.95897482e-01 -8.93158127e-02 1.45220605e-02 9.82720619e+00] [ 1.46104173e-02 -3.35530114e-04 9.99893206e-01 -3.78328547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.48, Y:9.82, Z:-0.38 [[-9.38577710e-02 9.95583767e-01 1.91895986e-03 3.25476539e+02] [-9.95478541e-01 -9.38757703e-02 1.44849848e-02 9.82126682e+00] [ 1.46011596e-02 -5.50754978e-04 9.99893246e-01 -3.78382611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:9.82, Z:-0.38 [[-9.96621053e-02 9.95019386e-01 1.97145012e-03 3.25473968e+02] [-9.94914187e-01 -9.96802537e-02 1.44778372e-02 9.81656450e+00] [ 1.46022433e-02 -5.18531960e-04 9.99893247e-01 -3.76581028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:9.78, Z:-0.38 [[-1.10748946e-01 9.93846352e-01 2.02455632e-03 3.25470238e+02] [-9.93741086e-01 -1.10766694e-01 1.44704071e-02 9.78027011e+00] [ 1.46056148e-02 -4.09302457e-04 9.99893249e-01 -3.76658449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:9.78, Z:-0.38 [[-1.14796874e-01 9.93386625e-01 2.16605235e-03 3.25470487e+02] [-9.93281657e-01 -1.14816250e-01 1.44491959e-02 9.77852507e+00] [ 1.46023359e-02 -4.92777543e-04 9.99893259e-01 -3.76744250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:9.77, Z:-0.38 [[-1.19322317e-01 9.92853091e-01 2.21900875e-03 3.25469012e+02] [-9.92748179e-01 -1.19341984e-01 1.44410586e-02 9.77354944e+00] [ 1.46026706e-02 -4.79776320e-04 9.99893260e-01 -3.76742665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:9.77, Z:-0.38 [[-1.24621486e-01 9.92201754e-01 2.27271950e-03 3.25467082e+02] [-9.92096884e-01 -1.24641373e-01 1.44326008e-02 9.76640157e+00] [ 1.46033267e-02 -4.56145777e-04 9.99893262e-01 -3.77495272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:9.76, Z:-0.38 [[-1.31116747e-01 9.91364203e-01 2.32698435e-03 3.25466369e+02] [-9.91259355e-01 -1.31136736e-01 1.44238463e-02 9.75834036e+00] [ 1.46044380e-02 -4.15437198e-04 9.99893263e-01 -3.75894102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:9.75, Z:-0.38 [[-1.37689873e-01 9.90472527e-01 2.38167293e-03 3.25465335e+02] [-9.90367699e-01 -1.37709962e-01 1.44148104e-02 9.74528216e+00] [ 1.46054538e-02 -3.73958529e-04 9.99893265e-01 -3.75879626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.46, Y:9.73, Z:-0.38 [[-1.42676652e-01 9.89766354e-01 2.43655790e-03 3.25464767e+02] [-9.89661580e-01 -1.42697012e-01 1.44055272e-02 9.73475683e+00] [ 1.46057957e-02 -3.56035351e-04 9.99893266e-01 -3.77924689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.46, Y:9.73, Z:-0.38 [[-1.49688914e-01 9.88730003e-01 2.49214763e-03 3.25464775e+02] [-9.88625243e-01 -1.49709340e-01 1.43959038e-02 9.72823698e+00] [ 1.46067598e-02 -3.08892850e-04 9.99893268e-01 -3.77081849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:9.74, Z:-0.38 [[-1.54639060e-01 9.87967748e-01 2.54742711e-03 3.25466466e+02] [-9.87863046e-01 -1.54659765e-01 1.43861152e-02 9.74036716e+00] [ 1.46070023e-02 -2.91853774e-04 9.99893269e-01 -3.76041987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.46, Y:9.73, Z:-0.38 [[-1.60604603e-01 9.87015390e-01 2.60416835e-03 3.25464764e+02] [-9.86910727e-01 -1.60625502e-01 1.43758366e-02 9.72768770e+00] [ 1.46074678e-02 -2.61256148e-04 9.99893271e-01 -3.75600639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:9.72, Z:-0.38 [[-1.65200365e-01 9.86256439e-01 2.66000124e-03 3.25465064e+02] [-9.86151844e-01 -1.65221590e-01 1.43654983e-02 9.72078464e+00] [ 1.46075548e-02 -2.49979572e-04 9.99893273e-01 -3.76034532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.46, Y:9.67, Z:-0.37 [[-1.83606110e-01 9.82996144e-01 2.71599450e-03 3.25458637e+02] [-9.82891325e-01 -1.83626194e-01 1.43549042e-02 9.66719030e+00] [ 1.46095432e-02 -3.38793173e-05 9.99893274e-01 -3.68577651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.16, Y:9.32, Z:1.49 [[-1.54732196e-01 -9.87952717e-01 -2.71599450e-03 3.27162876e+02] [-9.87848531e-01 1.54755342e-01 -1.43549042e-02 9.32353990e+00] [ 1.46022812e-02 4.61825330e-04 -9.99893274e-01 1.48900942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.54, Z:-0.37 [[-1.24115493e-01 9.92265767e-01 1.99780757e-03 3.25422536e+02] [-9.92160504e-01 -1.24131428e-01 1.44541734e-02 9.53646088e+00] [ 1.45903722e-02 -1.88158907e-04 9.99893537e-01 -3.73803878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.43, Y:9.54, Z:-0.37 [[-1.29023559e-01 9.91639396e-01 2.05678253e-03 3.25425008e+02] [-9.91534186e-01 -1.29039832e-01 1.44457766e-02 9.53759184e+00] [ 1.45904081e-02 -1.75524681e-04 9.99893539e-01 -3.74188965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.43, Y:9.53, Z:-0.37 [[-1.35193013e-01 9.90817029e-01 2.11282958e-03 3.25426286e+02] [-9.90711846e-01 -1.35209448e-01 1.44375746e-02 9.53269841e+00] [ 1.45906693e-02 -1.41346088e-04 9.99893541e-01 -3.73383768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.51, Z:-0.37 [[-1.40012280e-01 9.90147390e-01 2.16982430e-03 3.25423344e+02] [-9.90042259e-01 -1.40029034e-01 1.44290038e-02 9.51332037e+00] [ 1.45906789e-02 -1.27980034e-04 9.99893542e-01 -3.72453001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.51, Z:-0.37 [[-1.44782542e-01 9.89460993e-01 2.22668440e-03 3.25422259e+02] [-9.89355916e-01 -1.44799618e-01 1.44202238e-02 9.50528792e+00] [ 1.45906721e-02 -1.15186723e-04 9.99893544e-01 -3.71464021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.50, Z:-0.37 [[-1.50103896e-01 9.88667592e-01 2.28319646e-03 3.25422829e+02] [-9.88562558e-01 -1.50121230e-01 1.44112706e-02 9.50042094e+00] [ 1.45907124e-02 -9.38946809e-05 9.99893545e-01 -3.71898818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.49, Z:-0.37 [[-1.54120042e-01 9.88049359e-01 2.34015006e-03 3.25421505e+02] [-9.87944395e-01 -1.54137780e-01 1.44020163e-02 9.48798031e+00] [ 1.45906086e-02 -9.22987618e-05 9.99893547e-01 -3.72795137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.47, Z:-0.37 [[-1.63070176e-01 9.86611560e-01 2.39733303e-03 3.25420149e+02] [-9.86506577e-01 -1.63087796e-01 1.43924915e-02 9.47271958e+00] [ 1.45907743e-02 -1.79986787e-05 9.99893549e-01 -3.73146154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.47, Z:-0.37 [[-1.66501868e-01 9.86037946e-01 2.50946421e-03 3.25419325e+02] [-9.85933191e-01 -1.66520759e-01 1.43729139e-02 9.46510483e+00] [ 1.45901163e-02 -8.10470392e-05 9.99893555e-01 -3.72895365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.45, Z:-0.37 [[-1.71054220e-01 9.85258273e-01 2.56695046e-03 3.25418132e+02] [-9.85153584e-01 -1.71073465e-01 1.43626397e-02 9.45207325e+00] [ 1.45900467e-02 -7.20503049e-05 9.99893557e-01 -3.72631859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.44, Z:-0.37 [[-1.76099260e-01 9.84368916e-01 2.62444573e-03 3.25416958e+02] [-9.84264285e-01 -1.76118806e-01 1.43521261e-02 9.44382144e+00] [ 1.45900010e-02 -5.57494221e-05 9.99893559e-01 -3.72299548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.44, Z:-0.37 [[-1.81433138e-01 9.83399626e-01 2.68196528e-03 3.25416686e+02] [-9.83295047e-01 -1.81452956e-01 1.43413694e-02 9.44049514e+00] [ 1.45899479e-02 -3.51635167e-05 9.99893560e-01 -3.70489965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:9.43, Z:-0.37 [[-1.86545996e-01 9.82442407e-01 2.73998981e-03 3.25415704e+02] [-9.82337889e-01 -1.86566116e-01 1.43302750e-02 9.42912736e+00] [ 1.45898591e-02 -1.83403885e-05 9.99893562e-01 -3.71541410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.41, Y:9.42, Z:-0.37 [[-1.90748719e-01 9.81634909e-01 2.79835183e-03 3.25414953e+02] [-9.81530471e-01 -1.90769244e-01 1.43188693e-02 9.41767134e+00] [ 1.45897414e-02 -1.53616188e-05 9.99893564e-01 -3.72471369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.41, Y:9.41, Z:-0.37 [[-1.95707832e-01 9.80658076e-01 2.86054351e-03 3.25414196e+02] [-9.80553715e-01 -1.95728736e-01 1.43064342e-02 9.41006836e+00] [ 1.45896108e-02 -5.03534690e-06 9.99893566e-01 -3.72342181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.41, Y:9.40, Z:-0.37 [[-1.99690851e-01 9.79854603e-01 2.91908770e-03 3.25412132e+02] [-9.79750331e-01 -1.99712186e-01 1.42944789e-02 9.39940750e+00] [ 1.45894883e-02 -5.50048125e-06 9.99893568e-01 -3.72132058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.41, Y:9.39, Z:-0.37 [[-2.04720518e-01 9.78815941e-01 2.97712689e-03 3.25410119e+02] [-9.78711735e-01 -2.04742164e-01 1.42823808e-02 9.39186813e+00] [ 1.45893654e-02 1.01473638e-05 9.99893569e-01 -3.69419043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.41, Y:9.37, Z:-0.36 [[-2.07784753e-01 9.78169862e-01 3.03590765e-03 3.25406672e+02] [-9.78065770e-01 -2.07806930e-01 1.42698752e-02 9.37183471e+00] [ 1.45892445e-02 -4.25485325e-06 9.99893571e-01 -3.59772240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.09, Y:9.02, Z:1.49 [[-1.50461073e-01 -9.88611273e-01 -3.03590765e-03 3.27087568e+02] [-9.88508649e-01 1.50489275e-01 -1.42698752e-02 9.01998301e+00] [ 1.45642310e-02 8.53960227e-04 -9.99893571e-01 1.48972224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:9.24, Z:-0.37 [[-1.46332434e-01 9.89233182e-01 2.12855723e-03 3.25370705e+02] [-9.89128310e-01 -1.46347915e-01 1.44039658e-02 9.23558872e+00] [ 1.45603909e-02 2.35116829e-06 9.99893992e-01 -3.67331253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:9.23, Z:-0.37 [[-1.52518683e-01 9.88298166e-01 2.18790725e-03 3.25371521e+02] [-9.88193327e-01 -1.52534371e-01 1.43949452e-02 9.22955952e+00] [ 1.45602290e-02 3.34227365e-05 9.99893994e-01 -3.67091815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:9.22, Z:-0.37 [[-1.57383957e-01 9.87534902e-01 2.25985296e-03 3.25371167e+02] [-9.87430147e-01 -1.57400177e-01 1.43836416e-02 9.21591336e+00] [ 1.45600494e-02 3.23074898e-05 9.99893996e-01 -3.67803217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:9.21, Z:-0.37 [[-1.61536394e-01 9.86864030e-01 2.31964363e-03 3.25370961e+02] [-9.86759344e-01 -1.61553044e-01 1.43739928e-02 9.20712073e+00] [ 1.45599219e-02 3.29929217e-05 9.99893998e-01 -3.67447454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:9.19, Z:-0.37 [[-1.66657524e-01 9.86011972e-01 2.37939314e-03 3.25369901e+02] [-9.85907340e-01 -1.66674502e-01 1.43640954e-02 9.19338832e+00] [ 1.45597541e-02 4.80234111e-05 9.99894000e-01 -3.66395103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:9.18, Z:-0.37 [[-1.69622480e-01 9.85506045e-01 2.45954363e-03 3.25368650e+02] [-9.85401559e-01 -1.69640311e-01 1.43503582e-02 9.18227004e+00] [ 1.45596025e-02 1.05052234e-05 9.99894003e-01 -3.65767498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:9.17, Z:-0.37 [[-1.74394654e-01 9.84672616e-01 2.51866913e-03 3.25368063e+02] [-9.84568193e-01 -1.74412840e-01 1.43399735e-02 9.16854345e+00] [ 1.45594674e-02 2.10131929e-05 9.99894005e-01 -3.65692605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:9.16, Z:-0.36 [[-1.78278949e-01 9.83976612e-01 2.57742584e-03 3.25367490e+02] [-9.83872269e-01 -1.78297579e-01 1.43294049e-02 9.16403461e+00] [ 1.45593481e-02 1.87734490e-05 9.99894007e-01 -3.64356782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:9.15, Z:-0.36 [[-1.82203697e-01 9.83257271e-01 2.63646294e-03 3.25365787e+02] [-9.83153010e-01 -1.82222770e-01 1.43185345e-02 9.15130593e+00] [ 1.45592267e-02 1.68434425e-05 9.99894009e-01 -3.63897658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:9.14, Z:-0.36 [[-1.85146598e-01 9.82707220e-01 2.69401906e-03 3.25365916e+02] [-9.82603058e-01 -1.85166197e-01 1.43076972e-02 9.14221904e+00] [ 1.45591186e-02 1.87009564e-06 9.99894010e-01 -3.63079580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:325.36, Y:9.12, Z:-0.36 [[-1.88004018e-01 9.82164399e-01 2.75377928e-03 3.25363138e+02] [-9.82060347e-01 -1.88024184e-01 1.42961860e-02 9.12222689e+00] [ 1.45589820e-02 -1.66370356e-05 9.99894012e-01 -3.64083662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.36, Y:9.11, Z:-0.36 [[-1.90608346e-01 9.81662136e-01 2.81239094e-03 3.25359438e+02] [-9.81558200e-01 -1.90629090e-01 1.42846464e-02 9.10600103e+00] [ 1.45588201e-02 -3.77525489e-05 9.99894014e-01 -3.62147448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.36, Y:9.09, Z:-0.36 [[-1.93709146e-01 9.81054804e-01 2.87011474e-03 3.25356119e+02] [-9.80950973e-01 -1.93730401e-01 1.42730390e-02 9.09224044e+00] [ 1.45586619e-02 -5.06236542e-05 9.99894016e-01 -3.60600382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.35, Y:9.08, Z:-0.36 [[-1.97275423e-01 9.80343733e-01 2.92791134e-03 3.25354312e+02] [-9.80240000e-01 -1.97297142e-01 1.42611730e-02 9.08113398e+00] [ 1.45585201e-02 -5.66768652e-05 9.99894018e-01 -3.60284162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.35, Y:9.05, Z:-0.35 [[-2.06696755e-01 9.78400500e-01 2.98548713e-03 3.25351916e+02] [-9.78296735e-01 -2.06718313e-01 1.42491097e-02 9.05028886e+00] [ 1.45584909e-02 2.45524106e-05 9.99894019e-01 -3.53173950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.00, Y:8.68, Z:1.48 [[-1.73852191e-01 -9.84767233e-01 -2.98548713e-03 3.27000856e+02] [-9.84664247e-01 1.73877209e-01 -1.42491097e-02 8.68421228e+00] [ 1.45511645e-02 4.62463498e-04 -9.99894019e-01 1.47732942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.32, Y:8.91, Z:-0.36 [[-1.48312761e-01 9.88938727e-01 1.87602466e-03 3.25315258e+02] [-9.88833612e-01 -1.48324354e-01 1.44212868e-02 8.90811459e+00] [ 1.45400292e-02 2.83784620e-04 9.99894248e-01 -3.59598843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.31, Y:8.89, Z:-0.36 [[-1.51469839e-01 9.88459205e-01 2.29959937e-03 3.25313047e+02] [-9.88354991e-01 -1.51487262e-01 1.43534262e-02 8.89378278e+00] [ 1.45361362e-02 -9.87093687e-05 9.99894340e-01 -3.58899402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.31, Y:8.89, Z:-0.36 [[-1.54192760e-01 9.88037975e-01 2.35652401e-03 3.25314424e+02] [-9.87933854e-01 -1.54210723e-01 1.43440743e-02 8.89294003e+00] [ 1.45358914e-02 -1.16337438e-04 9.99894342e-01 -3.58831827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.98, Y:8.61, Z:1.49 [[-1.10306893e-01 -9.93890897e-01 -3.64348814e-03 3.26976758e+02] [-9.93792628e-01 1.10347775e-01 -1.41273491e-02 8.61283495e+00] [ 1.44430945e-02 2.06252767e-03 -9.99893566e-01 1.49231748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.28, Y:8.74, Z:-0.36 [[-9.07981502e-02 9.95868304e-01 1.42023409e-03 3.25282615e+02] [-9.95764953e-01 -9.08091885e-02 1.43474619e-02 8.74086278e+00] [ 1.44171529e-02 -1.11496326e-04 9.99896061e-01 -3.57313450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.28, Y:8.73, Z:-0.36 [[-9.52640796e-02 9.95450940e-01 1.47714881e-03 3.25284875e+02] [-9.95347629e-01 -9.52754743e-02 1.43415999e-02 8.73313686e+00] [ 1.44170951e-02 -1.04037252e-04 9.99896063e-01 -3.58404597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.29, Y:8.71, Z:-0.34 [[-8.63333458e-02 9.96265125e-01 1.53415553e-03 3.25285848e+02] [-9.96162024e-01 -8.63464867e-02 1.43354991e-02 8.70849056e+00] [ 1.44144268e-02 -2.90635877e-04 9.99896065e-01 -3.43279109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.95, Y:8.54, Z:1.50 [[-5.20340692e-02 -9.98644132e-01 -1.53415553e-03 3.26949522e+02] [-9.98541543e-01 5.20507466e-02 -1.43354991e-02 8.53619999e+00] [ 1.43959160e-02 7.85983680e-04 -9.99896065e-01 1.49642970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.26, Y:8.55, Z:-0.35 [[-6.07934183e-02 9.98150193e-01 5.94189386e-04 3.25262704e+02] [-9.98046724e-01 -6.07956733e-02 1.43743607e-02 8.54694658e+00] [ 1.43838950e-02 2.80837750e-04 9.99896507e-01 -3.49467169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:325.26, Y:8.51, Z:-0.35 [[-6.47759055e-02 9.97899412e-01 9.19762656e-04 3.25263012e+02] [-9.97796178e-01 -6.47824340e-02 1.43534989e-02 8.50634350e+00] [ 1.43829326e-02 1.20252262e-05 9.99896560e-01 -3.53286975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.26, Y:8.49, Z:-0.34 [[-6.70758740e-02 9.97747263e-01 1.10766203e-03 3.25264025e+02] [-9.97644232e-01 -6.70848662e-02 1.43389843e-02 8.48696305e+00] [ 1.43809897e-02 -1.43252735e-04 9.99896578e-01 -3.43487956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.93, Y:8.36, Z:1.50 [[-2.97578606e-02 -9.99556523e-01 -1.10766203e-03 3.26925952e+02] [-9.99453901e-01 2.97706952e-02 -1.43389843e-02 8.35526037e+00] [ 1.43656011e-02 6.80359643e-04 -9.99896578e-01 1.49783112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:8.33, Z:-0.35 [[-9.01991398e-03 9.99959292e-01 2.36432593e-04 3.25245693e+02] [-9.99856279e-01 -9.02237851e-03 1.43533409e-02 8.33489238e+00] [ 1.43548898e-02 -1.06932713e-04 9.99896958e-01 -3.53565633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:8.32, Z:-0.35 [[-1.16102294e-02 9.99932541e-01 3.41022768e-04 3.25246192e+02] [-9.99829570e-01 -1.16139281e-02 1.43508555e-02 8.31885410e+00] [ 1.43538481e-02 -1.74347923e-04 9.99896963e-01 -3.54195344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:8.32, Z:-0.35 [[-3.18425342e-02 9.99492819e-01 3.97032242e-04 3.25243929e+02] [-9.99389812e-01 -3.18449526e-02 1.43493058e-02 8.31790636e+00] [ 1.43546716e-02 6.01282847e-05 9.99896965e-01 -3.46000979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:8.29, Z:-0.35 [[-1.91156132e-02 9.99817249e-01 2.48870690e-04 3.25245846e+02] [-9.99714207e-01 -1.91172160e-02 1.43539560e-02 8.29347579e+00] [ 1.43560905e-02 2.55851049e-05 9.99896946e-01 -3.51982295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:8.27, Z:-0.35 [[-2.17999382e-02 9.99762221e-01 5.14801606e-04 3.25245561e+02] [-9.99659330e-01 -2.18050810e-02 1.43444126e-02 8.27384029e+00] [ 1.43522271e-02 -2.01918920e-04 9.99896981e-01 -3.50366943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:8.26, Z:-0.35 [[-2.65691158e-02 9.99646814e-01 5.73467578e-04 3.25245619e+02] [-9.99543944e-01 -2.65746093e-02 1.43420668e-02 8.25680925e+00] [ 1.43522411e-02 -1.92150010e-04 9.99896983e-01 -3.50749658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:8.25, Z:-0.35 [[-3.04257226e-02 9.99536824e-01 6.41951211e-04 3.25246189e+02] [-9.99433989e-01 -3.04318015e-02 1.43390009e-02 8.25324114e+00] [ 1.43518951e-02 -2.05313396e-04 9.99896985e-01 -3.51509474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:8.22, Z:-0.35 [[-4.53867450e-02 9.98969248e-01 6.96600445e-04 3.25246667e+02] [-9.98866372e-01 -4.53920680e-02 1.43363455e-02 8.22122103e+00] [ 1.43531884e-02 -4.51307012e-05 9.99896987e-01 -3.50912495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:8.20, Z:-0.35 [[-5.03456529e-02 9.98731444e-01 9.04027963e-04 3.25248763e+02] [-9.98628748e-01 -5.03534410e-02 1.43232538e-02 8.20496465e+00] [ 1.43506049e-02 -1.81674749e-04 9.99897008e-01 -3.50327943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:8.20, Z:-0.35 [[-5.59193065e-02 9.98434830e-01 9.60279320e-04 3.25250801e+02] [-9.98332152e-01 -5.59273282e-02 1.43194816e-02 8.20116628e+00] [ 1.43507750e-02 -1.57942242e-04 9.99897010e-01 -3.49966370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:325.25, Y:8.18, Z:-0.34 [[-6.63764930e-02 9.97794132e-01 1.01514525e-03 3.25251330e+02] [-9.97691434e-01 -6.63842257e-02 1.43155909e-02 8.17815707e+00] [ 1.43514023e-02 -6.25830013e-05 9.99897011e-01 -3.39895296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.89, Y:8.07, Z:1.50 [[-2.45328511e-02 -9.99698509e-01 -1.01514525e-03 3.26890707e+02] [-9.99596225e-01 2.45448778e-02 -1.43155909e-02 8.06604211e+00] [ 1.43361915e-02 6.63533101e-04 -9.99897011e-01 1.50308199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:8.03, Z:-0.35 [[-5.37463671e-03 9.99985544e-01 1.59261076e-04 3.25235707e+02] [-9.99882936e-01 -5.37636669e-03 1.43251116e-02 8.02900698e+00] [ 1.43257607e-02 -8.22501616e-05 9.99897378e-01 -3.48713859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:8.02, Z:-0.35 [[-1.02760217e-02 9.99947167e-01 2.57721766e-04 3.25239275e+02] [-9.99844583e-01 -1.02786592e-02 1.43233400e-02 8.02319778e+00] [ 1.43252323e-02 -1.10494759e-04 9.99897382e-01 -3.47450372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:8.01, Z:-0.35 [[-1.36244225e-02 9.99907134e-01 3.13465087e-04 3.25240602e+02] [-9.99804565e-01 -1.36275148e-02 1.43221200e-02 8.01092922e+00] [ 1.43250617e-02 -1.18273211e-04 9.99897384e-01 -3.47811526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:8.01, Z:-0.35 [[-1.69804261e-02 9.99855754e-01 3.69460154e-04 3.25242071e+02] [-9.99753201e-01 -1.69839761e-02 1.43206754e-02 8.01041919e+00] [ 1.43248846e-02 -1.26197802e-04 9.99897386e-01 -3.47882374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:7.99, Z:-0.35 [[-2.28154340e-02 9.99739603e-01 4.25920885e-04 3.25244554e+02] [-9.99637060e-01 -2.28191941e-02 1.43189960e-02 7.99000668e+00] [ 1.43249865e-02 -9.90721931e-05 9.99897387e-01 -3.49219282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:7.98, Z:-0.35 [[-2.66081663e-02 9.99645824e-01 4.82473324e-04 3.25245304e+02] [-9.99543298e-01 -2.66123474e-02 1.43170903e-02 7.97850113e+00] [ 1.43248592e-02 -1.01301460e-04 9.99897389e-01 -3.46749095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:7.97, Z:-0.35 [[-3.04361739e-02 9.99536567e-01 5.38494923e-04 3.25246024e+02] [-9.99434060e-01 -3.04407646e-02 1.43149829e-02 7.96837930e+00] [ 1.43247410e-02 -1.02496860e-04 9.99897390e-01 -3.46000566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:7.96, Z:-0.35 [[-3.32804622e-02 9.99445875e-01 5.93989288e-04 3.25246830e+02] [-9.99343394e-01 -3.32855560e-02 1.43126798e-02 7.95666208e+00] [ 1.43245201e-02 -1.17266671e-04 9.99897392e-01 -3.45311351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:7.94, Z:-0.35 [[-3.57733126e-02 9.99359719e-01 6.50104521e-04 3.25248145e+02] [-9.99257267e-01 -3.57789543e-02 1.43101306e-02 7.94291250e+00] [ 1.43242281e-02 -1.37700894e-04 9.99897393e-01 -3.46363243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:7.93, Z:-0.35 [[-3.86601417e-02 9.99252168e-01 7.06047562e-04 3.25247548e+02] [-9.99149747e-01 -3.86662884e-02 1.43073699e-02 7.92832051e+00] [ 1.43239706e-02 -1.52322297e-04 9.99897395e-01 -3.46528428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:7.91, Z:-0.35 [[-4.15307851e-02 9.99136934e-01 7.61673694e-04 3.25246106e+02] [-9.99034547e-01 -4.15374339e-02 1.43044079e-02 7.91172196e+00] [ 1.43237003e-02 -1.66865041e-04 9.99897397e-01 -3.45963594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:7.90, Z:-0.35 [[-4.45769020e-02 9.99005622e-01 8.16828743e-04 3.25245414e+02] [-9.98903268e-01 -4.45840281e-02 1.43012577e-02 7.89665779e+00] [ 1.43234544e-02 -1.78427136e-04 9.99897398e-01 -3.45655534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:7.89, Z:-0.35 [[-4.85177437e-02 9.98821941e-01 8.71519741e-04 3.25245401e+02] [-9.98719615e-01 -4.85252488e-02 1.42979241e-02 7.89017420e+00] [ 1.43233710e-02 -1.76700843e-04 9.99897400e-01 -3.45338185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:7.87, Z:-0.35 [[-5.31852570e-02 9.98584233e-01 9.26257513e-04 3.25244646e+02] [-9.98481932e-01 -5.31930675e-02 1.42943772e-02 7.87365005e+00] [ 1.43234102e-02 -1.64601265e-04 9.99897401e-01 -3.45496492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:7.85, Z:-0.34 [[-5.85309443e-02 9.98285094e-01 9.99664182e-04 3.25242952e+02] [-9.98182835e-01 -5.85392577e-02 1.42892418e-02 7.85102252e+00] [ 1.43232567e-02 -1.61484815e-04 9.99897404e-01 -3.44978597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:7.84, Z:-0.35 [[-6.28195121e-02 9.98024310e-01 1.08920513e-03 3.25242278e+02] [-9.97922127e-01 -6.28286676e-02 1.42824132e-02 7.84085724e+00] [ 1.43226289e-02 -1.89727670e-04 9.99897408e-01 -3.45568893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:7.83, Z:-0.34 [[-6.69933217e-02 9.97752769e-01 1.14339009e-03 3.25241358e+02] [-9.97650619e-01 -6.70028251e-02 1.42780741e-02 7.83315564e+00] [ 1.43225984e-02 -1.84168216e-04 9.99897409e-01 -3.43271787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.85, Y:7.70, Z:1.51 [[-3.20360065e-02 -9.99481941e-01 -3.08927751e-03 3.26849651e+02] [-9.99385746e-01 3.20765502e-02 -1.41147536e-02 7.70440627e+00] [ 1.42065347e-02 2.63519957e-03 -9.99895610e-01 1.50601498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.69, Z:-0.34 [[-4.51865844e-03 9.99989766e-01 2.21059494e-04 3.25221481e+02] [-9.99889526e-01 -4.52133562e-03 1.41595905e-02 7.68877628e+00] [ 1.41604451e-02 -1.57052720e-04 9.99899724e-01 -3.42873103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.68, Z:-0.34 [[-8.35733177e-03 9.99965038e-01 2.79136579e-04 3.25221376e+02] [-9.99864812e-01 -8.36044639e-03 1.41584455e-02 7.67752337e+00] [ 1.41602842e-02 -1.60772016e-04 9.99899725e-01 -3.42666537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.67, Z:-0.34 [[-1.28144543e-02 9.99917836e-01 3.33488188e-04 3.25221618e+02] [-9.99817622e-01 -1.28178916e-02 1.41571652e-02 7.67199504e+00] [ 1.41602766e-02 -1.52011020e-04 9.99899727e-01 -3.41489033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.66, Z:-0.34 [[-1.69873146e-02 9.99855630e-01 3.88081620e-04 3.25221374e+02] [-9.99755430e-01 -1.69911066e-02 1.41556686e-02 7.66242773e+00] [ 1.41602188e-02 -1.47519911e-04 9.99899728e-01 -3.41305867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.65, Z:-0.34 [[-2.15707930e-02 9.99767225e-01 4.43074858e-04 3.25221434e+02] [-9.99667039e-01 -2.15749041e-02 1.41539471e-02 7.65060404e+00] [ 1.41602117e-02 -1.37615470e-04 9.99899730e-01 -3.40324561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.64, Z:-0.34 [[-2.45389977e-02 9.99698749e-01 4.98108225e-04 3.25221689e+02] [-9.99598586e-01 -2.45435904e-02 1.41520101e-02 7.63505300e+00] [ 1.41599721e-02 -1.50632135e-04 9.99899731e-01 -3.42603992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.63, Z:-0.34 [[-2.87501820e-02 9.99586475e-01 5.52881688e-04 3.25220508e+02] [-9.99486330e-01 -2.87551281e-02 1.41498699e-02 7.62646420e+00] [ 1.41599168e-02 -1.45786353e-04 9.99899733e-01 -3.42215608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.61, Z:-0.34 [[-3.70047566e-02 9.99314905e-01 6.07551678e-04 3.25220023e+02] [-9.99214758e-01 -3.70096494e-02 1.41475222e-02 7.60991152e+00] [ 1.41603151e-02 -8.35489878e-05 9.99899734e-01 -3.40844702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.60, Z:-0.34 [[-4.18044467e-02 9.99125555e-01 7.16662441e-04 3.25219838e+02] [-9.99025472e-01 -4.18104030e-02 1.41419930e-02 7.60026529e+00] [ 1.41595905e-02 -1.24765842e-04 9.99899740e-01 -3.40465800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.59, Z:-0.34 [[-4.75084224e-02 9.98870540e-01 7.71328332e-04 3.25220144e+02] [-9.98770471e-01 -4.75145810e-02 1.41390108e-02 7.59123509e+00] [ 1.41596907e-02 -9.86578642e-05 9.99899742e-01 -3.40850481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.58, Z:-0.34 [[-5.14011961e-02 9.98677743e-01 8.26711361e-04 3.25219518e+02] [-9.98577700e-01 -5.14077487e-02 1.41357718e-02 7.58156033e+00] [ 1.41595801e-02 -9.89399501e-05 9.99899743e-01 -3.41303764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.58, Z:-0.34 [[-5.71298653e-02 9.98366366e-01 8.82274651e-04 3.25217917e+02] [-9.98266339e-01 -5.71366304e-02 1.41323030e-02 7.57577341e+00] [ 1.41596262e-02 -7.33685173e-05 9.99899745e-01 -3.39739218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.57, Z:-0.34 [[-6.22088785e-02 9.98062711e-01 9.38195792e-04 3.25218006e+02] [-9.97962705e-01 -6.22159263e-02 1.41285897e-02 7.56670436e+00] [ 1.41595892e-02 -5.73606928e-05 9.99899746e-01 -3.40130028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.56, Z:-0.34 [[-6.85036343e-02 9.97650371e-01 9.94463210e-04 3.25220389e+02] [-9.97550379e-01 -6.85108478e-02 1.41246281e-02 7.56298762e+00] [ 1.41595720e-02 -2.44387933e-05 9.99899748e-01 -3.41057235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.55, Z:-0.34 [[-7.38131933e-02 9.97271531e-01 1.05124781e-03 3.25220198e+02] [-9.97171561e-01 -7.38206786e-02 1.41204006e-02 7.55247162e+00] [ 1.41594773e-02 -6.00256298e-06 9.99899750e-01 -3.41162052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.55, Z:-0.34 [[-7.82776727e-02 9.96930979e-01 1.10845535e-03 3.25219540e+02] [-9.96831038e-01 -7.82855205e-02 1.41159084e-02 7.54500110e+00] [ 1.41593624e-02 1.77538468e-08 9.99899751e-01 -3.39635063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.54, Z:-0.34 [[-8.51740701e-02 9.96365404e-01 1.16586674e-03 3.25221544e+02] [-9.96265474e-01 -8.51820394e-02 1.41111651e-02 7.54363784e+00] [ 1.41591876e-02 4.03925822e-05 9.99899753e-01 -3.39239679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.53, Z:-0.34 [[-8.96480595e-02 9.95972754e-01 1.22402559e-03 3.25221966e+02] [-9.95872857e-01 -8.96564037e-02 1.41061185e-02 7.53424307e+00] [ 1.41590514e-02 4.56122853e-05 9.99899755e-01 -3.39505231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.52, Z:-0.34 [[-9.61763962e-02 9.95363482e-01 1.28054283e-03 3.25222006e+02] [-9.95263598e-01 -9.61848860e-02 1.41009860e-02 7.51760272e+00] [ 1.41587754e-02 8.17043534e-05 9.99899756e-01 -3.39036650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.48, Z:-0.34 [[-1.35758548e-01 9.90741020e-01 1.35907831e-03 3.25224518e+02] [-9.90640937e-01 -1.35764167e-01 1.40934126e-02 7.48107343e+00] [ 1.41474361e-02 5.66942634e-04 9.99899759e-01 -3.37051304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.46, Z:-0.34 [[-1.45312522e-01 9.89383960e-01 1.91064567e-03 3.25222749e+02] [-9.89284656e-01 -1.45325008e-01 1.40182378e-02 7.46194561e+00] [ 1.41470842e-02 1.46853039e-04 9.99899914e-01 -3.36192534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.45, Z:-0.34 [[-1.50460835e-01 9.88613872e-01 2.03719278e-03 3.25222734e+02] [-9.88514745e-01 -1.50474597e-01 1.39998233e-02 7.44712061e+00] [ 1.41469653e-02 9.26300017e-05 9.99899922e-01 -3.36976092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.43, Z:-0.34 [[-1.60354065e-01 9.87057342e-01 2.09245394e-03 3.25220765e+02] [-9.86958187e-01 -1.60367617e-01 1.39915590e-02 7.42592343e+00] [ 1.41460329e-02 1.78438813e-04 9.99899924e-01 -3.35584624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:7.42, Z:-0.33 [[-1.57408108e-01 9.87531112e-01 2.23374920e-03 3.25223210e+02] [-9.87432310e-01 -1.57423956e-01 1.39689649e-02 7.41504830e+00] [ 1.41464331e-02 -6.84779732e-06 9.99899934e-01 -3.25291198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.79, Y:7.16, Z:1.51 [[-9.19898514e-02 -9.95757439e-01 -2.23374920e-03 3.26786406e+02] [-9.95659895e-01 9.20121763e-02 -1.39689649e-02 7.16244450e+00] [ 1.41152328e-02 9.39051489e-04 -9.99899934e-01 1.51345242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:7.25, Z:-0.33 [[-1.23535832e-01 9.92339227e-01 1.32528310e-03 3.25195467e+02] [-9.92239783e-01 -1.23542222e-01 1.40546347e-02 7.24878129e+00] [ 1.41106937e-02 4.21252377e-04 9.99900350e-01 -3.33428719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:7.24, Z:-0.33 [[-1.27018711e-01 9.91898827e-01 1.72134938e-03 3.25195105e+02] [-9.91799941e-01 -1.27030354e-01 1.40059588e-02 7.23865296e+00] [ 1.41111577e-02 7.17846189e-05 9.99900430e-01 -3.32713314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:7.22, Z:-0.33 [[-1.32901187e-01 9.91127699e-01 1.77728588e-03 3.25197426e+02] [-9.91028838e-01 -1.32913033e-01 1.39988571e-02 7.22483551e+00] [ 1.41108795e-02 9.91231742e-05 9.99900432e-01 -3.33195419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:7.21, Z:-0.33 [[-1.36810410e-01 9.90595550e-01 1.83532400e-03 3.25197399e+02] [-9.90496743e-01 -1.36822686e-01 1.39912439e-02 7.21277333e+00] [ 1.41107779e-02 9.62653743e-05 9.99900433e-01 -3.34338339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.17, Z:-0.33 [[-1.63671917e-01 9.86513016e-01 1.89028922e-03 3.25194221e+02] [-9.86413992e-01 -1.63682283e-01 1.39838139e-02 7.17370771e+00] [ 1.41046213e-02 4.24149897e-04 9.99900435e-01 -3.31617583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.16, Z:-0.33 [[-1.71177325e-01 9.85237590e-01 2.28347248e-03 3.25192061e+02] [-9.85139269e-01 -1.71192503e-01 1.39193131e-02 7.15756943e+00] [ 1.41047438e-02 1.33132364e-04 9.99900514e-01 -3.29898423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.15, Z:-0.33 [[-1.74928007e-01 9.84578319e-01 2.39285046e-03 3.25194168e+02] [-9.84480192e-01 -1.74944356e-01 1.39004847e-02 7.14909527e+00] [ 1.41047315e-02 7.58702073e-05 9.99900520e-01 -3.30030481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.13, Z:-0.33 [[-1.84274213e-01 9.82871824e-01 2.44786435e-03 3.25192662e+02] [-9.82773673e-01 -1.84290406e-01 1.38907900e-02 7.12571902e+00] [ 1.41039841e-02 1.54017759e-04 9.99900522e-01 -3.30479149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.11, Z:-0.33 [[-1.88260150e-01 9.82115783e-01 2.58928394e-03 3.25191683e+02] [-9.82017920e-01 -1.88277943e-01 1.38643789e-02 7.11137572e+00] [ 1.41039304e-02 6.73868279e-05 9.99900532e-01 -3.30646179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.10, Z:-0.33 [[-1.92608213e-01 9.81272159e-01 2.65068677e-03 3.25190170e+02] [-9.81174378e-01 -1.92626440e-01 1.38526296e-02 7.10125100e+00] [ 1.41037921e-02 6.73442881e-05 9.99900534e-01 -3.29473612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.09, Z:-0.33 [[-1.96507766e-01 9.80498536e-01 2.70535698e-03 3.25189535e+02] [-9.80400828e-01 -1.96526376e-01 1.38419445e-02 7.09452887e+00] [ 1.41036803e-02 6.77153748e-05 9.99900536e-01 -3.27770399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.08, Z:-0.33 [[-2.00960749e-01 9.79595406e-01 2.76019859e-03 3.25188226e+02] [-9.79497763e-01 -2.00979689e-01 1.38310000e-02 7.08121818e+00] [ 1.41035279e-02 7.58797781e-05 9.99900537e-01 -3.27470623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.07, Z:-0.33 [[-2.04186454e-01 9.78927969e-01 2.81499595e-03 3.25188118e+02] [-9.78830417e-01 -2.04205846e-01 1.38198382e-02 7.07069133e+00] [ 1.41034648e-02 6.64201014e-05 9.99900539e-01 -3.27983594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.06, Z:-0.33 [[-2.09015094e-01 9.77908204e-01 2.86963382e-03 3.25189337e+02] [-9.77810712e-01 -2.09034777e-01 1.38084836e-02 7.05780318e+00] [ 1.41032827e-02 8.02228096e-05 9.99900541e-01 -3.29199165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.04, Z:-0.33 [[-2.13271680e-01 9.76988541e-01 2.92920598e-03 3.25187671e+02] [-9.76891136e-01 -2.13291780e-01 1.37958349e-02 7.04464282e+00] [ 1.41031482e-02 8.07455476e-05 9.99900542e-01 -3.29766922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.03, Z:-0.33 [[-2.17386018e-01 9.76081144e-01 2.98638212e-03 3.25185626e+02] [-9.75983824e-01 -2.17406515e-01 1.37834469e-02 7.03402968e+00] [ 1.41030216e-02 8.16680038e-05 9.99900544e-01 -3.27141829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:7.02, Z:-0.31 [[-2.10976981e-01 9.77486301e-01 3.04056203e-03 3.25186596e+02] [-9.77389287e-01 -2.10998880e-01 1.37714848e-02 7.02354915e+00] [ 1.41029929e-02 -6.63464726e-05 9.99900546e-01 -3.11546758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.68, Y:6.69, Z:1.52 [[-1.49929433e-01 -9.88692025e-01 -3.04056203e-03 3.26683006e+02] [-9.88596557e-01 1.49957308e-01 -1.37714848e-02 6.69230837e+00] [ 1.40717116e-02 9.41138252e-04 -9.99900546e-01 1.51692177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.89, Z:-0.33 [[-1.57154096e-01 9.87571781e-01 2.13722245e-03 3.25153010e+02] [-9.87473813e-01 -1.57168610e-01 1.39102828e-02 6.89270413e+00] [ 1.40733071e-02 7.56067248e-05 9.99900963e-01 -3.26052816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.88, Z:-0.32 [[-1.61659579e-01 9.86844149e-01 2.19227913e-03 3.25152884e+02] [-9.86746232e-01 -1.61674422e-01 1.39016004e-02 6.88006765e+00] [ 1.40731485e-02 8.41037049e-05 9.99900965e-01 -3.24204313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.85, Z:-0.32 [[-1.78148915e-01 9.84000972e-01 2.24730056e-03 3.25150336e+02] [-9.83902930e-01 -1.78162894e-01 1.38927001e-02 6.84685034e+00] [ 1.40708160e-02 2.63843845e-04 9.99900966e-01 -3.24672279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.83, Z:-0.32 [[-1.83893915e-01 9.82942969e-01 2.47935284e-03 3.25150912e+02] [-9.82845379e-01 -1.83910595e-01 1.38511632e-02 6.83353572e+00] [ 1.40708828e-02 1.10324159e-04 9.99900994e-01 -3.24090473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.82, Z:-0.32 [[-1.88014010e-01 9.82163072e-01 2.53614276e-03 3.25149532e+02] [-9.82065551e-01 -1.88031081e-01 1.38407572e-02 6.82220810e+00] [ 1.40707543e-02 1.11597832e-04 9.99900996e-01 -3.24481940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.81, Z:-0.32 [[-1.91840836e-01 9.81422632e-01 2.59060462e-03 3.25148320e+02] [-9.81325181e-01 -1.91858294e-01 1.38305560e-02 6.81178962e+00] [ 1.40706496e-02 1.11039871e-04 9.99900997e-01 -3.23756203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.80, Z:-0.32 [[-1.96127404e-01 9.80574855e-01 2.64497596e-03 3.25149108e+02] [-9.80477467e-01 -1.96145203e-01 1.38201501e-02 6.80051347e+00] [ 1.40704910e-02 1.17170838e-04 9.99900999e-01 -3.23905627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.79, Z:-0.32 [[-2.00302826e-01 9.79730314e-01 2.69983814e-03 3.25148249e+02] [-9.79632994e-01 -2.00320984e-01 1.38094242e-02 6.78857754e+00] [ 1.40703457e-02 1.21216171e-04 9.99901000e-01 -3.23607092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.78, Z:-0.32 [[-2.05220408e-01 9.78711908e-01 2.75402607e-03 3.25148300e+02] [-9.78614641e-01 -2.05238841e-01 1.37986090e-02 6.77660957e+00] [ 1.40700961e-02 1.36625945e-04 9.99901002e-01 -3.21311914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.77, Z:-0.32 [[-2.08817391e-01 9.77950619e-01 2.80800984e-03 3.25147227e+02] [-9.77853431e-01 -2.08836227e-01 1.37876146e-02 6.76502776e+00] [ 1.40700204e-02 1.33271647e-04 9.99901003e-01 -3.21159362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.76, Z:-0.32 [[-2.12442347e-01 9.77169412e-01 2.86185221e-03 3.25147406e+02] [-9.77072303e-01 -2.12461582e-01 1.37764297e-02 6.75653833e+00] [ 1.40699393e-02 1.30460515e-04 9.99901005e-01 -3.20889426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.74, Z:-0.32 [[-2.18546653e-01 9.75822145e-01 2.91569872e-03 3.25145131e+02] [-9.75725069e-01 -2.18566041e-01 1.37650239e-02 6.74014866e+00] [ 1.40694879e-02 1.63379576e-04 9.99901007e-01 -3.20246874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.14, Y:6.73, Z:-0.32 [[-2.22350303e-01 9.74962216e-01 3.00326767e-03 3.25144226e+02] [-9.74865319e-01 -2.22370547e-01 1.37458915e-02 6.73046557e+00] [ 1.40695631e-02 1.28621645e-04 9.99901011e-01 -3.20496917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.72, Z:-0.32 [[-2.25974255e-01 9.74128477e-01 3.05708997e-03 3.25145571e+02] [-9.74031666e-01 -2.25994898e-01 1.37339110e-02 6.71933727e+00] [ 1.40694806e-02 1.25807869e-04 9.99901012e-01 -3.20404234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:6.71, Z:-0.32 [[-2.28119936e-01 9.73628069e-01 3.11086449e-03 3.25145065e+02] [-9.73531377e-01 -2.28141123e-01 1.37217198e-02 6.71055208e+00] [ 1.40695676e-02 1.01673637e-04 9.99901014e-01 -3.21010029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.14, Y:6.67, Z:-0.32 [[-2.50084986e-01 9.68218717e-01 3.16470166e-03 3.25138375e+02] [-9.68121724e-01 -2.50104743e-01 1.37092918e-02 6.67291747e+00] [ 1.40650998e-02 3.64671619e-04 9.99901015e-01 -3.19300681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.14, Y:6.66, Z:-0.32 [[-2.54165801e-01 9.67154412e-01 3.47702756e-03 3.25135688e+02] [-9.67058375e-01 -2.54189563e-01 1.36296156e-02 6.66284622e+00] [ 1.40657670e-02 1.01693556e-04 9.99901067e-01 -3.19317334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.13, Y:6.65, Z:-0.32 [[-2.56934208e-01 9.66422447e-01 3.53075502e-03 3.25134722e+02] [-9.66326532e-01 -2.56958452e-01 1.36156833e-02 6.65146932e+00] [ 1.40657593e-02 8.64725548e-05 9.99901069e-01 -3.20398801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.13, Y:6.64, Z:-0.32 [[-2.62018494e-01 9.65056196e-01 3.58442666e-03 3.25133733e+02] [-9.64960346e-01 -2.62042990e-01 1.36015392e-02 6.63514977e+00] [ 1.40655236e-02 1.05025232e-04 9.99901070e-01 -3.20413753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.13, Y:6.63, Z:-0.32 [[-2.67478553e-01 9.63556947e-01 3.63772264e-03 3.25131797e+02] [-9.63461153e-01 -2.67503257e-01 1.35872703e-02 6.62510384e+00] [ 1.40652113e-02 1.29498950e-04 9.99901072e-01 -3.20476960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.13, Y:6.61, Z:-0.32 [[-2.72985883e-01 9.62010893e-01 3.70789588e-03 3.25128995e+02] [-9.61915217e-01 -2.73011029e-01 1.35680933e-02 6.61163502e+00] [ 1.40649501e-02 1.37216474e-04 9.99901074e-01 -3.19408360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.12, Y:6.57, Z:-0.32 [[-2.89449201e-01 9.57185988e-01 3.76091448e-03 3.25122697e+02] [-9.57090082e-01 -2.89473453e-01 1.35533813e-02 6.57471798e+00] [ 1.40617916e-02 3.23481436e-04 9.99901076e-01 -3.20241082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.12, Y:6.56, Z:-0.32 [[-2.93138045e-01 9.56061918e-01 3.96181580e-03 3.25119669e+02] [-9.55966694e-01 -2.93164768e-01 1.34943991e-02 6.56448776e+00] [ 1.40629459e-02 1.68357806e-04 9.99901098e-01 -3.19936340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.12, Y:6.55, Z:-0.32 [[-2.97911319e-01 9.54585112e-01 4.01379741e-03 3.25118077e+02] [-9.54489962e-01 -2.97938300e-01 1.34789198e-02 6.55221429e+00] [ 1.40626402e-02 1.84393446e-04 9.99901099e-01 -3.18680120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.12, Y:6.54, Z:-0.30 [[-2.92725391e-01 9.56187899e-01 4.06772740e-03 3.25121090e+02] [-9.56093123e-01 -2.92753648e-01 1.34626249e-02 6.54018482e+00] [ 1.40636411e-02 5.17259540e-05 9.99901101e-01 -3.04434283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.51, Y:6.11, Z:1.52 [[-2.12268920e-01 -9.77202824e-01 -4.06772740e-03 3.26505356e+02] [-9.77110723e-01 2.12304954e-01 -1.34626249e-02 6.10971819e+00] [ 1.40193138e-02 1.11692320e-03 -9.99901101e-01 1.52406395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.08, Y:6.40, Z:-0.32 [[-2.44843257e-01 9.69557490e-01 3.17052000e-03 3.25077713e+02] [-9.69461146e-01 -2.44863632e-01 1.36707119e-02 6.40298231e+00] [ 1.40308862e-02 2.73485687e-04 9.99901525e-01 -3.16813962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.08, Y:6.39, Z:-0.32 [[-2.49278800e-01 9.68426402e-01 3.22245928e-03 3.25076328e+02] [-9.68330121e-01 -2.49299465e-01 1.36584578e-02 6.38912675e+00] [ 1.40305686e-02 2.84359596e-04 9.99901526e-01 -3.16296142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:6.37, Z:-0.32 [[-2.56552791e-01 9.66524674e-01 3.27415668e-03 3.25073537e+02] [-9.66428396e-01 -2.56573462e-01 1.36460539e-02 6.36941793e+00] [ 1.40293095e-02 3.36695228e-04 9.99901528e-01 -3.15096492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:6.36, Z:-0.31 [[-2.59865892e-01 9.65638803e-01 3.37926725e-03 3.25074919e+02] [-9.65542786e-01 -2.59887716e-01 1.36199749e-02 6.35843311e+00] [ 1.40302063e-02 2.76539801e-04 9.99901534e-01 -3.14524795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:6.35, Z:-0.31 [[-2.63171788e-01 9.64742888e-01 3.43072611e-03 3.25074869e+02] [-9.64646963e-01 -2.63194008e-01 1.36070006e-02 6.34900990e+00] [ 1.40302036e-02 2.71539148e-04 9.99901535e-01 -3.14768573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.08, Y:6.34, Z:-0.32 [[-2.66665767e-01 9.63782778e-01 3.48222558e-03 3.25075511e+02] [-9.63686943e-01 -2.66688366e-01 1.35938084e-02 6.33722559e+00] [ 1.40301474e-02 2.69228016e-04 9.99901536e-01 -3.15817691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:6.33, Z:-0.31 [[-2.70109149e-01 9.62823201e-01 3.54008351e-03 3.25074110e+02] [-9.62727480e-01 -2.70132221e-01 1.35787244e-02 6.32603092e+00] [ 1.40302015e-02 2.59601997e-04 9.99901538e-01 -3.14934323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.422320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:325.07, Y:6.31, Z:-0.31 [[-2.73668852e-01 9.61817269e-01 3.59171320e-03 3.25074854e+02] [-9.61721641e-01 -2.73692298e-01 1.35650540e-02 6.31419263e+00] [ 1.40301275e-02 2.58104450e-04 9.99901540e-01 -3.14121845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45232058799996 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:325.07, Y:6.30, Z:-0.31 [[-2.78126934e-01 9.60537420e-01 3.64324460e-03 3.25073278e+02] [-9.60441864e-01 -2.78150664e-01 1.35511998e-02 6.30267835e+00] [ 1.40298054e-02 2.69829018e-04 9.99901541e-01 -3.14132659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48232058799994 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:325.07, Y:6.29, Z:-0.31 [[-2.81035962e-01 9.59690134e-01 3.69261762e-03 3.25072284e+02] [-9.59594680e-01 -2.81060099e-01 1.35377326e-02 6.29481513e+00] [ 1.40298759e-02 2.61173479e-04 9.99901542e-01 -3.13726485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:6.28, Z:-0.31 [[-2.84742741e-01 9.58596666e-01 3.74199638e-03 3.25073195e+02] [-9.58501298e-01 -2.84767206e-01 1.35240699e-02 6.28455883e+00] [ 1.40297262e-02 2.64172361e-04 9.99901544e-01 -3.12728213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:325.07, Y:6.27, Z:-0.31 [[-2.86996731e-01 9.57924048e-01 3.79404255e-03 3.25072410e+02] [-9.57828813e-01 -2.87021705e-01 1.35094531e-02 6.27411961e+00] [ 1.40300026e-02 2.43125620e-04 9.99901545e-01 -3.13970711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57232058799997 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:325.07, Y:6.27, Z:-0.31 [[-2.89130904e-01 9.57281854e-01 3.84354512e-03 3.25072024e+02] [-9.57186749e-01 -2.89156364e-01 1.34953546e-02 6.26594006e+00] [ 1.40302436e-02 2.22933612e-04 9.99901546e-01 -3.13179237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:6.24, Z:-0.31 [[-3.03347056e-01 9.52872169e-01 3.89775300e-03 3.25065343e+02] [-9.52776894e-01 -3.03371864e-01 1.34796800e-02 6.23633856e+00] [ 1.40268805e-02 3.75332230e-04 9.99901548e-01 -3.12579738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.06, Y:6.23, Z:-0.31 [[-3.04936524e-01 9.52363780e-01 4.11676035e-03 3.25064407e+02] [-9.52269344e-01 -3.04964264e-01 1.34124592e-02 6.22726175e+00] [ 1.40290051e-02 1.69684018e-04 9.99901574e-01 -3.11224344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.06, Y:6.20, Z:-0.31 [[-3.19942240e-01 9.47427888e-01 4.16663997e-03 3.25057492e+02] [-9.47333225e-01 -3.19969191e-01 1.33969460e-02 6.19624031e+00] [ 1.40258366e-02 3.39052426e-04 9.99901576e-01 -3.10673955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.692320588 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:325.06, Y:6.19, Z:-0.31 [[-3.21549319e-01 9.46882681e-01 4.38450771e-03 3.25056271e+02] [-9.46788924e-01 -3.21579182e-01 1.33252597e-02 6.18794673e+00] [ 1.40274241e-02 1.33524852e-04 9.99901602e-01 -3.10123393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.06, Y:6.18, Z:-0.31 [[-3.24060091e-01 9.46026116e-01 4.43242467e-03 3.25055019e+02] [-9.45932497e-01 -3.24090380e-01 1.33093019e-02 6.18112850e+00] [ 1.40274533e-02 1.20239040e-04 9.99901603e-01 -3.09842345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:6.17, Z:-0.31 [[-3.27464716e-01 9.44852785e-01 4.48046739e-03 3.25053343e+02] [-9.44759278e-01 -3.27495344e-01 1.32931090e-02 6.17205522e+00] [ 1.40273633e-02 1.20061028e-04 9.99901604e-01 -3.09614148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:6.16, Z:-0.31 [[-3.30666102e-01 9.43736945e-01 4.52859323e-03 3.25052998e+02] [-9.43643558e-01 -3.30697090e-01 1.32766936e-02 6.16065219e+00] [ 1.40272989e-02 1.16774698e-04 9.99901606e-01 -3.09851005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:6.15, Z:-0.31 [[-3.33465900e-01 9.42751043e-01 4.57862315e-03 3.25051911e+02] [-9.42657800e-01 -3.33497315e-01 1.32594178e-02 6.14969944e+00] [ 1.40272884e-02 1.05488850e-04 9.99901607e-01 -3.11242660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:6.14, Z:-0.31 [[-3.36356664e-01 9.41723309e-01 4.62648368e-03 3.25050279e+02] [-9.41630198e-01 -3.36388466e-01 1.32426972e-02 6.14153028e+00] [ 1.40272523e-02 9.78326995e-05 9.99901608e-01 -3.11031192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:6.13, Z:-0.31 [[-3.40190575e-01 9.40344897e-01 4.67424085e-03 3.25049033e+02] [-9.40251888e-01 -3.40222669e-01 1.32258189e-02 6.13254814e+00] [ 1.40271140e-02 1.04335165e-04 9.99901610e-01 -3.10158534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:6.12, Z:-0.31 [[-3.43780833e-01 9.39038041e-01 4.72202102e-03 3.25050294e+02] [-9.38945143e-01 -3.43813244e-01 1.32087379e-02 6.12381603e+00] [ 1.40270007e-02 1.07192220e-04 9.99901611e-01 -3.11001598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:6.11, Z:-0.31 [[-3.46987633e-01 9.37857575e-01 4.76983786e-03 3.25048838e+02] [-9.37764804e-01 -3.47020400e-01 1.31914481e-02 6.11482442e+00] [ 1.40269305e-02 1.04283274e-04 9.99901612e-01 -3.10072784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:6.10, Z:-0.31 [[-3.50066839e-01 9.36712335e-01 4.81767636e-03 3.25046778e+02] [-9.36619696e-01 -3.50099974e-01 1.31739537e-02 6.10381853e+00] [ 1.40268733e-02 9.94337524e-05 9.99901614e-01 -3.09865499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:6.10, Z:-0.31 [[-3.52645590e-01 9.35744311e-01 4.86540824e-03 3.25046222e+02] [-9.35651823e-01 -3.52679142e-01 1.31563017e-02 6.09632823e+00] [ 1.40268625e-02 8.71836898e-05 9.99901615e-01 -3.08830335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:6.09, Z:-0.31 [[-3.55252532e-01 9.34757455e-01 4.91307545e-03 3.25045236e+02] [-9.34665120e-01 -3.55286496e-01 1.31384768e-02 6.08827100e+00] [ 1.40268385e-02 7.53968913e-05 9.99901616e-01 -3.10437402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.04, Y:6.08, Z:-0.31 [[-3.58045866e-01 9.33690820e-01 4.96086165e-03 3.25043220e+02] [-9.33598633e-01 -3.58080225e-01 1.31204087e-02 6.07814605e+00] [ 1.40267916e-02 6.62544383e-05 9.99901618e-01 -3.10607089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.04, Y:6.07, Z:-0.31 [[-3.59893246e-01 9.32980035e-01 5.01062216e-03 3.25042428e+02] [-9.32888043e-01 -3.59928122e-01 1.31013778e-02 6.07217289e+00] [ 1.40267878e-02 4.07478965e-05 9.99901619e-01 -3.09113339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.04, Y:6.06, Z:-0.31 [[-3.62849404e-01 9.31834102e-01 5.05135522e-03 3.25039074e+02] [-9.31742218e-01 -3.62884560e-01 1.30856540e-02 6.06180075e+00] [ 1.40267174e-02 4.15608229e-05 9.99901620e-01 -3.08658979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.04, Y:6.05, Z:-0.31 [[-3.64615853e-01 9.31144069e-01 5.09926078e-03 3.25036768e+02] [-9.31052379e-01 -3.64651509e-01 1.30669593e-02 6.04988554e+00] [ 1.40266748e-02 1.67416285e-05 9.99901621e-01 -3.09684757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.27, Y:5.56, Z:1.53 [[-3.04631186e-01 -9.52448164e-01 -6.50656644e-03 3.26265762e+02] [-9.52368954e-01 3.04691331e-01 -1.25127059e-02 5.56270725e+00] [ 1.39001982e-02 2.38489143e-03 -9.99900543e-01 1.52892048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.98, Y:5.93, Z:-0.31 [[-3.02530665e-01 9.53130396e-01 4.20061271e-03 3.24982056e+02] [-9.53038375e-01 -3.02559826e-01 1.32441234e-02 5.93030657e+00] [ 1.38943132e-02 3.40833993e-06 9.99903469e-01 -3.07867361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.98, Y:5.92, Z:-0.31 [[-3.05706408e-01 9.52116349e-01 4.24864991e-03 3.24978975e+02] [-9.52024445e-01 -3.05735930e-01 1.32286953e-02 5.91866501e+00] [ 1.38942220e-02 -7.21636583e-07 9.99903471e-01 -3.08112782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.98, Y:5.91, Z:-0.31 [[-3.12375605e-01 9.49948958e-01 4.29636135e-03 3.24976291e+02] [-9.49857061e-01 -3.12405145e-01 1.32131816e-02 5.90533259e+00] [ 1.38940535e-02 4.65464306e-05 9.99903472e-01 -3.07857664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.98, Y:5.89, Z:-0.31 [[-3.16295828e-01 9.48650443e-01 4.39160637e-03 3.24975921e+02] [-9.48558861e-01 -3.16326315e-01 1.31814493e-02 5.89339967e+00] [ 1.38937684e-02 3.54030336e-06 9.99903477e-01 -3.09574568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.98, Y:5.89, Z:-0.31 [[-3.21643509e-01 9.46850435e-01 4.43928621e-03 3.24975964e+02] [-9.46758903e-01 -3.21674141e-01 1.31653720e-02 5.89121458e+00] [ 1.38936418e-02 3.16227077e-05 9.99903478e-01 -3.07845284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.97, Y:5.86, Z:-0.31 [[-3.40144286e-01 9.40362546e-01 4.48849335e-03 3.24965827e+02] [-9.40270651e-01 -3.40173807e-01 1.31485743e-02 5.85505416e+00] [ 1.38912947e-02 2.52013862e-04 9.99903480e-01 -3.07450888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.96, Y:5.84, Z:-0.31 [[-3.45097748e-01 9.38554815e-01 4.73330357e-03 3.24962143e+02] [-9.38463950e-01 -3.45130201e-01 1.30598478e-02 5.84336162e+00] [ 1.38909891e-02 6.48892988e-05 9.99903513e-01 -3.07330444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.96, Y:5.83, Z:-0.31 [[-3.49718864e-01 9.36842386e-01 4.80199531e-03 3.24961125e+02] [-9.36751707e-01 -3.49751826e-01 1.30345414e-02 5.83337848e+00] [ 1.38908175e-02 6.01477230e-05 9.99903516e-01 -3.06471329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.96, Y:5.82, Z:-0.31 [[-3.54174110e-01 9.35166925e-01 4.84986035e-03 3.24957959e+02] [-9.35076333e-01 -3.54207306e-01 1.30167076e-02 5.82056857e+00] [ 1.38906504e-02 7.51911847e-05 9.99903517e-01 -3.05776184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.96, Y:5.81, Z:-0.31 [[-3.60291229e-01 9.32827018e-01 4.89747304e-03 3.24955958e+02] [-9.32736453e-01 -3.60324494e-01 1.29987688e-02 5.80668480e+00] [ 1.38902822e-02 1.15290747e-04 9.99903519e-01 -3.05946563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.95, Y:5.80, Z:-0.31 [[-3.63453194e-01 9.31599291e-01 4.95351084e-03 3.24953922e+02] [-9.31508903e-01 -3.63486934e-01 1.29773790e-02 5.79696895e+00] [ 1.38902535e-02 1.02430408e-04 9.99903521e-01 -3.05822195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.95, Y:5.78, Z:-0.31 [[-3.68473737e-01 9.29624708e-01 5.00070969e-03 3.24950601e+02] [-9.29534386e-01 -3.68507647e-01 1.29591658e-02 5.78370932e+00] [ 1.38899605e-02 1.26780663e-04 9.99903522e-01 -3.05921175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.95, Y:5.77, Z:-0.31 [[-3.74684906e-01 9.27138434e-01 5.05426488e-03 3.24945661e+02] [-9.27048167e-01 -3.74718958e-01 1.29382448e-02 5.76645473e+00] [ 1.38894729e-02 1.62218031e-04 9.99903523e-01 -3.05853727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.94, Y:5.76, Z:-0.31 [[-3.78489353e-01 9.25591478e-01 5.12110212e-03 3.24941989e+02] [-9.25501428e-01 -3.78523968e-01 1.29117356e-02 5.75513242e+00] [ 1.38894523e-02 1.47367120e-04 9.99903526e-01 -3.05048457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.94, Y:5.74, Z:-0.31 [[-3.84837664e-01 9.22969774e-01 5.17394370e-03 3.24939757e+02] [-9.22879771e-01 -3.84872398e-01 1.28905263e-02 5.73862345e+00] [ 1.38888742e-02 1.85832032e-04 9.99903528e-01 -3.05048272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.94, Y:5.73, Z:-0.31 [[-3.88048791e-01 9.21623860e-01 5.25320436e-03 3.24938577e+02] [-9.21534172e-01 -3.88084319e-01 1.28581443e-02 5.72961439e+00] [ 1.38890588e-02 1.48580039e-04 9.99903531e-01 -3.05064428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.94, Y:5.72, Z:-0.31 [[-3.91436617e-01 9.20189813e-01 5.29934681e-03 3.24936635e+02] [-9.20100251e-01 -3.91472459e-01 1.28390990e-02 5.71941131e+00] [ 1.38889564e-02 1.49763162e-04 9.99903533e-01 -3.05786764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.93, Y:5.71, Z:-0.31 [[-3.94842727e-01 9.18733175e-01 5.34542022e-03 3.24933594e+02] [-9.18643740e-01 -3.94878880e-01 1.28198881e-02 5.70949195e+00] [ 1.38888501e-02 1.51302770e-04 9.99903534e-01 -3.05170354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.93, Y:5.70, Z:-0.30 [[-3.96334048e-01 9.18090589e-01 5.38450773e-03 3.24933501e+02] [-9.18001317e-01 -3.96370601e-01 1.28034498e-02 5.70327100e+00] [ 1.38889874e-02 1.31457912e-04 9.99903535e-01 -3.03739009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.09, Y:5.21, Z:1.53 [[-3.21823855e-01 -9.46775958e-01 -6.68515597e-03 3.26092714e+02] [-9.46699690e-01 3.21884439e-01 -1.22517492e-02 5.20828407e+00] [ 1.37515093e-02 2.38592993e-03 -9.99902597e-01 1.53404919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.88, Y:5.59, Z:-0.30 [[-3.36421316e-01 9.41700821e-01 4.50130225e-03 3.24881068e+02] [-9.41610992e-01 -3.36451400e-01 1.30075191e-02 5.58547402e+00] [ 1.37636609e-02 1.37531016e-04 9.99905267e-01 -3.00064250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.88, Y:5.58, Z:-0.30 [[-3.38250717e-01 9.41044940e-01 4.56872246e-03 3.24879278e+02] [-9.40955370e-01 -3.38281558e-01 1.29837954e-02 5.57583202e+00] [ 1.37638495e-02 9.28141693e-05 9.99905269e-01 -3.02209717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.88, Y:5.57, Z:-0.30 [[-3.38163275e-01 9.41076171e-01 4.60866350e-03 3.24879760e+02] [-9.40986797e-01 -3.38194675e-01 1.29696026e-02 5.57096200e+00] [ 1.37640094e-02 4.91517922e-05 9.99905270e-01 -3.03100506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.88, Y:5.56, Z:-0.30 [[-3.39921542e-01 9.40442308e-01 4.64875484e-03 3.24876531e+02] [-9.40353071e-01 -3.39953327e-01 1.29552165e-02 5.55941588e+00] [ 1.37639934e-02 3.22863018e-05 9.99905271e-01 -3.02775260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.86, Y:5.52, Z:-0.30 [[-3.49123618e-01 9.37064888e-01 4.70060400e-03 3.24864366e+02] [-9.36975595e-01 -3.49155243e-01 1.29363765e-02 5.51983310e+00] [ 1.37634647e-02 1.12043332e-04 9.99905273e-01 -3.01510977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.86, Y:5.50, Z:-0.30 [[-3.49608462e-01 9.36883186e-01 4.88052460e-03 3.24857220e+02] [-9.36794812e-01 -3.49642519e-01 1.28681379e-02 5.49646231e+00] [ 1.37623810e-02 -7.32402275e-05 9.99905291e-01 -2.99278156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.85, Y:5.48, Z:-0.30 [[-3.53482101e-01 9.35428285e-01 4.93234650e-03 3.24852797e+02] [-9.35340047e-01 -3.53516504e-01 1.28482439e-02 5.48461733e+00] [ 1.37622766e-02 -7.17969631e-05 9.99905293e-01 -2.99069466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.85, Y:5.47, Z:-0.30 [[-3.55281223e-01 9.34746168e-01 4.98543002e-03 3.24848097e+02] [-9.34658152e-01 -3.55316185e-01 1.28276131e-02 5.47166931e+00] [ 1.37619662e-02 -1.02262737e-04 9.99905294e-01 -2.98642715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.84, Y:5.46, Z:-0.30 [[-3.57652128e-01 9.33841381e-01 5.02293106e-03 3.24843449e+02] [-9.33753483e-01 -3.57687382e-01 1.28129119e-02 5.45920175e+00] [ 1.37618664e-02 -1.07614160e-04 9.99905295e-01 -3.01857806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.84, Y:5.44, Z:-0.30 [[-3.58174539e-01 9.33640896e-01 5.06724711e-03 3.24836802e+02] [-9.33553225e-01 -3.58210351e-01 1.27953618e-02 5.44358900e+00] [ 1.37614134e-02 -1.47572075e-04 9.99905296e-01 -2.99349163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.83, Y:5.43, Z:-0.30 [[-3.59830876e-01 9.33003546e-01 5.11106732e-03 3.24830160e+02] [-9.32916059e-01 -3.59867133e-01 1.27778339e-02 5.43296247e+00] [ 1.37610695e-02 -1.70337599e-04 9.99905297e-01 -3.02504995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.83, Y:5.43, Z:-0.30 [[-3.60814583e-01 9.32623362e-01 5.14790315e-03 3.24825810e+02] [-9.32536048e-01 -3.60851252e-01 1.27629763e-02 5.42634703e+00] [ 1.37606772e-02 -1.95537276e-04 9.99905298e-01 -2.99101076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.82, Y:5.42, Z:-0.30 [[-3.64083299e-01 9.31351958e-01 5.18469579e-03 3.24821423e+02] [-9.31264728e-01 -3.64120166e-01 1.27480126e-02 5.41809834e+00] [ 1.37607388e-02 -1.86985841e-04 9.99905299e-01 -2.98434052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.82, Y:5.41, Z:-0.30 [[-3.67254371e-01 9.30105851e-01 5.22807284e-03 3.24817875e+02] [-9.30018748e-01 -3.67291534e-01 1.27301984e-02 5.40910199e+00] [ 1.37606589e-02 -1.86984757e-04 9.99905300e-01 -2.98271434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.81, Y:5.40, Z:-0.30 [[-3.71533749e-01 9.28404484e-01 5.27138867e-03 3.24812481e+02] [-9.28317464e-01 -3.71571104e-01 1.27122366e-02 5.39936808e+00] [ 1.37607932e-02 -1.70497237e-04 9.99905301e-01 -3.00128809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.81, Y:5.39, Z:-0.30 [[-3.76338768e-01 9.26466884e-01 5.31460653e-03 3.24807247e+02] [-9.26379926e-01 -3.76376264e-01 1.26941428e-02 5.39044773e+00] [ 1.37609946e-02 -1.46046756e-04 9.99905302e-01 -2.99652267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.80, Y:5.38, Z:-0.30 [[-3.82958560e-01 9.23749931e-01 5.36706376e-03 3.24802960e+02] [-9.23663017e-01 -3.82996153e-01 1.26719251e-02 5.38334199e+00] [ 1.37612547e-02 -1.04536125e-04 9.99905304e-01 -2.99402976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.80, Y:5.37, Z:-0.30 [[-3.86793074e-01 9.22150540e-01 5.43127785e-03 3.24799187e+02] [-9.22063855e-01 -3.86831187e-01 1.26443424e-02 5.37454186e+00] [ 1.37609749e-02 -1.17240908e-04 9.99905306e-01 -2.98078189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.80, Y:5.37, Z:-0.30 [[-3.92317009e-01 9.19813819e-01 5.46840091e-03 3.24797094e+02] [-9.19727130e-01 -3.92355112e-01 1.26282671e-02 5.37380753e+00] [ 1.37612096e-02 -7.51526918e-05 9.99905307e-01 -2.96831850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.79, Y:5.37, Z:-0.30 [[-3.95812625e-01 9.18314789e-01 5.50578824e-03 3.24794173e+02] [-9.18228183e-01 -3.95850911e-01 1.26119456e-02 5.36672826e+00] [ 1.37612074e-02 -6.36026501e-05 9.99905308e-01 -2.99670080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.80, Y:5.37, Z:-0.30 [[-4.01381918e-01 9.15894006e-01 5.54303096e-03 3.24795960e+02] [-9.15807394e-01 -4.01420190e-01 1.25955559e-02 5.36597841e+00] [ 1.37612787e-02 -2.07203794e-05 9.99905309e-01 -3.01453209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.79, Y:5.35, Z:-0.30 [[-4.05799087e-01 9.13945227e-01 5.58780502e-03 3.24791420e+02] [-9.13858703e-01 -4.05837557e-01 1.25756612e-02 5.35479535e+00] [ 1.37612067e-02 -3.27241469e-06 9.99905310e-01 -3.01374320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.79, Y:5.35, Z:-0.30 [[-4.14716495e-01 9.09933240e-01 5.63279572e-03 3.24789146e+02] [-9.09846617e-01 -4.14754738e-01 1.25554769e-02 5.35002942e+00] [ 1.37608745e-02 8.19832515e-05 9.99905311e-01 -3.01086973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.78, Y:5.31, Z:-0.30 [[-4.51237827e-01 8.92385477e-01 5.70817808e-03 3.24776445e+02] [-8.92297804e-01 -4.51273587e-01 1.25211113e-02 5.30661063e+00] [ 1.37496079e-02 5.56604306e-04 9.99905315e-01 -2.99377484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.77, Y:5.30, Z:-0.30 [[-4.57815633e-01 8.89025614e-01 6.18907637e-03 3.24774951e+02] [-8.88940824e-01 -4.57857450e-01 1.22787172e-02 5.29576664e+00] [ 1.37498088e-02 1.19666050e-04 9.99905460e-01 -2.99372135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.77, Y:5.28, Z:-0.30 [[-4.61393801e-01 8.87173548e-01 6.23354210e-03 3.24769502e+02] [-8.87088895e-01 -4.61435890e-01 1.22561016e-02 5.28322589e+00] [ 1.37496692e-02 1.25183352e-04 9.99905461e-01 -2.98972198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.77, Y:5.27, Z:-0.30 [[-4.66567259e-01 8.84463494e-01 6.27069740e-03 3.24765007e+02] [-8.84378851e-01 -4.66609367e-01 1.22370620e-02 5.26882896e+00] [ 1.37492007e-02 1.63740307e-04 9.99905462e-01 -2.97640037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.76, Y:5.26, Z:-0.30 [[-4.70578616e-01 8.82335527e-01 6.30747592e-03 3.24761152e+02] [-8.82250948e-01 -4.70620850e-01 1.22180754e-02 5.25623823e+00] [ 1.37488717e-02 1.84788413e-04 9.99905463e-01 -2.98664639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.76, Y:5.24, Z:-0.30 [[-4.73832532e-01 8.80592123e-01 6.34392352e-03 3.24757659e+02] [-8.80507641e-01 -4.73874958e-01 1.21991215e-02 5.24457706e+00] [ 1.37486768e-02 1.94467513e-04 9.99905464e-01 -2.95491333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.76, Y:5.24, Z:-0.30 [[-4.78055059e-01 8.78306647e-01 6.38700021e-03 3.24755468e+02] [-8.78222263e-01 -4.78097676e-01 1.21765264e-02 5.23513265e+00] [ 1.37483340e-02 2.11844254e-04 9.99905465e-01 -2.96054588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.75, Y:5.23, Z:-0.29 [[-4.80391262e-01 8.77030775e-01 6.42308061e-03 3.24753951e+02] [-8.76946531e-01 -4.80434155e-01 1.21574642e-02 5.22581703e+00] [ 1.37483376e-02 2.07641322e-04 9.99905466e-01 -2.93881119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.75, Y:5.22, Z:-0.29 [[-4.82951185e-01 8.75623454e-01 6.45913697e-03 3.24750470e+02] [-8.75539341e-01 -4.82994332e-01 1.21382776e-02 5.21550768e+00] [ 1.37482871e-02 2.06967028e-04 9.99905466e-01 -2.94112741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.74, Y:5.17, Z:-0.29 [[-5.15394954e-01 8.56928150e-01 6.49517191e-03 3.24737305e+02] [-8.56842721e-01 -5.15435430e-01 1.21189646e-02 5.17370765e+00] [ 1.37329237e-02 6.80712450e-04 9.99905467e-01 -2.94337777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.73, Y:5.17, Z:-0.29 [[-5.16843204e-01 8.56051831e-01 6.95450247e-03 3.24733690e+02] [-8.55969835e-01 -5.16889962e-01 1.18493819e-02 5.16695311e+00] [ 1.37383976e-02 1.71428182e-04 9.99905609e-01 -2.93846997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.73, Y:5.16, Z:-0.29 [[-5.18422456e-01 8.55096090e-01 6.98805276e-03 3.24731780e+02] [-8.55014275e-01 -5.18469528e-01 1.18295628e-02 5.16161839e+00] [ 1.37385053e-02 1.57826162e-04 9.99905610e-01 -2.93734219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.73, Y:5.15, Z:-0.29 [[-5.20713818e-01 8.53702416e-01 7.02170379e-03 3.24726140e+02] [-8.53620743e-01 -5.20761136e-01 1.18095547e-02 5.14936575e+00] [ 1.37384758e-02 1.55526296e-04 9.99905611e-01 -2.92191001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.72, Y:5.15, Z:-0.29 [[-5.21833383e-01 8.53018109e-01 7.07295410e-03 3.24724166e+02] [-8.52936789e-01 -5.21881302e-01 1.17787798e-02 5.14559773e+00] [ 1.37387549e-02 1.13777736e-04 9.99905612e-01 -2.91058704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.72, Y:5.14, Z:-0.29 [[-5.23571708e-01 8.51951971e-01 7.10674520e-03 3.24722301e+02] [-8.51870831e-01 -5.23619928e-01 1.17583565e-02 5.14032493e+00] [ 1.37387884e-02 1.02313839e-04 9.99905613e-01 -2.91044144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.72, Y:5.13, Z:-0.29 [[-5.25784907e-01 8.50587600e-01 7.13900914e-03 3.24716925e+02] [-8.50506601e-01 -5.25833361e-01 1.17387349e-02 5.12932436e+00] [ 1.37387515e-02 1.00275241e-04 9.99905614e-01 -2.91751531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.71, Y:5.12, Z:-0.29 [[-5.28039824e-01 8.49189330e-01 7.17118859e-03 3.24714167e+02] [-8.49108469e-01 -5.28088508e-01 1.17190435e-02 5.12266072e+00] [ 1.37387089e-02 9.90046862e-05 9.99905615e-01 -2.92487404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.71, Y:5.11, Z:-0.29 [[-5.30455548e-01 8.47682146e-01 7.20362315e-03 3.24709098e+02] [-8.47601417e-01 -5.30504449e-01 1.16990721e-02 5.11193782e+00] [ 1.37386487e-02 1.00036520e-04 9.99905615e-01 -2.91372352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.71, Y:5.11, Z:-0.29 [[-5.32675518e-01 8.46288623e-01 7.23594166e-03 3.24707222e+02] [-8.46208038e-01 -5.32724654e-01 1.16790487e-02 5.10751642e+00] [ 1.37386105e-02 9.80313126e-05 9.99905616e-01 -2.89549706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:324.71, Y:5.11, Z:-0.28 [[-5.33280125e-01 8.45907493e-01 7.26783548e-03 3.24712304e+02] [-8.45827143e-01 -5.33329643e-01 1.16591674e-02 5.11273035e+00] [ 1.37387292e-02 7.02697306e-05 9.99905617e-01 -2.78840769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.71, Y:4.46, Z:1.54 [[-4.68609319e-01 -8.83375619e-01 -7.26783548e-03 3.25708638e+02] [-8.83299192e-01 4.68664700e-01 -1.16591674e-02 4.46088417e+00] [ 1.37056022e-02 9.56078710e-04 -9.99905617e-01 1.54079304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.64, Y:5.00, Z:-0.29 [[-4.79388443e-01 8.77578886e-01 6.48228231e-03 3.24636926e+02] [-8.77495737e-01 -4.79432256e-01 1.20806875e-02 4.99609473e+00] [ 1.37095715e-02 1.03166860e-04 9.99906014e-01 -2.87159839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.63, Y:4.99, Z:-0.29 [[-4.81739740e-01 8.76290107e-01 6.51701159e-03 3.24633518e+02] [-8.76207094e-01 -4.81783808e-01 1.20619234e-02 4.98736422e+00] [ 1.37095348e-02 1.00456048e-04 9.99906015e-01 -2.86730520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.63, Y:4.98, Z:-0.28 [[-4.84421089e-01 8.74810438e-01 6.55027410e-03 3.24630828e+02] [-8.74727535e-01 -4.84465361e-01 1.20438329e-02 4.97780070e+00] [ 1.37094517e-02 1.04581546e-04 9.99906016e-01 -2.84629762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.63, Y:4.97, Z:-0.28 [[-4.85997543e-01 8.73935355e-01 6.58660956e-03 3.24631342e+02] [-8.73852641e-01 -4.86042166e-01 1.20239287e-02 4.97139084e+00] [ 1.37095064e-02 8.78736423e-05 9.99906016e-01 -2.84104146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.63, Y:4.96, Z:-0.28 [[-4.87969802e-01 8.72835384e-01 6.62305576e-03 3.24628281e+02] [-8.72752841e-01 -4.88014740e-01 1.20038197e-02 4.96289023e+00] [ 1.37095074e-02 7.72107633e-05 9.99906017e-01 -2.83728808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.62, Y:4.95, Z:-0.28 [[-4.89808454e-01 8.71804663e-01 6.65641206e-03 3.24624998e+02] [-8.71722277e-01 -4.89853677e-01 1.19852942e-02 4.95474511e+00] [ 1.37095033e-02 6.79557425e-05 9.99906018e-01 -2.84448889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.62, Y:4.92, Z:-0.27 [[-5.42580787e-01 8.39969208e-01 7.60389836e-03 3.24621326e+02] [-8.39891107e-01 -5.42634040e-01 1.14554699e-02 4.91971866e+00] [ 1.37483761e-02 -1.70928706e-04 9.99905472e-01 -2.73659717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.59, Y:4.29, Z:1.54 [[-4.87886555e-01 -8.72873926e-01 -7.60389836e-03 3.25590019e+02] [-8.72799381e-01 4.87944681e-01 -1.14554699e-02 4.28633758e+00] [ 1.37094628e-02 1.04770802e-03 -9.99905472e-01 1.53988838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.362320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:324.55, Y:4.82, Z:-0.28 [[-4.86545626e-01 8.73629657e-01 6.67649950e-03 3.24547773e+02] [-8.73547614e-01 -4.86591432e-01 1.19726394e-02 4.82098193e+00] [ 1.37083803e-02 -7.00485432e-06 9.99906036e-01 -2.82875299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.54, Y:4.81, Z:-0.28 [[-4.89956023e-01 8.71721329e-01 6.70973742e-03 3.24541296e+02] [-8.71639362e-01 -4.90001965e-01 1.19539831e-02 4.80901381e+00] [ 1.37083265e-02 8.45477423e-06 9.99906036e-01 -2.80247640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.54, Y:4.22, Z:1.54 [[-4.41056627e-01 -8.97446432e-01 -7.67806277e-03 3.25537984e+02] [-8.97375909e-01 4.41119530e-01 -1.14034211e-02 4.21785973e+00] [ 1.36209030e-02 1.86055411e-03 -9.99905500e-01 1.53951133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.47, Y:4.69, Z:-0.28 [[-4.28680930e-01 9.03436662e-01 5.90401935e-03 3.24465328e+02] [-9.03353503e-01 -4.28721578e-01 1.22579174e-02 4.69193320e+00] [ 1.36054325e-02 -7.86811139e-05 9.99907439e-01 -2.78983855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.46, Y:4.68, Z:-0.28 [[-4.30794629e-01 9.02430443e-01 5.93998016e-03 3.24462020e+02] [-9.02347429e-01 -4.30835570e-01 1.22404666e-02 4.68400824e+00] [ 1.36053244e-02 -8.67985577e-05 9.99907440e-01 -2.77638517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.46, Y:4.67, Z:-0.28 [[-4.32312609e-01 9.01704008e-01 5.97416831e-03 3.24457894e+02] [-9.01621155e-01 -4.32353873e-01 1.22237577e-02 4.67381836e+00] [ 1.36051661e-02 -1.01951957e-04 9.99907440e-01 -2.77616679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.45, Y:4.65, Z:-0.28 [[-4.36887537e-01 8.99496070e-01 6.00827790e-03 3.24448340e+02] [-8.99413240e-01 -4.36928843e-01 1.22069689e-02 4.65411385e+00] [ 1.36053105e-02 -7.08521003e-05 9.99907441e-01 -2.77506156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.44, Y:4.64, Z:-0.28 [[-4.38839941e-01 8.98544646e-01 6.08482896e-03 3.24443103e+02] [-8.98462253e-01 -4.38882106e-01 1.21686904e-02 4.64299964e+00] [ 1.36046342e-02 -1.26881758e-04 9.99907445e-01 -2.76528029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.44, Y:4.63, Z:-0.28 [[-4.42162395e-01 8.96914132e-01 6.12013106e-03 3.24439928e+02] [-8.96831829e-01 -4.42204733e-01 1.21509096e-02 4.63269447e+00] [ 1.36046735e-02 -1.16053058e-04 9.99907445e-01 -2.76200429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.44, Y:4.62, Z:-0.28 [[-4.44372300e-01 8.95821063e-01 6.15485994e-03 3.24435691e+02] [-8.95738899e-01 -4.44414906e-01 1.21332927e-02 4.62336740e+00] [ 1.36045706e-02 -1.21448295e-04 9.99907446e-01 -2.76228858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.45, Y:4.09, Z:1.54 [[-4.04242071e-01 -9.14623244e-01 -7.25742877e-03 3.25454962e+02] [-9.14552159e-01 4.04302461e-01 -1.15701620e-02 4.09252597e+00] [ 1.35165354e-02 1.96015089e-03 -9.99906726e-01 1.54128792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.38, Y:4.52, Z:-0.28 [[-3.84832476e-01 9.22971192e-01 5.30506856e-03 3.24376113e+02] [-9.22887831e-01 -3.84869021e-01 1.24051246e-02 4.51935684e+00] [ 1.34913292e-02 -1.22088398e-04 9.99908980e-01 -2.76263611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:325.42, Y:4.05, Z:1.54 [[-3.44913907e-01 -9.38612182e-01 -6.44733605e-03 3.25419407e+02] [-9.38538602e-01 3.44968692e-01 -1.19119312e-02 4.04884118e+00] [ 1.34048128e-02 1.94248303e-03 -9.99908265e-01 1.54157185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.31, Y:4.40, Z:-0.27 [[-3.24420547e-01 9.45902457e-01 4.45537726e-03 3.24313824e+02] [-9.45818335e-01 -3.24451116e-01 1.26154591e-02 4.39659804e+00] [ 1.33785459e-02 -1.21263364e-04 9.99910496e-01 -2.72458656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.31, Y:4.38, Z:-0.27 [[-3.26314980e-01 9.45250291e-01 4.51911176e-03 3.24308849e+02] [-9.45166422e-01 -3.26346230e-01 1.25925867e-02 4.38225465e+00] [ 1.33779413e-02 -1.62163030e-04 9.99910498e-01 -2.71317374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.31, Y:4.37, Z:-0.27 [[-3.27214856e-01 9.44938987e-01 4.55509032e-03 3.24306746e+02] [-9.44855269e-01 -3.27246506e-01 1.25795588e-02 4.36697281e+00] [ 1.33775529e-02 -1.87682586e-04 9.99910499e-01 -2.72111655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.31, Y:4.36, Z:-0.27 [[-3.31411340e-01 9.43475198e-01 4.59071081e-03 3.24305454e+02] [-9.43391519e-01 -3.31443092e-01 1.25665462e-02 4.35816655e+00] [ 1.33777840e-02 -1.66141742e-04 9.99910500e-01 -2.72329136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.30, Y:4.35, Z:-0.27 [[-3.36083087e-01 9.41820908e-01 4.64074345e-03 3.24302852e+02] [-9.41737326e-01 -3.36115091e-01 1.25480422e-02 4.34775403e+00] [ 1.33778324e-02 -1.53176558e-04 9.99910501e-01 -2.74962535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.30, Y:4.34, Z:-0.27 [[-3.38758574e-01 9.40861669e-01 4.68494158e-03 3.24299324e+02] [-9.40778224e-01 -3.38790929e-01 1.25315186e-02 4.33822531e+00] [ 1.33776413e-02 -1.62331633e-04 9.99910502e-01 -2.74799558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.30, Y:4.33, Z:-0.27 [[-3.43211146e-01 9.39246414e-01 4.72052383e-03 3.24303180e+02] [-9.39163001e-01 -3.43243581e-01 1.25181007e-02 4.33386303e+00] [ 1.33778707e-02 -1.36989622e-04 9.99910503e-01 -2.69473309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.31, Y:4.32, Z:-0.27 [[-3.47888531e-01 9.37523836e-01 4.75674504e-03 3.24307378e+02] [-9.37440450e-01 -3.47921033e-01 1.25043219e-02 4.32291699e+00] [ 1.33780715e-02 -1.09055024e-04 9.99910504e-01 -2.71334113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.30, Y:4.31, Z:-0.27 [[-3.51802121e-01 9.36062120e-01 4.79319172e-03 3.24302571e+02] [-9.35978789e-01 -3.51834761e-01 1.24903354e-02 4.31005706e+00] [ 1.33781413e-02 -9.21992736e-05 9.99910504e-01 -2.71128574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.30, Y:4.30, Z:-0.27 [[-3.55379957e-01 9.34709372e-01 4.84529223e-03 3.24301621e+02] [-9.34626190e-01 -3.55412973e-01 1.24700916e-02 4.30248789e+00] [ 1.33779912e-02 -9.69163873e-05 9.99910506e-01 -2.71184641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.30, Y:4.29, Z:-0.27 [[-3.57959205e-01 9.33724467e-01 4.88137811e-03 3.24298230e+02] [-9.33641387e-01 -3.57992473e-01 1.24559499e-02 4.29370569e+00] [ 1.33779218e-02 -9.87346948e-05 9.99910507e-01 -2.71037056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.29, Y:4.28, Z:-0.27 [[-3.60699714e-01 9.32669047e-01 4.91573297e-03 3.24294537e+02] [-9.32586054e-01 -3.60733196e-01 1.24423770e-02 4.28422645e+00] [ 1.33778880e-02 -9.63821818e-05 9.99910507e-01 -2.70880332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.29, Y:4.28, Z:-0.27 [[-3.63273309e-01 9.31669458e-01 4.95223298e-03 3.24291095e+02] [-9.31586570e-01 -3.63307049e-01 1.24278325e-02 4.27546390e+00] [ 1.33778131e-02 -9.87338930e-05 9.99910508e-01 -2.70732450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.29, Y:4.27, Z:-0.27 [[-3.65418188e-01 9.30830104e-01 4.98650967e-03 3.24288635e+02] [-9.30747326e-01 -3.65452194e-01 1.24140642e-02 4.26637704e+00] [ 1.33777156e-02 -1.04855707e-04 9.99910509e-01 -2.69379507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.28, Y:4.25, Z:-0.27 [[-3.70391411e-01 9.28862204e-01 5.02074808e-03 3.24281049e+02] [-9.28779433e-01 -3.70425432e-01 1.24002013e-02 4.24618920e+00] [ 1.33778911e-02 -7.02394834e-05 9.99910510e-01 -2.67411392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.28, Y:4.23, Z:-0.27 [[-3.70435234e-01 9.28844300e-01 5.09930613e-03 3.24275951e+02] [-9.28761969e-01 -3.70470298e-01 1.23678115e-02 4.22924106e+00] [ 1.33769127e-02 -1.54568442e-04 9.99910513e-01 -2.67175825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.27, Y:4.22, Z:-0.27 [[-3.72407918e-01 9.28054952e-01 5.13298665e-03 3.24272852e+02] [-9.27972739e-01 -3.72443256e-01 1.23538174e-02 4.21880252e+00] [ 1.33767676e-02 -1.62612279e-04 9.99910514e-01 -2.66999797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.27, Y:4.21, Z:-0.27 [[-3.73653716e-01 9.27553885e-01 5.16635882e-03 3.24270120e+02] [-9.27471816e-01 -3.73689387e-01 1.23398453e-02 4.20622017e+00] [ 1.33764849e-02 -1.80823130e-04 9.99910514e-01 -2.66700299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.27, Y:4.20, Z:-0.27 [[-3.76564964e-01 9.26375622e-01 5.19954492e-03 3.24267644e+02] [-9.26293634e-01 -3.76600819e-01 1.23258461e-02 4.19831848e+00] [ 1.33765162e-02 -1.74823572e-04 9.99910515e-01 -2.66267465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.26, Y:4.17, Z:-0.27 [[-3.87480703e-01 9.21862954e-01 5.23434869e-03 3.24256318e+02] [-9.21780748e-01 -3.87516052e-01 1.23110484e-02 4.16777543e+00] [ 1.33774936e-02 -5.46281630e-05 9.99910516e-01 -2.66450353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.25, Y:4.16, Z:-0.27 [[-3.91298759e-01 9.20247977e-01 5.37970676e-03 3.24254726e+02] [-9.20166491e-01 -3.91335706e-01 1.22471986e-02 4.16116838e+00] [ 1.33757311e-02 -1.57912283e-04 9.99910528e-01 -2.65787901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.25, Y:4.15, Z:-0.26 [[-3.93165506e-01 9.19451717e-01 5.42444967e-03 3.24250339e+02] [-9.19370429e-01 -3.93202883e-01 1.22273492e-02 4.15002643e+00] [ 1.33753665e-02 -1.79706689e-04 9.99910530e-01 -2.64696750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.25, Y:4.15, Z:-0.26 [[-3.95792739e-01 9.18323659e-01 5.45575792e-03 3.24250004e+02] [-9.18242455e-01 -3.95830300e-01 1.22133637e-02 4.14680898e+00] [ 1.33753751e-02 -1.75747885e-04 9.99910530e-01 -2.64096476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.25, Y:4.14, Z:-0.27 [[-3.98590000e-01 9.17112809e-01 5.48708552e-03 3.24249695e+02] [-9.17031685e-01 -3.98627730e-01 1.21992729e-02 4.13747279e+00] [ 1.33754139e-02 -1.69323092e-04 9.99910531e-01 -2.65252259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.23, Y:4.09, Z:-0.27 [[-4.18420269e-01 9.08236765e-01 5.51888959e-03 3.24234281e+02] [-9.08155029e-01 -4.18456655e-01 1.21848679e-02 4.09493131e+00] [ 1.33761611e-02 8.63883693e-05 9.99910531e-01 -2.65108205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.23, Y:4.09, Z:-0.26 [[-4.21561439e-01 9.06781430e-01 5.77849103e-03 3.24230813e+02] [-9.06701236e-01 -4.21601012e-01 1.20604868e-02 4.08774677e+00] [ 1.33724431e-02 -1.55128811e-04 9.99910573e-01 -2.64325058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.23, Y:4.08, Z:-0.26 [[-4.25224634e-01 9.05069199e-01 5.80995874e-03 3.24226983e+02] [-9.04989052e-01 -4.25264302e-01 1.20453086e-02 4.08284880e+00] [ 1.33726058e-02 -1.35987127e-04 9.99910573e-01 -2.62345923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.22, Y:4.08, Z:-0.26 [[-4.27085555e-01 9.04192350e-01 5.84147258e-03 3.24223799e+02] [-9.04112330e-01 -4.27125478e-01 1.20300062e-02 4.07500009e+00] [ 1.33724814e-02 -1.43505487e-04 9.99910574e-01 -2.61838252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.22, Y:4.06, Z:-0.26 [[-4.31268784e-01 9.02204382e-01 5.87268660e-03 3.24220505e+02] [-9.02124386e-01 -4.31308751e-01 1.20147492e-02 4.06403197e+00] [ 1.33727005e-02 -1.16307533e-04 9.99910575e-01 -2.63274469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.22, Y:4.06, Z:-0.26 [[-4.35243589e-01 9.00293288e-01 5.91725497e-03 3.24218607e+02] [-9.00213413e-01 -4.35283798e-01 1.19927590e-02 4.06027301e+00] [ 1.33726857e-02 -1.07020804e-04 9.99910576e-01 -2.62268993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.22, Y:4.06, Z:-0.26 [[-4.40232711e-01 8.97863985e-01 5.95191700e-03 3.24217363e+02] [-8.97784120e-01 -4.40272938e-01 1.19755318e-02 4.05847735e+00] [ 1.33728667e-02 -7.15157378e-05 9.99910577e-01 -2.59921990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.21, Y:4.02, Z:-0.26 [[-5.01934748e-01 8.64876850e-01 7.03872266e-03 3.24213820e+02] [-8.64801368e-01 -5.01983976e-01 1.14315903e-02 4.02419999e+00] [ 1.34202438e-02 -3.49184612e-04 9.99909884e-01 -2.58890897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.22, Y:4.03, Z:-0.26 [[-5.08357342e-01 8.61119300e-01 6.80909395e-03 3.24219439e+02] [-8.61041613e-01 -5.08402941e-01 1.15667680e-02 4.02946275e+00] [ 1.34221306e-02 1.71382090e-05 9.99909919e-01 -2.59975631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.21, Y:4.02, Z:-0.26 [[-5.14188375e-01 8.57649997e-01 6.84089770e-03 3.24213387e+02] [-8.57572252e-01 -5.14233874e-01 1.15479278e-02 4.01766910e+00] [ 1.34219015e-02 7.12461514e-05 9.99909920e-01 -2.59777752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.21, Y:4.00, Z:-0.26 [[-5.20249193e-01 8.53986742e-01 6.88635818e-03 3.24207467e+02] [-8.53909035e-01 -5.20294755e-01 1.15207545e-02 4.00326166e+00] [ 1.34215076e-02 1.13339747e-04 9.99909921e-01 -2.59402413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.20, Y:3.99, Z:-0.26 [[-5.24449402e-01 8.51413517e-01 6.91720645e-03 3.24202833e+02] [-8.51335831e-01 -5.24494997e-01 1.15022029e-02 3.99235518e+00] [ 1.34211712e-02 1.43457736e-04 9.99909922e-01 -2.58503832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.20, Y:3.98, Z:-0.26 [[-5.29557397e-01 8.48245651e-01 6.94835409e-03 3.24199994e+02] [-8.48167938e-01 -5.29602947e-01 1.14833561e-02 3.98019233e+00] [ 1.34205757e-02 1.87724991e-04 9.99909922e-01 -2.58358117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.20, Y:3.97, Z:-0.26 [[-5.33011915e-01 8.46078950e-01 6.97924833e-03 3.24195452e+02] [-8.46001298e-01 -5.33057566e-01 1.14645487e-02 3.96946670e+00] [ 1.34202544e-02 2.06287897e-04 9.99909923e-01 -2.58188369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.19, Y:3.96, Z:-0.26 [[-5.36961744e-01 8.43577467e-01 7.01026748e-03 3.24189266e+02] [-8.43499849e-01 -5.37007452e-01 1.14455498e-02 3.95655851e+00] [ 1.34197738e-02 2.32662816e-04 9.99909924e-01 -2.57615479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.19, Y:3.95, Z:-0.26 [[-5.40758135e-01 8.41148660e-01 7.04066365e-03 3.24186023e+02] [-8.41071080e-01 -5.40803907e-01 1.14268211e-02 3.94527617e+00] [ 1.34192737e-02 2.57447914e-04 9.99909924e-01 -2.56066122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.06, Y:3.39, Z:1.54 [[-4.55553370e-01 -8.90173234e-01 -7.92090052e-03 3.25061137e+02] [-8.90109203e-01 4.55617415e-01 -1.08802118e-02 3.38999073e+00] [ 1.32941735e-02 2.09394931e-03 -9.99909436e-01 1.54091919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.12, Y:3.85, Z:-0.25 [[-4.83649281e-01 8.75239619e-01 6.24361209e-03 3.24122283e+02] [-8.75160505e-01 -4.83689526e-01 1.17699882e-02 3.85084666e+00] [ 1.33215298e-02 2.28383637e-04 9.99911238e-01 -2.54301315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.12, Y:3.84, Z:-0.25 [[-4.85251967e-01 8.74351849e-01 6.27479061e-03 3.24120917e+02] [-8.74272876e-01 -4.85292486e-01 1.17533429e-02 3.83950775e+00] [ 1.33216658e-02 2.17453517e-04 9.99911239e-01 -2.54876504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.12, Y:3.83, Z:-0.25 [[-4.86924166e-01 8.73421486e-01 6.30586804e-03 3.24120008e+02] [-8.73342651e-01 -4.86964952e-01 1.17366456e-02 3.83272719e+00] [ 1.33217752e-02 2.07672854e-04 9.99911240e-01 -2.54825229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.12, Y:3.82, Z:-0.25 [[-4.89304990e-01 8.72089715e-01 6.33690105e-03 3.24117136e+02] [-8.72010985e-01 -4.89345978e-01 1.17198661e-02 3.82223261e+00] [ 1.33217118e-02 2.08741651e-04 9.99911240e-01 -2.53983246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.11, Y:3.79, Z:-0.25 [[-5.46614528e-01 8.37352658e-01 7.28587872e-03 3.24111918e+02] [-8.37277725e-01 -5.46663082e-01 1.12020792e-02 3.78599973e+00] [ 1.33630117e-02 2.29152799e-05 9.99910711e-01 -2.52831137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.11, Y:3.78, Z:-0.25 [[-5.47668823e-01 8.36664364e-01 7.18349853e-03 3.24111786e+02] [-8.36588507e-01 -5.47715908e-01 1.12673518e-02 3.78323067e+00] [ 1.33615081e-02 1.61144981e-04 9.99910718e-01 -2.53009301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.11, Y:3.77, Z:-0.25 [[-5.48402137e-01 8.36183655e-01 7.21055303e-03 3.24110068e+02] [-8.36107984e-01 -5.48449520e-01 1.12500116e-02 3.77412080e+00] [ 1.33617001e-02 1.40729417e-04 9.99910719e-01 -2.54139110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.10, Y:3.76, Z:-0.25 [[-5.51882195e-01 8.33890645e-01 7.24119080e-03 3.24102534e+02] [-8.33815037e-01 -5.51929675e-01 1.12302565e-02 3.76070500e+00] [ 1.33614340e-02 1.59964857e-04 9.99910719e-01 -2.52487829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.10, Y:3.76, Z:-0.25 [[-5.52579567e-01 8.33428046e-01 7.31539289e-03 3.24100378e+02] [-8.33353036e-01 -5.52627982e-01 1.11817115e-02 3.75806664e+00] [ 1.33618428e-02 8.24804205e-05 9.99910723e-01 -2.51643463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.10, Y:3.75, Z:-0.25 [[-5.54090744e-01 8.32423891e-01 7.34263867e-03 3.24097662e+02] [-8.32349031e-01 -5.54139388e-01 1.11637914e-02 3.75270925e+00] [ 1.33618520e-02 7.41153196e-05 9.99910724e-01 -2.51683269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.10, Y:3.75, Z:-0.25 [[-5.55260037e-01 8.31644140e-01 7.36996734e-03 3.24097486e+02] [-8.31569451e-01 -5.55308942e-01 1.11457207e-02 3.74854208e+00] [ 1.33618821e-02 6.01336026e-05 9.99910724e-01 -2.51578057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.09, Y:3.74, Z:-0.25 [[-5.56190260e-01 8.31022066e-01 7.39737929e-03 3.24092942e+02] [-8.30947564e-01 -5.56239449e-01 1.11274977e-02 3.74212996e+00] [ 1.33619103e-02 4.21715307e-05 9.99910725e-01 -2.51382507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.09, Y:3.74, Z:-0.25 [[-5.57619636e-01 8.30063379e-01 7.42482463e-03 3.24090190e+02] [-8.29989037e-01 -5.57669064e-01 1.11091546e-02 3.73823507e+00] [ 1.33618974e-02 3.21596721e-05 9.99910725e-01 -2.50258980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.09, Y:3.73, Z:-0.25 [[-5.59430915e-01 8.28843480e-01 7.45224958e-03 3.24085903e+02] [-8.28769275e-01 -5.59480549e-01 1.10907268e-02 3.73146286e+00] [ 1.33618653e-02 2.82999581e-05 9.99910726e-01 -2.50340689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.08, Y:3.73, Z:-0.25 [[-5.61784367e-01 8.27249889e-01 7.47967901e-03 3.24083584e+02] [-8.27175790e-01 -5.61834156e-01 1.10721972e-02 3.72736237e+00] [ 1.33618131e-02 3.31779050e-05 9.99910726e-01 -2.49583508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.08, Y:3.72, Z:-0.25 [[-5.64395791e-01 8.25470190e-01 7.50711607e-03 3.24079366e+02] [-8.25396180e-01 -5.64445714e-01 1.10535631e-02 3.72043445e+00] [ 1.33617463e-02 4.22395604e-05 9.99910727e-01 -2.49352339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.07, Y:3.71, Z:-0.25 [[-5.68452599e-01 8.22681481e-01 7.53814706e-03 3.24074118e+02] [-8.22607507e-01 -5.68502574e-01 1.10323604e-02 3.71046156e+00] [ 1.33615746e-02 7.04375686e-05 9.99910728e-01 -2.48654474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.07, Y:3.70, Z:-0.25 [[-5.71135692e-01 8.20820800e-01 7.56545642e-03 3.24067444e+02] [-8.20746911e-01 -5.71185791e-01 1.10136011e-02 3.69980864e+00] [ 1.33614740e-02 8.09356691e-05 9.99910728e-01 -2.50125753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.06, Y:3.69, Z:-0.25 [[-5.74962012e-01 8.18144816e-01 7.59899071e-03 3.24062776e+02] [-8.18071000e-01 -5.75012217e-01 1.09904148e-02 3.69133395e+00] [ 1.33612634e-02 1.02557084e-04 9.99910729e-01 -2.49686738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.06, Y:3.68, Z:-0.25 [[-5.77625863e-01 8.16266016e-01 7.62591718e-03 3.24058452e+02] [-8.16192283e-01 -5.77676189e-01 1.09716995e-02 3.68373908e+00] [ 1.33611362e-02 1.13322622e-04 9.99910730e-01 -2.50154959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.05, Y:3.67, Z:-0.25 [[-5.80723650e-01 8.14064788e-01 7.65269701e-03 3.24051156e+02] [-8.13991111e-01 -5.80774056e-01 1.09529888e-02 3.67233389e+00] [ 1.33609304e-02 1.31432297e-04 9.99910730e-01 -2.50197987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.05, Y:3.67, Z:-0.25 [[-5.82535038e-01 8.12769254e-01 7.68562979e-03 3.24047089e+02] [-8.12695769e-01 -5.82585724e-01 1.09298312e-02 3.66616929e+00] [ 1.33609689e-02 1.20930810e-04 9.99910731e-01 -2.50188727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.03, Y:3.63, Z:-0.25 [[-5.97416894e-01 8.01893745e-01 7.71211183e-03 3.24026549e+02] [-8.01819579e-01 -5.97466576e-01 1.09111133e-02 3.63331551e+00] [ 1.33572826e-02 3.34761172e-04 9.99910731e-01 -2.49514356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.01, Y:3.61, Z:-0.25 [[-6.05030716e-01 7.96162968e-01 7.89696767e-03 3.24013735e+02] [-7.96090077e-01 -6.05082205e-01 1.07756415e-02 3.61116146e+00] [ 1.33574813e-02 2.32896501e-04 9.99910758e-01 -2.48437219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.01, Y:3.60, Z:-0.25 [[-6.07700435e-01 7.94126157e-01 7.98924202e-03 3.24009713e+02] [-7.94053993e-01 -6.07752927e-01 1.07067879e-02 3.60318381e+00] [ 1.33580256e-02 1.62630141e-04 9.99910764e-01 -2.47805177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.00, Y:3.59, Z:-0.25 [[-6.10361584e-01 7.92082380e-01 8.01496675e-03 3.24003963e+02] [-7.92010294e-01 -6.10414181e-01 1.06874959e-02 3.59262492e+00] [ 1.33578266e-02 1.75300784e-04 9.99910765e-01 -2.50143230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.00, Y:3.59, Z:-0.25 [[-6.12839890e-01 7.90166197e-01 8.04050525e-03 3.24000481e+02] [-7.90094198e-01 -6.12892606e-01 1.06682480e-02 3.58647177e+00] [ 1.33576551e-02 1.85171358e-04 9.99910765e-01 -2.49876153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:3.56, Z:-0.25 [[-6.22591649e-01 7.82505323e-01 8.06590451e-03 3.23982565e+02] [-7.82432924e-01 -6.22643813e-01 1.06490097e-02 3.56128717e+00] [ 1.33550923e-02 3.18955288e-04 9.99910766e-01 -2.49447725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:3.55, Z:-0.25 [[-6.24926345e-01 7.80640683e-01 8.19672449e-03 3.23979087e+02] [-7.80569451e-01 -6.24980069e-01 1.05473450e-02 3.55360867e+00] [ 1.33564761e-02 1.93201041e-04 9.99910780e-01 -2.51088520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:3.55, Z:-0.25 [[-6.26886019e-01 7.79067597e-01 8.22181229e-03 3.23976952e+02] [-7.78996486e-01 -6.26939902e-01 1.05277523e-02 3.54838914e+00] [ 1.33564129e-02 1.94937853e-04 9.99910780e-01 -2.50598199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.97, Y:3.54, Z:-0.25 [[-6.28913885e-01 7.77431228e-01 8.24687542e-03 3.23971496e+02] [-7.77360234e-01 -6.28967922e-01 1.05080825e-02 3.53849559e+00] [ 1.33563316e-02 1.97885966e-04 9.99910781e-01 -2.49355803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.97, Y:3.53, Z:-0.25 [[-6.30755234e-01 7.75937778e-01 8.27041020e-03 3.23969035e+02] [-7.75866899e-01 -6.30809420e-01 1.04895266e-02 3.53419264e+00] [ 1.33562726e-02 1.99586296e-04 9.99910781e-01 -2.50801329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.96, Y:3.53, Z:-0.25 [[-6.31743220e-01 7.75133354e-01 8.29384245e-03 3.23964488e+02] [-7.75062649e-01 -6.31797633e-01 1.04709664e-02 3.52703663e+00] [ 1.33564253e-02 1.86714531e-04 9.99910782e-01 -2.50342363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:323.96, Y:3.52, Z:-0.25 [[-6.34575931e-01 7.72815768e-01 8.31721290e-03 3.23959052e+02] [-7.72745108e-01 -6.34630401e-01 1.04523700e-02 3.51885799e+00] [ 1.33561125e-02 2.05736815e-04 9.99910782e-01 -2.49998090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.96, Y:3.51, Z:-0.25 [[-6.34741796e-01 7.72679118e-01 8.35662173e-03 3.23955855e+02] [-7.72608861e-01 -6.34796783e-01 1.04207672e-02 3.51422611e+00] [ 1.33566658e-02 1.58096528e-04 9.99910783e-01 -2.49542162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.95, Y:3.51, Z:-0.25 [[-6.35895093e-01 7.71730009e-01 8.37993989e-03 3.23953644e+02] [-7.71659917e-01 -6.35950290e-01 1.04019819e-02 3.51069373e+00] [ 1.33567468e-02 1.48105533e-04 9.99910784e-01 -2.49529638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062320588 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:323.95, Y:3.51, Z:-0.25 [[-6.37491765e-01 7.70411341e-01 8.40328028e-03 3.23952003e+02] [-7.70341384e-01 -6.37547131e-01 1.03830920e-02 3.50733974e+00] [ 1.33567391e-02 1.45741082e-04 9.99910784e-01 -2.49461023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09232058799995 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:323.95, Y:3.50, Z:-0.25 [[-6.38945353e-01 7.69205971e-01 8.42670380e-03 3.23946699e+02] [-7.69136160e-01 -6.39000903e-01 1.03640470e-02 3.50071701e+00] [ 1.33567582e-02 1.40777081e-04 9.99910785e-01 -2.49034020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.122320588 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:323.94, Y:3.50, Z:-0.25 [[-6.40476221e-01 7.67931496e-01 8.45150970e-03 3.23943988e+02] [-7.67861841e-01 -6.40531965e-01 1.03437791e-02 3.49753041e+00] [ 1.33567759e-02 1.35352722e-04 9.99910785e-01 -2.48140345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15232058799995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:323.94, Y:3.49, Z:-0.25 [[-6.41201135e-01 7.67326075e-01 8.47348578e-03 3.23942468e+02] [-7.67256605e-01 -6.41257110e-01 1.03257451e-02 3.49323086e+00] [ 1.33568965e-02 1.19541561e-04 9.99910786e-01 -2.49151324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.182320588 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:323.94, Y:3.49, Z:-0.25 [[-6.42013179e-01 7.66646531e-01 8.49548502e-03 3.23939533e+02] [-7.66577242e-01 -6.42069377e-01 1.03076135e-02 3.48818533e+00] [ 1.33569869e-02 1.05178217e-04 9.99910786e-01 -2.50414786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21232058799995 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:323.94, Y:3.49, Z:-0.25 [[-6.43024278e-01 7.65798426e-01 8.51748294e-03 3.23937424e+02] [-7.65729304e-01 -6.43080680e-01 1.02894038e-02 3.48627247e+00] [ 1.33570379e-02 9.42501552e-05 9.99910786e-01 -2.50651205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.242320588 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:323.93, Y:3.48, Z:-0.25 [[-6.45601476e-01 7.63626748e-01 8.53950382e-03 3.23929784e+02] [-7.63557678e-01 -6.45657941e-01 1.02710954e-02 3.47841045e+00] [ 1.33568816e-02 1.10630627e-04 9.99910787e-01 -2.50097509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27232058799996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:324.66, Y:2.86, Z:1.56 [[-5.87662366e-01 -8.09052681e-01 -9.31141654e-03 3.24656651e+02] [-8.08997617e-01 5.87733132e-01 -9.62398122e-03 2.85794572e+00] [ 1.32589358e-02 1.87726222e-03 -9.99910334e-01 1.55620177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.302320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:323.85, Y:3.41, Z:-0.25 [[-5.91516142e-01 8.06255330e-01 7.81003017e-03 3.23854890e+02] [-8.06184087e-01 -5.91567698e-01 1.07180409e-02 3.40514722e+00] [ 1.32616392e-02 4.35721566e-05 9.99912060e-01 -2.49589251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33232058799996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:323.85, Y:3.40, Z:-0.25 [[-5.93460422e-01 8.04824995e-01 7.83929068e-03 3.23849179e+02] [-8.04753911e-01 -5.93512195e-01 1.06965966e-02 3.39672337e+00] [ 1.32616029e-02 3.93068668e-05 9.99912060e-01 -2.49828653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.362320588 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:323.85, Y:3.39, Z:-0.25 [[-5.95094677e-01 8.03617110e-01 7.86544704e-03 3.23845101e+02] [-8.03546175e-01 -5.95146653e-01 1.06773285e-02 3.39192441e+00] [ 1.32615784e-02 3.37714663e-05 9.99912061e-01 -2.48975394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:323.84, Y:3.39, Z:-0.25 [[-5.96372924e-01 8.02668711e-01 7.89150567e-03 3.23840281e+02] [-8.02597949e-01 -5.96425133e-01 1.06580340e-02 3.38964299e+00] [ 1.32615627e-02 2.24566097e-05 9.99912061e-01 -2.49472528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42232058799993 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:323.83, Y:3.38, Z:-0.25 [[-5.98282475e-01 8.01246149e-01 7.91759093e-03 3.23833562e+02] [-8.01175519e-01 -5.98334863e-01 1.06386205e-02 3.38257874e+00] [ 1.32615244e-02 2.15201983e-05 9.99912062e-01 -2.49729670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.83, Y:3.38, Z:-0.25 [[-5.99654020e-01 8.00219942e-01 7.94362842e-03 3.23827694e+02] [-8.00149479e-01 -5.99706632e-01 1.06191432e-02 3.37554915e+00] [ 1.32614968e-02 1.17217841e-05 9.99912062e-01 -2.50156186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48232058799994 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:323.82, Y:3.37, Z:-0.25 [[-6.01429180e-01 7.98886368e-01 7.96952087e-03 3.23820284e+02] [-7.98816046e-01 -6.01481980e-01 1.05996756e-02 3.36706741e+00] [ 1.32614595e-02 8.77307201e-06 9.99912063e-01 -2.50351611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51232058799997 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:323.82, Y:3.36, Z:-0.25 [[-6.03157679e-01 7.97581902e-01 7.99522302e-03 3.23815669e+02] [-7.97511723e-01 -6.03210668e-01 1.05802532e-02 3.36218264e+00] [ 1.32614223e-02 5.27686682e-06 9.99912063e-01 -2.51709756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54232058799994 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:323.81, Y:3.36, Z:-0.25 [[-6.04989154e-01 7.96193312e-01 8.02080581e-03 3.23810249e+02] [-7.96123269e-01 -6.05042321e-01 1.05608234e-02 3.35766740e+00] [ 1.32613839e-02 3.63347814e-06 9.99912064e-01 -2.51652344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57232058799997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:323.81, Y:3.35, Z:-0.25 [[-6.07106160e-01 7.94579994e-01 8.04634138e-03 3.23805842e+02] [-7.94510068e-01 -6.07159479e-01 1.05413318e-02 3.35399471e+00] [ 1.32613438e-02 6.80820799e-06 9.99912064e-01 -2.51590793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:323.80, Y:3.35, Z:-0.25 [[-6.09090314e-01 7.93059793e-01 8.07187836e-03 3.23798647e+02] [-7.92989992e-01 -6.09143797e-01 1.05217408e-02 3.35076101e+00] [ 1.32613042e-02 7.77163085e-06 9.99912065e-01 -2.50288151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63232058799997 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:323.79, Y:3.35, Z:-0.25 [[-6.11291567e-01 7.91364045e-01 8.09741358e-03 3.23793960e+02] [-7.91294357e-01 -6.11345195e-01 1.05020523e-02 3.34761379e+00] [ 1.32612615e-02 1.23783522e-05 9.99912066e-01 -2.50497961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66232058799994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:323.79, Y:3.35, Z:-0.25 [[-6.14975725e-01 7.88504201e-01 8.12294975e-03 3.23790479e+02] [-7.88434524e-01 -6.15029368e-01 1.04822638e-02 3.34589754e+00] [ 1.32611617e-02 4.19237337e-05 9.99912066e-01 -2.51782943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.692320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:323.78, Y:3.34, Z:-0.25 [[-6.17806606e-01 7.86287860e-01 8.14857936e-03 3.23783184e+02] [-7.86218253e-01 -6.17860339e-01 1.04623021e-02 3.33733972e+00] [ 1.32610651e-02 5.71175188e-05 9.99912067e-01 -2.51620055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:323.78, Y:3.33, Z:-0.25 [[-6.21423758e-01 7.83431998e-01 8.17415992e-03 3.23776555e+02] [-7.83362408e-01 -6.21477511e-01 1.04422778e-02 3.33166438e+00] [ 1.32608711e-02 8.57499094e-05 9.99912067e-01 -2.52091003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.77, Y:3.32, Z:-0.25 [[-6.24785598e-01 7.80753305e-01 8.19955002e-03 3.23768830e+02] [-7.80683746e-01 -6.24839391e-01 1.04223026e-02 3.32429727e+00] [ 1.32606491e-02 1.10449150e-04 9.99912068e-01 -2.50347349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78232058799995 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:323.76, Y:3.32, Z:-0.25 [[-6.27510456e-01 7.78564692e-01 8.22479721e-03 3.23761431e+02] [-7.78495207e-01 -6.27564343e-01 1.04023405e-02 3.31791219e+00] [ 1.32604845e-02 1.24612225e-04 9.99912068e-01 -2.50660975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.812320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:323.75, Y:3.31, Z:-0.25 [[-6.31445203e-01 7.75376615e-01 8.24985765e-03 3.23751866e+02] [-7.75307117e-01 -6.31499073e-01 1.03824275e-02 3.30903975e+00] [ 1.32600690e-02 1.59760700e-04 9.99912069e-01 -2.51606823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.75, Y:3.30, Z:-0.25 [[-6.34982290e-01 7.72482376e-01 8.27468653e-03 3.23746775e+02] [-7.72412890e-01 -6.35036175e-01 1.03626013e-02 3.30366187e+00] [ 1.32596522e-02 1.88593773e-04 9.99912069e-01 -2.50839431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.872320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:323.74, Y:3.29, Z:-0.25 [[-6.37626410e-01 7.70301034e-01 8.29933361e-03 3.23737859e+02] [-7.70231621e-01 -6.37680387e-01 1.03428239e-02 3.29321623e+00] [ 1.32594102e-02 2.02448492e-04 9.99912070e-01 -2.50665796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.73, Y:3.29, Z:-0.25 [[-6.41457518e-01 7.67113368e-01 8.32666194e-03 3.23733303e+02] [-7.67043972e-01 -6.41511517e-01 1.03207758e-02 3.28807916e+00] [ 1.32588546e-02 2.33423356e-04 9.99912070e-01 -2.50136497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.932320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:323.73, Y:3.28, Z:-0.25 [[-6.44525636e-01 7.64537077e-01 8.35240985e-03 3.23726154e+02] [-7.64467735e-01 -6.44579703e-01 1.02998963e-02 3.27974912e+00] [ 1.32584464e-02 2.53399340e-04 9.99912071e-01 -2.51136832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.72, Y:3.27, Z:-0.25 [[-6.47123093e-01 7.62339548e-01 8.37355318e-03 3.23719061e+02] [-7.62270245e-01 -6.47177209e-01 1.02826785e-02 3.27235956e+00] [ 1.32580652e-02 2.71248274e-04 9.99912071e-01 -2.50700645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.992320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:323.71, Y:3.27, Z:-0.25 [[-6.49931139e-01 7.59946705e-01 8.39757404e-03 3.23713408e+02] [-7.59877456e-01 -6.49985324e-01 1.02630238e-02 3.26668498e+00] [ 1.32576510e-02 2.89131533e-04 9.99912072e-01 -2.50897570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02232058799996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:323.71, Y:3.26, Z:-0.25 [[-6.51771062e-01 7.58369014e-01 8.42146325e-03 3.23706979e+02] [-7.58299887e-01 -6.51825402e-01 1.02433836e-02 3.25720642e+00] [ 1.32575884e-02 2.90346356e-04 9.99912072e-01 -2.51438653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.70, Y:3.25, Z:-0.25 [[-6.54012389e-01 7.56436695e-01 8.44520130e-03 3.23702531e+02] [-7.56367660e-01 -6.54066845e-01 1.02237751e-02 3.25179593e+00] [ 1.32573648e-02 2.98798443e-04 9.99912073e-01 -2.50937034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.70, Y:3.24, Z:-0.25 [[-6.56060684e-01 7.54660625e-01 8.46880988e-03 3.23695834e+02] [-7.54591695e-01 -6.56115271e-01 1.02041815e-02 3.24485814e+00] [ 1.32572095e-02 3.04068711e-04 9.99912073e-01 -2.51825848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.69, Y:3.24, Z:-0.25 [[-6.57929945e-01 7.53031253e-01 8.49233253e-03 3.23692411e+02] [-7.52962440e-01 -6.57984679e-01 1.01845673e-02 3.24084755e+00] [ 1.32571222e-02 3.06324394e-04 9.99912074e-01 -2.50862043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.69, Y:3.24, Z:-0.25 [[-6.58571622e-01 7.52469882e-01 8.51446695e-03 3.23689449e+02] [-7.52401261e-01 -6.58626597e-01 1.01660288e-02 3.23751754e+00] [ 1.32574849e-02 2.88762430e-04 9.99912074e-01 -2.51322931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.68, Y:3.23, Z:-0.25 [[-6.60188585e-01 7.51051354e-01 8.53796177e-03 3.23684238e+02] [-7.50982870e-01 -6.60243729e-01 1.01462582e-02 3.23258487e+00] [ 1.32574967e-02 2.86580829e-04 9.99912074e-01 -2.50428681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.68, Y:3.23, Z:-0.25 [[-6.61277317e-01 7.50092525e-01 8.57409234e-03 3.23679357e+02] [-7.50024357e-01 -6.61332850e-01 1.01156337e-02 3.22791802e+00] [ 1.32579901e-02 2.58461006e-04 9.99912076e-01 -2.49440477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.68, Y:3.23, Z:-0.25 [[-6.60319539e-01 7.50935540e-01 8.59770061e-03 3.23675555e+02] [-7.50867705e-01 -6.60375476e-01 1.00955281e-02 3.22685146e+00] [ 1.32588015e-02 2.10538730e-04 9.99912076e-01 -2.49856305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.67, Y:3.23, Z:-0.25 [[-6.60911734e-01 7.50414120e-01 8.62134387e-03 3.23673521e+02] [-7.50346504e-01 -6.60967936e-01 1.00752968e-02 3.22554030e+00] [ 1.32590768e-02 1.89886614e-04 9.99912077e-01 -2.50882397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29232058799994 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:323.67, Y:3.23, Z:-0.25 [[-6.60713741e-01 7.50588179e-01 8.64513096e-03 3.23670518e+02] [-7.50520844e-01 -6.60770279e-01 1.00548447e-02 3.22519908e+00] [ 1.32594932e-02 1.55023055e-04 9.99912077e-01 -2.52476977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.67, Y:3.22, Z:-0.25 [[-6.61485723e-01 7.49907615e-01 8.67219116e-03 3.23665729e+02] [-7.49840529e-01 -6.61542554e-01 1.00314511e-02 3.22220134e+00] [ 1.32596851e-02 1.32901309e-04 9.99912078e-01 -2.52600823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.66, Y:3.22, Z:-0.25 [[-6.61998564e-01 7.49454652e-01 8.69630790e-03 3.23660666e+02] [-7.49387802e-01 -6.62055672e-01 1.00105005e-02 3.22245785e+00] [ 1.32598561e-02 1.10029897e-04 9.99912078e-01 -2.52643756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.65, Y:3.22, Z:-0.25 [[-6.63794485e-01 7.47864189e-01 8.71994975e-03 3.23654643e+02] [-7.47797472e-01 -6.63851748e-01 9.98986401e-03 3.21931374e+00] [ 1.32598154e-02 1.10460251e-04 9.99912079e-01 -2.51808675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.65, Y:3.21, Z:-0.25 [[-6.65274618e-01 7.46547518e-01 8.74560952e-03 3.23648028e+02] [-7.46480984e-01 -6.65332092e-01 9.96734948e-03 3.21486806e+00] [ 1.32598347e-02 1.02593409e-04 9.99912079e-01 -2.51819088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.64, Y:3.21, Z:-0.25 [[-6.66584312e-01 7.45378055e-01 8.76983925e-03 3.23640731e+02] [-7.45311700e-01 -6.66641993e-01 9.94598500e-03 3.20984441e+00] [ 1.32598621e-02 9.35737668e-05 9.99912080e-01 -2.52077228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:323.64, Y:3.21, Z:-0.25 [[-6.67900789e-01 7.44198362e-01 8.79397043e-03 3.23636326e+02] [-7.44132187e-01 -6.67958674e-01 9.92460291e-03 3.20598543e+00] [ 1.32598821e-02 8.47736673e-05 9.99912080e-01 -2.53451337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.63, Y:3.20, Z:-0.25 [[-6.69702977e-01 7.42576706e-01 8.81804948e-03 3.23627424e+02] [-7.42510672e-01 -6.69761024e-01 9.90316227e-03 3.20191857e+00] [ 1.32598435e-02 8.46814115e-05 9.99912081e-01 -2.53145630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.62, Y:3.20, Z:-0.25 [[-6.71660736e-01 7.40806060e-01 8.84520330e-03 3.23618867e+02] [-7.40740193e-01 -6.71718970e-01 9.87884963e-03 3.19881042e+00] [ 1.32598025e-02 8.32378186e-05 9.99912081e-01 -2.53219246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.61, Y:3.19, Z:-0.25 [[-6.73443019e-01 7.39185895e-01 8.87198334e-03 3.23613147e+02] [-7.39120205e-01 -6.73501452e-01 9.85474022e-03 3.19451270e+00] [ 1.32597786e-02 7.91438626e-05 9.99912082e-01 -2.52740852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.61, Y:3.19, Z:-0.25 [[-6.75058276e-01 7.37710774e-01 8.89593799e-03 3.23609928e+02] [-7.37645241e-01 -6.75116885e-01 9.83306855e-03 3.19218677e+00] [ 1.32597586e-02 7.58479844e-05 9.99912083e-01 -2.52568172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.60, Y:3.19, Z:-0.25 [[-6.77254203e-01 7.35695032e-01 8.91990458e-03 3.23600208e+02] [-7.35629611e-01 -6.77312936e-01 9.81127939e-03 3.18601018e+00] [ 1.32596763e-02 8.29842680e-05 9.99912083e-01 -2.53002649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.59, Y:3.18, Z:-0.25 [[-6.78600450e-01 7.34453155e-01 8.94379618e-03 3.23594175e+02] [-7.34387915e-01 -6.78659382e-01 9.78945165e-03 3.18170647e+00] [ 1.32596848e-02 7.49104756e-05 9.99912084e-01 -2.53765197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.59, Y:3.18, Z:-0.25 [[-6.80571351e-01 7.32626930e-01 8.96754573e-03 3.23588513e+02] [-7.32561819e-01 -6.80630424e-01 9.76764752e-03 3.17965651e+00] [ 1.32596261e-02 7.82994601e-05 9.99912084e-01 -2.54060436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.58, Y:3.17, Z:-0.25 [[-6.82357170e-01 7.30963645e-01 8.99128764e-03 3.23583770e+02] [-7.30898677e-01 -6.82416401e-01 9.74574357e-03 3.17440812e+00] [ 1.32595864e-02 7.83577507e-05 9.99912085e-01 -2.53948813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.58, Y:3.17, Z:-0.25 [[-6.84294302e-01 7.29150216e-01 9.01501888e-03 3.23577529e+02] [-7.29085381e-01 -6.84353677e-01 9.72374201e-03 3.16994427e+00] [ 1.32595299e-02 8.11827721e-05 9.99912085e-01 -2.54149677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.57, Y:3.17, Z:-0.25 [[-6.86545712e-01 7.27030459e-01 9.03867490e-03 3.23569194e+02] [-7.26965730e-01 -6.86605202e-01 9.70170269e-03 3.16615396e+00] [ 1.32594346e-02 8.98554791e-05 9.99912086e-01 -2.54223998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.56, Y:3.16, Z:-0.25 [[-6.89144167e-01 7.24567590e-01 9.06223175e-03 3.23562294e+02] [-7.24502938e-01 -6.89203741e-01 9.67964842e-03 3.16088113e+00] [ 1.32592836e-02 1.05059720e-04 9.99912086e-01 -2.54115354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.56, Y:3.16, Z:-0.25 [[-6.91734047e-01 7.22095187e-01 9.08567140e-03 3.23556533e+02] [-7.22030612e-01 -6.91793702e-01 9.65759689e-03 3.15804455e+00] [ 1.32591145e-02 1.20355698e-04 9.99912087e-01 -2.54301389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.55, Y:3.15, Z:-0.25 [[-6.93921153e-01 7.19993339e-01 9.11179973e-03 3.23548007e+02] [-7.19928907e-01 -6.93980963e-01 9.63288195e-03 3.15033560e+00] [ 1.32590264e-02 1.24612535e-04 9.99912087e-01 -2.53624798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.54, Y:3.15, Z:-0.25 [[-6.96202966e-01 7.17786824e-01 9.13815955e-03 3.23540852e+02] [-7.17722531e-01 -6.96262924e-01 9.60781067e-03 3.14561993e+00] [ 1.32589216e-02 1.30323285e-04 9.99912088e-01 -2.54273062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.53, Y:3.14, Z:-0.25 [[-6.98262814e-01 7.15782866e-01 9.16135916e-03 3.23534193e+02] [-7.15718692e-01 -6.98322898e-01 9.58563794e-03 3.14018475e+00] [ 1.32588223e-02 1.36338529e-04 9.99912089e-01 -2.52929438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.53, Y:3.13, Z:-0.25 [[-7.00538621e-01 7.13555384e-01 9.18444285e-03 3.23526196e+02] [-7.13491309e-01 -7.00598810e-01 9.56346912e-03 3.13280969e+00] [ 1.32586746e-02 1.46559325e-04 9.99912089e-01 -2.53446043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.52, Y:3.13, Z:-0.25 [[-7.03740410e-01 7.10397501e-01 9.21005195e-03 3.23521397e+02] [-7.10333479e-01 -7.03800654e-01 9.53874249e-03 3.12705044e+00] [ 1.32583394e-02 1.70590310e-04 9.99912090e-01 -2.53754836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.52, Y:3.12, Z:-0.25 [[-7.05990170e-01 7.08161446e-01 9.23289443e-03 3.23515787e+02] [-7.08097523e-01 -7.06050517e-01 9.51658094e-03 3.12098784e+00] [ 1.32581656e-02 1.80822917e-04 9.99912090e-01 -2.53673103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.51, Y:3.11, Z:-0.25 [[-7.09071588e-01 7.05075752e-01 9.25564310e-03 3.23507595e+02] [-7.05011854e-01 -7.09131963e-01 9.49440435e-03 3.11270765e+00] [ 1.32577467e-02 2.06874271e-04 9.99912091e-01 -2.52393206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.50, Y:3.10, Z:-0.25 [[-7.11294919e-01 7.02832450e-01 9.27821570e-03 3.23500833e+02] [-7.02768650e-01 -7.11355396e-01 9.47229426e-03 3.10456178e+00] [ 1.32575446e-02 2.17155654e-04 9.99912091e-01 -2.53588393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.50, Y:3.10, Z:-0.26 [[-7.13104550e-01 7.00996006e-01 9.30057258e-03 3.23496445e+02] [-7.00932337e-01 -7.13165164e-01 9.45029158e-03 3.09793915e+00] [ 1.32574610e-02 2.19973860e-04 9.99912092e-01 -2.56251590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.49, Y:3.09, Z:-0.26 [[-7.14401109e-01 6.99674310e-01 9.32279691e-03 3.23491532e+02] [-6.99610815e-01 -7.14461905e-01 9.42831599e-03 3.09266849e+00] [ 1.32575337e-02 2.13269855e-04 9.99912092e-01 -2.56783820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.49, Y:3.09, Z:-0.25 [[-7.16023560e-01 6.98013545e-01 9.34624356e-03 3.23487436e+02] [-6.97950213e-01 -7.16084524e-01 9.40501587e-03 3.08766731e+00] [ 1.32575288e-02 2.11000262e-04 9.99912093e-01 -2.52422851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.49, Y:3.08, Z:-0.25 [[-7.17457171e-01 6.96539619e-01 9.36840199e-03 3.23485926e+02] [-6.96476450e-01 -7.17518304e-01 9.38289167e-03 3.08220874e+00] [ 1.32575557e-02 2.06951562e-04 9.99912093e-01 -2.53504883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.48, Y:3.08, Z:-0.25 [[-7.18442044e-01 6.95523434e-01 9.39054686e-03 3.23482765e+02] [-6.95460468e-01 -7.18503386e-01 9.36067614e-03 3.07685839e+00] [ 1.32577093e-02 1.94349188e-04 9.99912094e-01 -2.54368803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.48, Y:3.07, Z:-0.25 [[-7.19448257e-01 6.94482258e-01 9.41271924e-03 3.23479162e+02] [-6.94419495e-01 -7.19509806e-01 9.33832714e-03 3.07296796e+00] [ 1.32578463e-02 1.82067439e-04 9.99912094e-01 -2.53069604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.47, Y:3.07, Z:-0.25 [[-7.20702282e-01 6.93180499e-01 9.43487746e-03 3.23473996e+02] [-6.93117919e-01 -7.20764015e-01 9.31588590e-03 3.06727207e+00] [ 1.32579106e-02 1.74497593e-04 9.99912095e-01 -2.53978644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.47, Y:3.06, Z:-0.25 [[-7.21165373e-01 6.92698325e-01 9.46231445e-03 3.23472298e+02] [-6.92636070e-01 -7.21227433e-01 9.28793380e-03 3.06357521e+00] [ 1.32582169e-02 1.44195952e-04 9.99912096e-01 -2.54563407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.47, Y:3.06, Z:-0.25 [[-7.21387956e-01 6.92466216e-01 9.48455347e-03 3.23467980e+02] [-6.92404239e-01 -7.21450294e-01 9.26516820e-03 3.05921691e+00] [ 1.32584498e-02 1.16635717e-04 9.99912096e-01 -2.54572194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.46, Y:3.05, Z:-0.25 [[-7.22322636e-01 6.91490874e-01 9.50683932e-03 3.23462517e+02] [-6.91429115e-01 -7.22385188e-01 9.24224434e-03 3.05470461e+00] [ 1.32585275e-02 1.02576801e-04 9.99912097e-01 -2.53711063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.46, Y:3.05, Z:-0.25 [[-7.21697632e-01 6.92142849e-01 9.52909214e-03 3.23462747e+02] [-6.92081450e-01 -7.21760537e-01 9.21924363e-03 3.05484697e+00] [ 1.32587562e-02 5.85983977e-05 9.99912097e-01 -2.52773458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.46, Y:3.05, Z:-0.25 [[-7.21876067e-01 6.91956439e-01 9.55143169e-03 3.23460844e+02] [-6.91895330e-01 -7.21939253e-01 9.19604076e-03 3.05328688e+00] [ 1.32588131e-02 2.98107524e-05 9.99912098e-01 -2.53872655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.45, Y:3.05, Z:-0.25 [[-7.22868949e-01 6.90918824e-01 9.57396316e-03 3.23451764e+02] [-6.90857935e-01 -7.22932347e-01 9.17252320e-03 3.04562077e+00] [ 1.32587966e-02 1.62837844e-05 9.99912098e-01 -2.54094558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.44, Y:3.04, Z:-0.25 [[-7.23835208e-01 6.89906153e-01 9.59643673e-03 3.23444609e+02] [-6.89845488e-01 -7.23898819e-01 9.14895043e-03 3.03957577e+00] [ 1.32587664e-02 2.27385491e-06 9.99912099e-01 -2.53256317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.44, Y:3.03, Z:-0.25 [[-7.24369476e-01 6.89344865e-01 9.61870787e-03 3.23435753e+02] [-6.89284461e-01 -7.24433335e-01 9.12547554e-03 3.03125014e+00] [ 1.32587123e-02 -1.98099343e-05 9.99912099e-01 -2.53186609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.43, Y:3.03, Z:-0.25 [[-7.25355830e-01 6.88306617e-01 9.63948891e-03 3.23429277e+02] [-6.88246415e-01 -7.25419878e-01 9.10347091e-03 3.02748400e+00] [ 1.32586561e-02 -3.10879747e-05 9.99912100e-01 -2.53718923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.42, Y:3.02, Z:-0.25 [[-7.26901714e-01 6.86673544e-01 9.66134489e-03 3.23421346e+02] [-6.86613506e-01 -7.26965916e-01 9.08021617e-03 3.02188086e+00] [ 1.32586127e-02 -3.31851986e-05 9.99912100e-01 -2.53967605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.42, Y:3.02, Z:-0.25 [[-7.28572965e-01 6.84899771e-01 9.68185306e-03 3.23415929e+02] [-6.84839867e-01 -7.28637292e-01 9.05829626e-03 3.01871901e+00] [ 1.32585842e-02 -3.08891950e-05 9.99912101e-01 -2.53352236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.41, Y:3.01, Z:-0.25 [[-7.29967751e-01 6.83412704e-01 9.70348189e-03 3.23409822e+02] [-6.83352979e-01 -7.30032242e-01 9.03506734e-03 3.01341848e+00] [ 1.32585344e-02 -3.55954659e-05 9.99912101e-01 -2.53672650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.40, Y:3.01, Z:-0.25 [[-7.31670060e-01 6.81589574e-01 9.72505500e-03 3.23404205e+02] [-6.81529997e-01 -7.31734687e-01 9.01178677e-03 3.00871000e+00] [ 1.32585000e-02 -3.42621347e-05 9.99912102e-01 -2.52580643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.40, Y:3.01, Z:-0.25 [[-7.33527501e-01 6.79589884e-01 9.74655317e-03 3.23397163e+02] [-6.79530440e-01 -7.33592250e-01 8.98847548e-03 3.00626807e+00] [ 1.32584729e-02 -2.97856025e-05 9.99912102e-01 -2.51667383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.40, Y:3.01, Z:-0.25 [[-7.35698156e-01 6.77239108e-01 9.76799546e-03 3.23400251e+02] [-6.77179767e-01 -7.35762999e-01 8.96511290e-03 3.01021816e+00] [ 1.32584547e-02 -1.90718584e-05 9.99912103e-01 -2.53710418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.39, Y:3.00, Z:-0.26 [[-7.37306965e-01 6.75486937e-01 9.78961651e-03 3.23392467e+02] [-6.75427756e-01 -7.37371953e-01 8.94144091e-03 3.00370635e+00] [ 1.32584152e-02 -1.95920460e-05 9.99912103e-01 -2.55033268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.38, Y:3.00, Z:-0.25 [[-7.38791256e-01 6.73862907e-01 9.81136042e-03 3.23384668e+02] [-6.73803900e-01 -7.38856401e-01 8.91751752e-03 2.99881177e+00] [ 1.32583707e-02 -2.27489520e-05 9.99912104e-01 -2.54997516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.38, Y:3.00, Z:-0.25 [[-7.40170857e-01 6.72346965e-01 9.83170508e-03 3.23375266e+02] [-6.72288123e-01 -7.40236151e-01 8.89503051e-03 2.99575534e+00] [ 1.32583303e-02 -2.58962009e-05 9.99912104e-01 -2.52437531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.37, Y:2.99, Z:-0.25 [[-7.41983952e-01 6.70345233e-01 9.85313710e-03 3.23373233e+02] [-6.70286530e-01 -7.42049371e-01 8.87122630e-03 2.99427071e+00] [ 1.32582984e-02 -2.21175305e-05 9.99912105e-01 -2.52833040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.37, Y:2.99, Z:-0.25 [[-7.43230895e-01 6.68962129e-01 9.87454981e-03 3.23365736e+02] [-6.68903622e-01 -7.43296488e-01 8.84732747e-03 2.98605738e+00] [ 1.32582452e-02 -2.95150154e-05 9.99912105e-01 -2.54570627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.36, Y:2.98, Z:-0.26 [[-7.44746618e-01 6.67273966e-01 9.89592372e-03 3.23361275e+02] [-6.67215629e-01 -7.44812361e-01 8.82335536e-03 2.98197468e+00] [ 1.32582016e-02 -3.15509004e-05 9.99912106e-01 -2.55143767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.36, Y:2.98, Z:-0.26 [[-7.46254567e-01 6.65586787e-01 9.91718220e-03 3.23356167e+02] [-6.65528619e-01 -7.46320459e-01 8.79939643e-03 2.97810673e+00] [ 1.32581580e-02 -3.35788068e-05 9.99912106e-01 -2.56689161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.35, Y:2.97, Z:-0.26 [[-7.47975316e-01 6.63652134e-01 9.93840167e-03 3.23350409e+02] [-6.63594114e-01 -7.48041339e-01 8.77536466e-03 2.97333173e+00] [ 1.32581248e-02 -3.13086972e-05 9.99912107e-01 -2.56319835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.34, Y:2.97, Z:-0.26 [[-7.49886216e-01 6.61491815e-01 9.96206424e-03 3.23343721e+02] [-6.61433963e-01 -7.49952384e-01 8.74841946e-03 2.96705085e+00] [ 1.32580817e-02 -2.89284685e-05 9.99912107e-01 -2.55867661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.33, Y:2.96, Z:-0.26 [[-7.51343685e-01 6.59835588e-01 9.98317909e-03 3.23334590e+02] [-6.59777911e-01 -7.51410005e-01 8.72425772e-03 2.95820952e+00] [ 1.32580364e-02 -3.17651049e-05 9.99912108e-01 -2.55426525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.33, Y:2.96, Z:-0.26 [[-7.52558412e-01 6.58449471e-01 1.00065509e-02 3.23331920e+02] [-6.58392029e-01 -7.52624935e-01 8.69736785e-03 2.95564368e+00] [ 1.32579570e-02 -4.29560142e-05 9.99912109e-01 -2.56430986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.33, Y:2.95, Z:-0.26 [[-7.53808099e-01 6.57018132e-01 1.00262111e-02 3.23325007e+02] [-6.56960865e-01 -7.53874772e-01 8.67464449e-03 2.94911092e+00] [ 1.32579063e-02 -4.78110281e-05 9.99912109e-01 -2.58032820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.32, Y:2.94, Z:-0.26 [[-7.54868953e-01 6.55798690e-01 1.00469956e-02 3.23315955e+02] [-6.55741637e-01 -7.54935808e-01 8.65050467e-03 2.94064655e+00] [ 1.32578264e-02 -5.82359281e-05 9.99912109e-01 -2.57319417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.31, Y:2.93, Z:-0.26 [[-7.54417493e-01 6.56317711e-01 1.00652476e-02 3.23307805e+02] [-6.56260987e-01 -7.54484628e-01 8.62921529e-03 2.93417111e+00] [ 1.32575814e-02 -9.53983351e-05 9.99912110e-01 -2.57385809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.30, Y:2.93, Z:-0.26 [[-7.55257100e-01 6.55351065e-01 1.00844055e-02 3.23300615e+02] [-6.55294554e-01 -7.55324414e-01 8.60676830e-03 2.92958245e+00] [ 1.32574524e-02 -1.07933125e-04 9.99912110e-01 -2.57675961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.29, Y:2.92, Z:-0.26 [[-7.54242103e-01 6.56518658e-01 1.01045666e-02 3.23288120e+02] [-6.56462570e-01 -7.54309768e-01 8.58303319e-03 2.91890631e+00] [ 1.32568947e-02 -1.59584740e-04 9.99912111e-01 -2.57703163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.28, Y:2.91, Z:-0.26 [[-7.54633500e-01 6.56068458e-01 1.01222170e-02 3.23279792e+02] [-6.56012608e-01 -7.54701363e-01 8.56216678e-03 2.91044092e+00] [ 1.32566185e-02 -1.79004117e-04 9.99912111e-01 -2.59141359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.28, Y:2.91, Z:-0.26 [[-7.55080306e-01 6.55553926e-01 1.01381018e-02 3.23276252e+02] [-6.55498284e-01 -7.55148338e-01 8.54331677e-03 2.90641133e+00] [ 1.32563756e-02 -1.94618105e-04 9.99912111e-01 -2.59340601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.27, Y:2.90, Z:-0.26 [[-7.55665661e-01 6.54878827e-01 1.01553234e-02 3.23268288e+02] [-6.54823399e-01 -7.55733867e-01 8.52279639e-03 2.90042502e+00] [ 1.32561208e-02 -2.09558845e-04 9.99912112e-01 -2.58858258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.26, Y:2.90, Z:-0.26 [[-7.56281693e-01 6.54167114e-01 1.01680336e-02 3.23262309e+02] [-6.54111825e-01 -7.56350012e-01 8.50760564e-03 2.89636594e+00] [ 1.32559881e-02 -2.16884603e-04 9.99912112e-01 -2.57602330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.26, Y:2.89, Z:-0.26 [[-7.57184431e-01 6.53121805e-01 1.01806541e-02 3.23257960e+02] [-6.53066626e-01 -7.57252838e-01 8.49247634e-03 2.89209085e+00] [ 1.32559507e-02 -2.18274559e-04 9.99912112e-01 -2.57928249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.24, Y:2.88, Z:-0.26 [[-7.59425271e-01 6.50514621e-01 1.01973136e-02 3.23239899e+02] [-6.50459476e-01 -7.59493705e-01 8.47242516e-03 2.87677041e+00] [ 1.32562319e-02 -1.98765479e-04 9.99912113e-01 -2.57726605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.23, Y:2.87, Z:-0.26 [[-7.59604438e-01 6.50304654e-01 1.02447378e-02 3.23233225e+02] [-6.50250267e-01 -7.59673472e-01 8.41468706e-03 2.87200034e+00] [ 1.32547657e-02 -2.69809857e-04 9.99912115e-01 -2.56957302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.22, Y:2.86, Z:-0.26 [[-7.58537778e-01 6.51548335e-01 1.02570181e-02 3.23221914e+02] [-6.51494263e-01 -7.58607059e-01 8.39969131e-03 2.86354296e+00] [ 1.32538513e-02 -3.10905295e-04 9.99912116e-01 -2.57543552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.22, Y:2.86, Z:-0.26 [[-7.58865979e-01 6.51165854e-01 1.02691617e-02 3.23215495e+02] [-6.51111948e-01 -7.58935390e-01 8.38481877e-03 2.85804155e+00] [ 1.32535379e-02 -3.23420148e-04 9.99912116e-01 -2.58582537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.21, Y:2.85, Z:-0.26 [[-7.59227530e-01 6.50744078e-01 1.02811746e-02 3.23208185e+02] [-6.50690333e-01 -7.59297064e-01 8.37006295e-03 2.85334331e+00] [ 1.32532346e-02 -3.35078703e-04 9.99912116e-01 -2.57157189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.20, Y:2.85, Z:-0.26 [[-7.60247842e-01 6.49551591e-01 1.02931162e-02 3.23204984e+02] [-6.49497936e-01 -7.60317446e-01 8.35535182e-03 2.85116338e+00] [ 1.32532679e-02 -3.33219562e-04 9.99912116e-01 -2.56017002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.20, Y:2.85, Z:-0.26 [[-7.61944172e-01 6.47560719e-01 1.03050262e-02 3.23202920e+02] [-6.47507080e-01 -7.62013789e-01 8.34063685e-03 2.84940628e+00] [ 1.32536408e-02 -3.17477771e-04 9.99912116e-01 -2.56756377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.20, Y:2.85, Z:-0.26 [[-7.62874940e-01 6.46463754e-01 1.03169756e-02 3.23198336e+02] [-6.46410215e-01 -7.62944634e-01 8.32582965e-03 2.84570419e+00] [ 1.32536283e-02 -3.17431640e-04 9.99912116e-01 -2.56667305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.19, Y:2.84, Z:-0.26 [[-7.63638534e-01 6.45561386e-01 1.03289325e-02 3.23193703e+02] [-6.45507965e-01 -7.63708318e-01 8.31096960e-03 2.84202720e+00] [ 1.32535327e-02 -3.20831553e-04 9.99912117e-01 -2.57659323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.19, Y:2.84, Z:-0.26 [[-7.64889993e-01 6.44077919e-01 1.03408679e-02 3.23185605e+02] [-6.44024564e-01 -7.64959826e-01 8.29609237e-03 2.83696212e+00] [ 1.32536784e-02 -3.14174924e-04 9.99912117e-01 -2.57197256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.18, Y:2.83, Z:-0.26 [[-7.65687147e-01 6.43129758e-01 1.03589120e-02 3.23180583e+02] [-6.43076622e-01 -7.65757147e-01 8.27350011e-03 2.83374045e+00] [ 1.32533450e-02 -3.26661446e-04 9.99912117e-01 -2.57597037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.17, Y:2.83, Z:-0.26 [[-7.66443472e-01 6.42228038e-01 1.03707437e-02 3.23174486e+02] [-6.42175020e-01 -7.66513561e-01 8.25864249e-03 2.82969250e+00] [ 1.32532475e-02 -3.30049946e-04 9.99912117e-01 -2.57272604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.17, Y:2.83, Z:-0.26 [[-7.67695350e-01 6.40730873e-01 1.03825436e-02 3.23170302e+02] [-6.40677919e-01 -7.67765487e-01 8.24378132e-03 2.82753851e+00] [ 1.32534038e-02 -3.23153832e-04 9.99912118e-01 -2.56963709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.16, Y:2.82, Z:-0.26 [[-7.67685833e-01 6.40742085e-01 1.03943221e-02 3.23162031e+02] [-6.40689333e-01 -7.67756122e-01 8.22890328e-03 2.82278884e+00] [ 1.32529091e-02 -3.42318831e-04 9.99912118e-01 -2.56711892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.16, Y:2.82, Z:-0.26 [[-7.68800803e-01 6.39403649e-01 1.04066955e-02 3.23155626e+02] [-6.39350987e-01 -7.68871159e-01 8.21322539e-03 2.81940029e+00] [ 1.32529743e-02 -3.39196775e-04 9.99912118e-01 -2.56402069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.15, Y:2.82, Z:-0.26 [[-7.70355414e-01 6.37529602e-01 1.04183536e-02 3.23153370e+02] [-6.37476969e-01 -7.70425792e-01 8.19841053e-03 2.81933277e+00] [ 1.32532977e-02 -3.25770540e-04 9.99912118e-01 -2.57170375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.15, Y:2.82, Z:-0.26 [[-7.71783133e-01 6.35800209e-01 1.04350889e-02 3.23147003e+02] [-6.35747706e-01 -7.71853607e-01 8.17705388e-03 2.81972754e+00] [ 1.32533336e-02 -3.23171602e-04 9.99912118e-01 -2.57036335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.14, Y:2.82, Z:-0.26 [[-7.72633713e-01 6.34766023e-01 1.04518625e-02 3.23139337e+02] [-6.34713716e-01 -7.72704333e-01 8.15555754e-03 2.81582871e+00] [ 1.32530702e-02 -3.32681760e-04 9.99912119e-01 -2.61775174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.14, Y:2.82, Z:-0.26 [[-7.75021618e-01 6.31848048e-01 1.04659449e-02 3.23137679e+02] [-6.31795720e-01 -7.75092221e-01 8.13744555e-03 2.81720756e+00] [ 1.32537015e-02 -3.05642954e-04 9.99912119e-01 -2.56711906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.13, Y:2.82, Z:-0.26 [[-7.76660903e-01 6.29831723e-01 1.04805761e-02 3.23133045e+02] [-6.29779466e-01 -7.76731558e-01 8.11855749e-03 2.81544448e+00] [ 1.32539193e-02 -2.95085428e-04 9.99912119e-01 -2.56088132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.13, Y:2.81, Z:-0.26 [[-7.77975404e-01 6.28207118e-01 1.04922731e-02 3.23126902e+02] [-6.28154917e-01 -7.78046100e-01 8.10341230e-03 2.81438664e+00] [ 1.32540934e-02 -2.86517464e-04 9.99912120e-01 -2.57027796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.12, Y:2.81, Z:-0.26 [[-7.79400734e-01 6.26437575e-01 1.05100289e-02 3.23122810e+02] [-6.26385525e-01 -7.79471541e-01 8.08031740e-03 2.81191894e+00] [ 1.32540828e-02 -2.85524650e-04 9.99912120e-01 -2.57368738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.12, Y:2.81, Z:-0.26 [[-7.82227638e-01 6.22903779e-01 1.05263850e-02 3.23120236e+02] [-6.22851696e-01 -7.82298420e-01 8.05895343e-03 2.81208450e+00] [ 1.32547269e-02 -2.52440674e-04 9.99912120e-01 -2.57523717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.12, Y:2.81, Z:-0.26 [[-7.83519097e-01 6.21278217e-01 1.05452228e-02 3.23116452e+02] [-6.21226319e-01 -7.83590015e-01 8.03422814e-03 2.81074236e+00] [ 1.32546223e-02 -2.55998783e-04 9.99912121e-01 -2.57045257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.11, Y:2.81, Z:-0.26 [[-7.85369672e-01 6.18936973e-01 1.05594391e-02 3.23113634e+02] [-6.18885115e-01 -7.85440619e-01 8.01549995e-03 2.80903343e+00] [ 1.32549017e-02 -2.39949132e-04 9.99912121e-01 -2.57200050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.11, Y:2.81, Z:-0.26 [[-7.87270759e-01 6.16516830e-01 1.05712360e-02 3.23108802e+02] [-6.16464963e-01 -7.87341699e-01 7.99991136e-03 2.80508026e+00] [ 1.32552549e-02 -2.18700303e-04 9.99912121e-01 -2.58157707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.11, Y:2.80, Z:-0.26 [[-7.89384739e-01 6.13807464e-01 1.05891691e-02 3.23106563e+02] [-6.13755673e-01 -7.89455734e-01 7.97610320e-03 2.80420468e+00] [ 1.32554719e-02 -2.02948431e-04 9.99912122e-01 -2.57440901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.10, Y:2.80, Z:-0.26 [[-7.90728627e-01 6.12074936e-01 1.06071252e-02 3.23100613e+02] [-6.12023310e-01 -7.90799741e-01 7.95215208e-03 2.80296485e+00] [ 1.32554248e-02 -2.03813578e-04 9.99912122e-01 -2.56318258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.09, Y:2.80, Z:-0.26 [[-7.91569531e-01 6.10986837e-01 1.06189707e-02 3.23094275e+02] [-6.10935326e-01 -7.91640728e-01 7.93630244e-03 2.79842038e+00] [ 1.32553861e-02 -2.05369151e-04 9.99912122e-01 -2.57519871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.09, Y:2.80, Z:-0.26 [[-7.92735914e-01 6.09472455e-01 1.06347415e-02 3.23093572e+02] [-6.09421092e-01 -7.92807218e-01 7.91511288e-03 2.79732851e+00] [ 1.32553431e-02 -2.06441522e-04 9.99912123e-01 -2.57979949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.09, Y:2.79, Z:-0.26 [[-7.94049235e-01 6.07760202e-01 1.06465427e-02 3.23086406e+02] [-6.07708898e-01 -7.94120581e-01 7.89920725e-03 2.79277573e+00] [ 1.32554625e-02 -1.97639247e-04 9.99912123e-01 -2.58641601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.08, Y:2.79, Z:-0.26 [[-7.95580897e-01 6.05753551e-01 1.06616717e-02 3.23084918e+02] [-6.05702341e-01 -7.95652311e-01 7.87873430e-03 2.79402117e+00] [ 1.32555550e-02 -1.89629030e-04 9.99912123e-01 -2.58547053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.08, Y:2.79, Z:-0.26 [[-7.96679473e-01 6.04307781e-01 1.06734590e-02 3.23076485e+02] [-6.04256656e-01 -7.96750947e-01 7.86273342e-03 2.78816414e+00] [ 1.32555995e-02 -1.85430314e-04 9.99912123e-01 -2.58952630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.07, Y:2.78, Z:-0.26 [[-7.98857126e-01 6.01425795e-01 1.06913421e-02 3.23065691e+02] [-6.01374738e-01 -7.98928648e-01 7.83834122e-03 2.78362457e+00] [ 1.32558001e-02 -1.67788304e-04 9.99912124e-01 -2.59324697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.06, Y:2.78, Z:-0.26 [[-7.99732592e-01 6.00260629e-01 1.07218888e-02 3.23057916e+02] [-6.00210030e-01 -7.99804437e-01 7.79633198e-03 2.78087512e+00] [ 1.32552454e-02 -2.00404404e-04 9.99912125e-01 -2.59221259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.03, Y:2.76, Z:-0.26 [[-8.07617249e-01 5.89609336e-01 1.07335524e-02 3.23027564e+02] [-5.89558003e-01 -8.07688572e-01 7.78024101e-03 2.76069705e+00] [ 1.32566703e-02 -4.45948607e-05 9.99912125e-01 -2.61205911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:2.76, Z:-0.26 [[-8.08745676e-01 5.88058583e-01 1.08413525e-02 3.23022861e+02] [-5.88009157e-01 -8.08818311e-01 7.62700971e-03 2.75726430e+00] [ 1.32538130e-02 -2.06503442e-04 9.99912143e-01 -2.57320203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:2.76, Z:-0.26 [[-8.10465458e-01 5.85685816e-01 1.08566421e-02 3.23021729e+02] [-5.85636469e-01 -8.10538147e-01 7.60518335e-03 2.75568559e+00] [ 1.32539706e-02 -1.94307156e-04 9.99912143e-01 -2.57943923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:2.76, Z:-0.26 [[-8.13592144e-01 5.81334421e-01 1.08679904e-02 3.23023408e+02] [-5.81284903e-01 -8.13664716e-01 7.58893170e-03 2.75899250e+00] [ 1.32546075e-02 -1.43103508e-04 9.99912144e-01 -2.58383139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:2.76, Z:-0.26 [[-8.15986600e-01 5.77968318e-01 1.08853837e-02 3.23024476e+02] [-5.77918834e-01 -8.16059194e-01 7.56390055e-03 2.76054057e+00] [ 1.32548124e-02 -1.18826778e-04 9.99912144e-01 -2.60415667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.03, Y:2.76, Z:-0.26 [[-8.19611264e-01 5.72816326e-01 1.09010238e-02 3.23030079e+02] [-5.72766686e-01 -8.19683752e-01 7.54129258e-03 2.76350966e+00] [ 1.32551676e-02 -6.28149492e-05 9.99912144e-01 -2.58983166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.03, Y:2.76, Z:-0.26 [[-8.21541211e-01 5.70044613e-01 1.09168818e-02 3.23027866e+02] [-5.69995034e-01 -8.21613740e-01 7.51826611e-03 2.76063186e+00] [ 1.32552072e-02 -4.60029582e-05 9.99912145e-01 -2.55854602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.03, Y:2.76, Z:-0.26 [[-8.24232588e-01 5.66145841e-01 1.09328780e-02 3.23029832e+02] [-5.66096228e-01 -8.24305093e-01 7.49493242e-03 2.76106998e+00] [ 1.32552518e-02 -1.14934372e-05 9.99912145e-01 -2.58868471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.03, Y:2.76, Z:-0.26 [[-8.26357078e-01 5.63040051e-01 1.09489694e-02 3.23029184e+02] [-5.62990478e-01 -8.26429610e-01 7.47135112e-03 2.76066623e+00] [ 1.32552224e-02 9.83837140e-06 9.99912146e-01 -2.58895046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:2.76, Z:-0.26 [[-8.28011908e-01 5.60603286e-01 1.09651853e-02 3.23024266e+02] [-5.60553816e-01 -8.28084510e-01 7.44747590e-03 2.75762218e+00] [ 1.32551795e-02 2.00222868e-05 9.99912146e-01 -2.59667402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:2.75, Z:-0.26 [[-8.30330064e-01 5.57163705e-01 1.09814096e-02 3.23021025e+02] [-5.57114251e-01 -8.30402676e-01 7.42347551e-03 2.75267036e+00] [ 1.32550831e-02 4.60350939e-05 9.99912146e-01 -2.58723514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:2.75, Z:-0.26 [[-8.32194418e-01 5.54374878e-01 1.09975674e-02 3.23018058e+02] [-5.54325497e-01 -8.32267079e-01 7.39946077e-03 2.74643091e+00] [ 1.32549885e-02 6.15579351e-05 9.99912147e-01 -2.57210167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.01, Y:2.74, Z:-0.26 [[-8.33543663e-01 5.52343891e-01 1.10085103e-02 3.23012707e+02] [-5.52294549e-01 -8.33616351e-01 7.38314456e-03 2.74222074e+00] [ 1.32549090e-02 7.42331327e-05 9.99912147e-01 -2.56625485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.01, Y:2.74, Z:-0.25 [[-8.34769745e-01 5.50488916e-01 1.10194099e-02 3.23008271e+02] [-5.50439627e-01 -8.34842468e-01 7.36684074e-03 2.73991398e+00] [ 1.32548356e-02 8.40958635e-05 9.99912147e-01 -2.54271798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.00, Y:2.73, Z:-0.25 [[-8.35734271e-01 5.49023279e-01 1.10302642e-02 3.23003800e+02] [-5.48974078e-01 -8.35807054e-01 7.35055286e-03 2.73478263e+00] [ 1.32547972e-02 8.77798423e-05 9.99912147e-01 -2.54803042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.00, Y:2.73, Z:-0.26 [[-8.36845655e-01 5.47327548e-01 1.10410755e-02 3.23002777e+02] [-5.47278414e-01 -8.36918482e-01 7.33427740e-03 2.72952763e+00] [ 1.32547322e-02 9.51158848e-05 9.99912148e-01 -2.55766079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.00, Y:2.72, Z:-0.25 [[-8.38217065e-01 5.45224732e-01 1.10518628e-02 3.22997786e+02] [-5.45175630e-01 -8.38289914e-01 7.31798604e-03 2.72050715e+00] [ 1.32546121e-02 1.08854501e-04 9.99912148e-01 -2.54216521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.00, Y:2.72, Z:-0.26 [[-8.39093789e-01 5.43874137e-01 1.10696728e-02 3.22995087e+02] [-5.43825273e-01 -8.39166798e-01 7.29094551e-03 2.71747418e+00] [ 1.32546586e-02 9.78192250e-05 9.99912148e-01 -2.57250875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.99, Y:2.71, Z:-0.26 [[-8.39709045e-01 5.42923516e-01 1.10803753e-02 3.22990396e+02] [-5.42874786e-01 -8.39782142e-01 7.27464403e-03 2.71219119e+00] [ 1.32546766e-02 9.33280140e-05 9.99912149e-01 -2.56422410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.99, Y:2.71, Z:-0.26 [[-8.40119550e-01 5.42287867e-01 1.10910434e-02 3.22989403e+02] [-5.42239296e-01 -8.40192753e-01 7.25834279e-03 2.71000242e+00] [ 1.32547255e-02 8.38761186e-05 9.99912149e-01 -2.55836754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.99, Y:2.71, Z:-0.25 [[-8.40046807e-01 5.42400326e-01 1.11016979e-02 3.22987452e+02] [-5.42351981e-01 -8.40120160e-01 7.24200995e-03 2.70605024e+00] [ 1.32548287e-02 6.25995107e-05 9.99912149e-01 -2.53563870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.99, Y:2.70, Z:-0.25 [[-8.40342191e-01 5.41942357e-01 1.11123676e-02 3.22985927e+02] [-5.41894188e-01 -8.40415659e-01 7.22560083e-03 2.70302627e+00] [ 1.32548669e-02 5.02498254e-05 9.99912149e-01 -2.54759011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.99, Y:2.70, Z:-0.26 [[-8.40142279e-01 5.42251997e-01 1.11230525e-02 3.22986690e+02] [-5.42204074e-01 -8.40215907e-01 7.20911485e-03 2.69937633e+00] [ 1.32549226e-02 2.57177778e-05 9.99912149e-01 -2.57317406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.98, Y:2.70, Z:-0.26 [[-8.41192910e-01 5.40620513e-01 1.11332225e-02 3.22983916e+02] [-5.40572655e-01 -8.41266581e-01 7.19337472e-03 2.69663284e+00] [ 1.32548940e-02 3.27001631e-05 9.99912149e-01 -2.56049514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.98, Y:2.69, Z:-0.26 [[-8.41988287e-01 5.39380572e-01 1.11500305e-02 3.22978753e+02] [-5.39332951e-01 -8.42062111e-01 7.16722654e-03 2.69306285e+00] [ 1.32548810e-02 2.11419221e-05 9.99912150e-01 -2.55429963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.97, Y:2.69, Z:-0.26 [[-8.42287226e-01 5.38913412e-01 1.11607612e-02 3.22974020e+02] [-5.38865973e-01 -8.42361166e-01 7.15047772e-03 2.68801578e+00] [ 1.32548801e-02 8.60161963e-06 9.99912150e-01 -2.55184421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.97, Y:2.68, Z:-0.26 [[-8.42870889e-01 5.37999873e-01 1.11714349e-02 3.22973722e+02] [-5.37952575e-01 -8.42944919e-01 7.13376279e-03 2.68480864e+00] [ 1.32548677e-02 3.13884109e-06 9.99912150e-01 -2.56287606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.97, Y:2.68, Z:-0.26 [[-8.43974796e-01 5.36266263e-01 1.11820941e-02 3.22968007e+02] [-5.36219034e-01 -8.44048870e-01 7.11701530e-03 2.68047146e+00] [ 1.32548491e-02 1.05298545e-05 9.99912151e-01 -2.59977236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.96, Y:2.68, Z:-0.26 [[-8.44313525e-01 5.35732578e-01 1.11927387e-02 3.22963715e+02] [-5.35685525e-01 -8.44387710e-01 7.10023519e-03 2.67732323e+00] [ 1.32548383e-02 -9.63517987e-07 9.99912151e-01 -2.56133377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.96, Y:2.67, Z:-0.26 [[-8.44888498e-01 5.34825121e-01 1.12033372e-02 3.22959886e+02] [-5.34778211e-01 -8.44962774e-01 7.08347253e-03 2.67395017e+00] [ 1.32548219e-02 -6.55613183e-06 9.99912151e-01 -2.57248977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.95, Y:2.67, Z:-0.26 [[-8.45318247e-01 5.34145401e-01 1.12139023e-02 3.22953381e+02] [-5.34098653e-01 -8.45392625e-01 7.06670709e-03 2.66799806e+00] [ 1.32547994e-02 -1.57136658e-05 9.99912151e-01 -2.57168921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.95, Y:2.66, Z:-0.26 [[-8.46262898e-01 5.32647278e-01 1.12242769e-02 3.22948596e+02] [-5.32600618e-01 -8.46337330e-01 7.05019018e-03 2.66368424e+00] [ 1.32547892e-02 -1.17424411e-05 9.99912151e-01 -2.57275450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.95, Y:2.66, Z:-0.26 [[-8.47173373e-01 5.31197760e-01 1.12345791e-02 3.22948986e+02] [-5.31151190e-01 -8.47247862e-01 7.03373504e-03 2.66165741e+00] [ 1.32547774e-02 -8.46703864e-06 9.99912152e-01 -2.57456203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.94, Y:2.66, Z:-0.26 [[-8.47748834e-01 5.30278666e-01 1.12450204e-02 3.22943722e+02] [-5.30232238e-01 -8.47823411e-01 7.01700244e-03 2.65716044e+00] [ 1.32547583e-02 -1.38167095e-05 9.99912152e-01 -2.57397058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.94, Y:2.65, Z:-0.26 [[-8.48699273e-01 5.28755954e-01 1.12554551e-02 3.22942561e+02] [-5.28709614e-01 -8.48773905e-01 7.00022480e-03 2.65395149e+00] [ 1.32547471e-02 -9.78163587e-06 9.99912152e-01 -2.60103132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.94, Y:2.65, Z:-0.26 [[-8.49470364e-01 5.27516051e-01 1.12657420e-02 3.22937538e+02] [-5.27469822e-01 -8.49545064e-01 6.98363036e-03 2.64993653e+00] [ 1.32547326e-02 -9.95190848e-06 9.99912152e-01 -2.56667395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.93, Y:2.65, Z:-0.26 [[-8.50175368e-01 5.26378851e-01 1.12760146e-02 3.22933912e+02] [-5.26332742e-01 -8.50250143e-01 6.96700423e-03 2.64767594e+00] [ 1.32547167e-02 -1.17603190e-05 9.99912152e-01 -2.56599591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.93, Y:2.64, Z:-0.26 [[-8.51314228e-01 5.24534771e-01 1.12853164e-02 3.22928859e+02] [-5.24488701e-01 -8.51389026e-01 6.95190426e-03 2.64371679e+00] [ 1.32547101e-02 -7.65950079e-07 9.99912152e-01 -2.59860647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.92, Y:2.64, Z:-0.26 [[-8.51799533e-01 5.23746090e-01 1.12955118e-02 3.22923126e+02] [-5.23700171e-01 -8.51874423e-01 6.93529904e-03 2.64039900e+00] [ 1.32546934e-02 -7.97698929e-06 9.99912153e-01 -2.60011750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.92, Y:2.64, Z:-0.26 [[-8.52879461e-01 5.21985467e-01 1.13047285e-02 3.22921781e+02] [-5.21939593e-01 -8.52954379e-01 6.92024296e-03 2.63764247e+00] [ 1.32546839e-02 1.74770829e-06 9.99912153e-01 -2.57074209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.92, Y:2.63, Z:-0.26 [[-8.53920572e-01 5.20280358e-01 1.13139251e-02 3.22919159e+02] [-5.20234534e-01 -8.53995520e-01 6.90517463e-03 2.63457636e+00] [ 1.32546681e-02 1.05761403e-05 9.99912153e-01 -2.60062004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.92, Y:2.63, Z:-0.26 [[-8.55171310e-01 5.18221784e-01 1.13231192e-02 3.22916943e+02] [-5.18175979e-01 -8.55246270e-01 6.89006498e-03 2.63197039e+00] [ 1.32546372e-02 2.48175042e-05 9.99912153e-01 -2.59320475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.91, Y:2.63, Z:-0.26 [[-8.56778403e-01 5.15560227e-01 1.13323020e-02 3.22912475e+02] [-5.15514389e-01 -8.56853342e-01 6.87492848e-03 2.62794075e+00] [ 1.32545606e-02 4.83254825e-05 9.99912153e-01 -2.58848283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.91, Y:2.62, Z:-0.26 [[-8.57971608e-01 5.13571894e-01 1.13414646e-02 3.22908442e+02] [-5.13526083e-01 -8.58046564e-01 6.85977975e-03 2.62444170e+00] [ 1.32544948e-02 6.13583759e-05 9.99912153e-01 -2.59687631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76232058799997 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:322.90, Y:2.62, Z:-0.26 [[-8.59668964e-01 5.10725402e-01 1.13505806e-02 3.22903234e+02] [-5.10679542e-01 -8.59743890e-01 6.84466260e-03 2.61677819e+00] [ 1.32543354e-02 8.76347091e-05 9.99912154e-01 -2.61994347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.90, Y:2.61, Z:-0.26 [[-8.60316040e-01 5.09634319e-01 1.13654172e-02 3.22899591e+02] [-5.09588690e-01 -8.60391106e-01 6.81993743e-03 2.61249267e+00] [ 1.32543780e-02 7.56135066e-05 9.99912154e-01 -2.58679460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.89, Y:2.61, Z:-0.26 [[-8.61836611e-01 5.07058457e-01 1.13744144e-02 3.22892758e+02] [-5.07012803e-01 -8.61911661e-01 6.80489853e-03 2.60621173e+00] [ 1.32542218e-02 9.77369436e-05 9.99912154e-01 -2.57949417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.89, Y:2.60, Z:-0.26 [[-8.62284193e-01 5.06296612e-01 1.13890553e-02 3.22891327e+02] [-5.06251216e-01 -8.62359399e-01 6.78030588e-03 2.60403253e+00] [ 1.32543048e-02 8.08274861e-05 9.99912155e-01 -2.57619968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.89, Y:2.60, Z:-0.26 [[-8.62189523e-01 5.06457612e-01 1.13979509e-02 3.22892851e+02] [-5.06412428e-01 -8.62264857e-01 6.76531890e-03 2.59809944e+00] [ 1.32543998e-02 6.09230794e-05 9.99912155e-01 -2.57728673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.89, Y:2.59, Z:-0.26 [[-8.62549007e-01 5.05844931e-01 1.14068674e-02 3.22891198e+02] [-5.05799892e-01 -8.62624428e-01 6.75025148e-03 2.59398105e+00] [ 1.32544229e-02 5.28304245e-05 9.99912155e-01 -2.58997032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.89, Y:2.59, Z:-0.26 [[-8.62996530e-01 5.05080854e-01 1.14157877e-02 3.22889670e+02] [-5.05035948e-01 -8.63072030e-01 6.73513188e-03 2.59182927e+00] [ 1.32544332e-02 4.70122722e-05 9.99912155e-01 -2.59153473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.89, Y:2.59, Z:-0.26 [[-8.62991998e-01 5.05088395e-01 1.14247136e-02 3.22886207e+02] [-5.05043691e-01 -8.63067618e-01 6.71995689e-03 2.58953586e+00] [ 1.32544725e-02 2.92895209e-05 9.99912155e-01 -2.56639078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:2.59, Z:-0.26 [[-8.62922680e-01 5.05206612e-01 1.14336346e-02 3.22883301e+02] [-5.05162120e-01 -8.62998423e-01 6.70474376e-03 2.58537202e+00] [ 1.32544895e-02 9.83634914e-06 9.99912155e-01 -2.56995994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:2.58, Z:-0.26 [[-8.62840819e-01 5.05346228e-01 1.14416594e-02 3.22882797e+02] [-5.05301930e-01 -8.62916676e-01 6.69102137e-03 2.57818992e+00] [ 1.32544811e-02 -8.20621329e-06 9.99912155e-01 -2.58909647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:2.58, Z:-0.26 [[-8.63125719e-01 5.04859266e-01 1.14505266e-02 3.22880170e+02] [-5.04815127e-01 -8.63201669e-01 6.67581209e-03 2.57558380e+00] [ 1.32544593e-02 -1.83339348e-05 9.99912156e-01 -2.58856794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:2.57, Z:-0.26 [[-8.63018602e-01 5.05042151e-01 1.14593821e-02 3.22875178e+02] [-5.04998230e-01 -8.63094679e-01 6.66057643e-03 2.57322081e+00] [ 1.32544036e-02 -3.87663143e-05 9.99912156e-01 -2.57517689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.87, Y:2.57, Z:-0.26 [[-8.62815500e-01 5.05388874e-01 1.14673465e-02 3.22867369e+02] [-5.05345166e-01 -8.62891698e-01 6.64683595e-03 2.56822573e+00] [ 1.32543150e-02 -5.99750517e-05 9.99912156e-01 -2.57204647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.86, Y:2.56, Z:-0.26 [[-8.62821873e-01 5.05377813e-01 1.14752366e-02 3.22862422e+02] [-5.05334286e-01 -8.62898175e-01 6.63318628e-03 2.56452570e+00] [ 1.32542259e-02 -7.55722916e-05 9.99912156e-01 -2.57518603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.86, Y:2.56, Z:-0.26 [[-8.63759312e-01 5.03773749e-01 1.14830539e-02 3.22858735e+02] [-5.03730261e-01 -8.63835635e-01 6.61962558e-03 2.56300055e+00] [ 1.32542648e-02 -6.65985241e-05 9.99912156e-01 -2.57828337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.85, Y:2.56, Z:-0.26 [[-8.64328072e-01 5.02797120e-01 1.14908344e-02 3.22854158e+02] [-5.02753725e-01 -8.64404449e-01 6.60609202e-03 2.56120494e+00] [ 1.32542524e-02 -6.72290204e-05 9.99912156e-01 -2.57389858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.85, Y:2.56, Z:-0.26 [[-8.65149507e-01 5.01382202e-01 1.14985848e-02 3.22854394e+02] [-5.01338861e-01 -8.65225915e-01 6.59257391e-03 2.56126975e+00] [ 1.32542728e-02 -6.11253665e-05 9.99912156e-01 -2.57831988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.86, Y:2.56, Z:-0.26 [[-8.67748663e-01 4.96870066e-01 1.15063401e-02 3.22855039e+02] [-4.96826508e-01 -8.67824946e-01 6.57901042e-03 2.55999614e+00] [ 1.32544023e-02 -7.72726540e-06 9.99912157e-01 -2.57533542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.85, Y:2.56, Z:-0.26 [[-8.69269994e-01 4.94203224e-01 1.15260520e-02 3.22854250e+02] [-4.94159892e-01 -8.69346406e-01 6.54429311e-03 2.55888047e+00] [ 1.32543426e-02 -6.95496610e-06 9.99912157e-01 -2.57677152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.85, Y:2.56, Z:-0.26 [[-8.70996702e-01 4.91153451e-01 1.15339344e-02 3.22851999e+02] [-4.91110036e-01 -8.71073066e-01 6.53037122e-03 2.55725552e+00] [ 1.32543140e-02 2.35008674e-05 9.99912157e-01 -2.57953273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.85, Y:2.55, Z:-0.26 [[-8.72747908e-01 4.88034707e-01 1.15418219e-02 3.22847737e+02] [-4.87991204e-01 -8.72824221e-01 6.51640081e-03 2.55305948e+00] [ 1.32542115e-02 5.48675801e-05 9.99912158e-01 -2.58522896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.84, Y:2.55, Z:-0.26 [[-8.74451689e-01 4.84975100e-01 1.15496853e-02 3.22841707e+02] [-4.84931514e-01 -8.74527956e-01 6.50243391e-03 2.54700287e+00] [ 1.32540412e-02 8.52579499e-05 9.99912158e-01 -2.59740241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.84, Y:2.54, Z:-0.26 [[-8.75600682e-01 4.82897391e-01 1.15566474e-02 3.22838755e+02] [-4.82853787e-01 -8.75676938e-01 6.49003655e-03 2.54448810e+00] [ 1.32539114e-02 1.02509443e-04 9.99912158e-01 -2.60124608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.83, Y:2.54, Z:-0.26 [[-8.76662020e-01 4.80967742e-01 1.15643792e-02 3.22834940e+02] [-4.80924153e-01 -8.76738284e-01 6.47623018e-03 2.54101544e+00] [ 1.32537918e-02 1.15875755e-04 9.99912158e-01 -2.59058463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.83, Y:2.53, Z:-0.26 [[-8.77727222e-01 4.79020888e-01 1.15720874e-02 3.22829947e+02] [-4.78977311e-01 -8.77803493e-01 6.46242732e-03 2.53434296e+00] [ 1.32536564e-02 1.29481063e-04 9.99912158e-01 -2.59255908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.83, Y:2.53, Z:-0.26 [[-8.78539559e-01 4.77529196e-01 1.15805728e-02 3.22827819e+02] [-4.77485691e-01 -8.78615871e-01 6.44718573e-03 2.53139608e+00] [ 1.32535945e-02 1.34549910e-04 9.99912158e-01 -2.58516602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.83, Y:2.53, Z:-0.26 [[-8.79383312e-01 4.75973447e-01 1.15873760e-02 3.22825273e+02] [-4.75929968e-01 -8.79459639e-01 6.43493529e-03 2.52862162e+00] [ 1.32534878e-02 1.43995239e-04 9.99912158e-01 -2.59383285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.82, Y:2.53, Z:-0.26 [[-8.80752297e-01 4.73435283e-01 1.15941603e-02 3.22823686e+02] [-4.73391745e-01 -8.80828590e-01 6.42268830e-03 2.52513662e+00] [ 1.32531951e-02 1.68217711e-04 9.99912158e-01 -2.59687834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.82, Y:2.52, Z:-0.26 [[-8.82177678e-01 4.70773772e-01 1.16017357e-02 3.22817835e+02] [-4.70730184e-01 -8.82253942e-01 6.40897495e-03 2.51911563e+00] [ 1.32528544e-02 1.92567430e-04 9.99912159e-01 -2.60111594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.81, Y:2.52, Z:-0.26 [[-8.82885492e-01 4.69444852e-01 1.16077245e-02 3.22812458e+02] [-4.69401292e-01 -8.82961772e-01 6.39810992e-03 2.51585665e+00] [ 1.32527367e-02 2.00117558e-04 9.99912159e-01 -2.60898598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.81, Y:2.52, Z:-0.26 [[-8.83396859e-01 4.68481692e-01 1.16143806e-02 3.22812175e+02] [-4.68438209e-01 -8.83473182e-01 6.38600433e-03 2.51552674e+00] [ 1.32527199e-02 2.00756540e-04 9.99912159e-01 -2.59209603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.81, Y:2.51, Z:-0.26 [[-8.83808013e-01 4.67705407e-01 1.16210184e-02 3.22809643e+02] [-4.67662015e-01 -8.83884389e-01 6.37390218e-03 2.51290672e+00] [ 1.32527452e-02 1.98596960e-04 9.99912159e-01 -2.59430970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:322.81, Y:2.51, Z:-0.26 [[-8.84524711e-01 4.66348422e-01 1.16269263e-02 3.22809469e+02] [-4.66305055e-01 -8.84601100e-01 6.36310698e-03 2.50720764e+00] [ 1.32526167e-02 2.06630851e-04 9.99912159e-01 -2.59334469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.81, Y:2.50, Z:-0.26 [[-8.85615179e-01 4.64274093e-01 1.16328102e-02 3.22808066e+02] [-4.64230688e-01 -8.85691547e-01 6.35233204e-03 2.50334568e+00] [ 1.32523048e-02 2.25414203e-04 9.99912159e-01 -2.58463598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.81, Y:2.50, Z:-0.26 [[-8.85947107e-01 4.63640232e-01 1.16386721e-02 3.22807887e+02] [-4.63596914e-01 -8.86023524e-01 6.34157360e-03 2.50209473e+00] [ 1.32523460e-02 2.22646304e-04 9.99912159e-01 -2.57872968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.81, Y:2.50, Z:-0.26 [[-8.86663580e-01 4.62268429e-01 1.16445288e-02 3.22805721e+02] [-4.62225134e-01 -8.86740011e-01 6.33080121e-03 2.49864043e+00] [ 1.32521991e-02 2.30896990e-04 9.99912159e-01 -2.58028723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:2.49, Z:-0.26 [[-8.87103490e-01 4.61423523e-01 1.16503708e-02 3.22804476e+02] [-4.61380296e-01 -8.87179959e-01 6.32003195e-03 2.49478580e+00] [ 1.32521869e-02 2.31270853e-04 9.99912159e-01 -2.58931239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:2.49, Z:-0.26 [[-8.88230701e-01 4.59249775e-01 1.16561937e-02 3.22801993e+02] [-4.59206502e-01 -8.88307144e-01 6.30927437e-03 2.48808124e+00] [ 1.32518130e-02 2.51491257e-04 9.99912159e-01 -2.59771319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:2.49, Z:-0.26 [[-8.88897665e-01 4.57957356e-01 1.16619858e-02 3.22803243e+02] [-4.57914113e-01 -8.88974124e-01 6.29855020e-03 2.48551367e+00] [ 1.32516710e-02 2.58578705e-04 9.99912159e-01 -2.57313951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.932320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:322.80, Y:2.48, Z:-0.26 [[-8.89738751e-01 4.56320960e-01 1.16677588e-02 3.22802120e+02] [-4.56277717e-01 -8.89815210e-01 6.28783762e-03 2.48216755e+00] [ 1.32514214e-02 2.70794414e-04 9.99912159e-01 -2.56890830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:2.48, Z:-0.26 [[-8.90318642e-01 4.55188362e-01 1.16735312e-02 3.22800225e+02] [-4.55145162e-01 -8.90395125e-01 6.27710282e-03 2.47864816e+00] [ 1.32513194e-02 2.75470428e-04 9.99912159e-01 -2.57867465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:2.48, Z:-0.26 [[-8.91063450e-01 4.53728469e-01 1.16792372e-02 3.22799251e+02] [-4.53685284e-01 -8.91139941e-01 6.26646804e-03 2.47604787e+00] [ 1.32511097e-02 2.85122570e-04 9.99912160e-01 -2.57962579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:2.47, Z:-0.26 [[-8.91385270e-01 4.53095754e-01 1.16849269e-02 3.22799028e+02] [-4.53052653e-01 -8.91461810e-01 6.25584070e-03 2.47231345e+00] [ 1.32511609e-02 2.82477127e-04 9.99912160e-01 -2.58584098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.80, Y:2.47, Z:-0.26 [[-8.91799877e-01 4.52279017e-01 1.16906068e-02 3.22797545e+02] [-4.52235985e-01 -8.91876455e-01 6.24520819e-03 2.46922657e+00] [ 1.32511536e-02 2.82562801e-04 9.99912160e-01 -2.58705948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:2.47, Z:-0.26 [[-8.92116888e-01 4.51653246e-01 1.16962727e-02 3.22796010e+02] [-4.51610300e-01 -8.92193514e-01 6.23457892e-03 2.46545170e+00] [ 1.32512064e-02 2.79815938e-04 9.99912160e-01 -2.59138306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:2.46, Z:-0.26 [[-8.92425120e-01 4.51043757e-01 1.17019244e-02 3.22795769e+02] [-4.51000898e-01 -8.92501794e-01 6.22395288e-03 2.46433061e+00] [ 1.32512636e-02 2.76833494e-04 9.99912160e-01 -2.57422891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14232058799996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:322.79, Y:2.46, Z:-0.26 [[-8.93200372e-01 4.49506428e-01 1.17075664e-02 3.22794959e+02] [-4.49463576e-01 -8.93277050e-01 6.21332172e-03 2.45804765e+00] [ 1.32510285e-02 2.87616597e-04 9.99912160e-01 -2.57601879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.79, Y:2.45, Z:-0.26 [[-8.93854733e-01 4.48203655e-01 1.17132453e-02 3.22792634e+02] [-4.48160831e-01 -8.93931427e-01 6.20259748e-03 2.45402799e+00] [ 1.32508650e-02 2.94803352e-04 9.99912160e-01 -2.59118283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.79, Y:2.45, Z:-0.26 [[-8.94385828e-01 4.47142774e-01 1.17188481e-02 3.22792230e+02] [-4.47099998e-01 -8.94462549e-01 6.19199369e-03 2.45219404e+00] [ 1.32507760e-02 2.98534419e-04 9.99912160e-01 -2.58946195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.79, Y:2.45, Z:-0.26 [[-8.94677489e-01 4.46558763e-01 1.17244370e-02 3.22793106e+02] [-4.46516077e-01 -8.94754259e-01 6.18139317e-03 2.44934281e+00] [ 1.32508452e-02 2.95203715e-04 9.99912160e-01 -2.59924307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.79, Y:2.45, Z:-0.26 [[-8.95180751e-01 4.45548908e-01 1.17300316e-02 3.22791218e+02] [-4.45506274e-01 -8.95257551e-01 6.17075836e-03 2.44528361e+00] [ 1.32507740e-02 2.98141447e-04 9.99912160e-01 -2.60078595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.79, Y:2.44, Z:-0.26 [[-8.95089505e-01 4.45732043e-01 1.17356165e-02 3.22792188e+02] [-4.45689563e-01 -8.95166390e-01 6.16011849e-03 2.44058187e+00] [ 1.32510917e-02 2.83415598e-04 9.99912160e-01 -2.60266130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.79, Y:2.44, Z:-0.26 [[-8.95467678e-01 4.44971665e-01 1.17411853e-02 3.22793237e+02] [-4.44929260e-01 -8.95544604e-01 6.14948615e-03 2.43914170e+00] [ 1.32511022e-02 2.82669211e-04 9.99912160e-01 -2.58800737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.21, Y:1.63, Z:1.61 [[-8.41871614e-01 -5.39540786e-01 -1.21624982e-02 3.23211144e+02] [-5.39518273e-01 8.41956936e-01 -5.34328357e-03 1.63061382e+00] [ 1.31232191e-02 2.06353125e-03 -9.99911758e-01 1.60578073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.71, Y:2.40, Z:-0.26 [[-8.63385102e-01 5.04420626e-01 1.12248831e-02 3.22710812e+02] [-5.04373856e-01 -8.63458023e-01 6.87432770e-03 2.39989232e+00] [ 1.31597680e-02 2.73654567e-04 9.99913369e-01 -2.60096604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.71, Y:2.40, Z:-0.26 [[-8.63847821e-01 5.03627643e-01 1.12311725e-02 3.22709046e+02] [-5.03580940e-01 -8.63920784e-01 6.86403675e-03 2.39874558e+00] [ 1.31597620e-02 2.73678800e-04 9.99913369e-01 -2.60063401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.442320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:322.71, Y:2.40, Z:-0.26 [[-8.64116985e-01 5.03165535e-01 1.12374651e-02 3.22707337e+02] [-5.03118927e-01 -8.64190009e-01 6.85371925e-03 2.39554355e+00] [ 1.31598604e-02 2.68633826e-04 9.99913369e-01 -2.60591484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.71, Y:2.39, Z:-0.26 [[-8.64587776e-01 5.02356006e-01 1.12437405e-02 3.22706042e+02] [-5.02309463e-01 -8.64660842e-01 6.84340868e-03 2.39409548e+00] [ 1.31598496e-02 2.68890215e-04 9.99913369e-01 -2.59726908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.71, Y:2.39, Z:-0.26 [[-8.64855900e-01 5.01894122e-01 1.12500016e-02 3.22705608e+02] [-5.01847674e-01 -8.64929027e-01 6.83310049e-03 2.39207110e+00] [ 1.31599459e-02 2.63860133e-04 9.99913369e-01 -2.58270665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.71, Y:2.39, Z:-0.26 [[-8.65319407e-01 5.01094422e-01 1.12562581e-02 3.22705289e+02] [-5.01048041e-01 -8.65392576e-01 6.82277844e-03 2.38841184e+00] [ 1.31599384e-02 2.63956513e-04 9.99913369e-01 -2.59017634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:322.70, Y:2.38, Z:-0.26 [[-8.66026898e-01 4.99870551e-01 1.12625129e-02 3.22704389e+02] [-4.99824201e-01 -8.66100086e-01 6.81243794e-03 2.38151580e+00] [ 1.31598005e-02 2.70478010e-04 9.99913369e-01 -2.61126917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59232058799995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:322.70, Y:2.38, Z:-0.26 [[-8.67047248e-01 4.98098470e-01 1.12686945e-02 3.22702521e+02] [-4.98052103e-01 -8.67120426e-01 6.80219725e-03 2.37835544e+00] [ 1.31594792e-02 2.85429405e-04 9.99913370e-01 -2.61580976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.70, Y:2.38, Z:-0.26 [[-8.67920852e-01 4.96574539e-01 1.12748451e-02 3.22700183e+02] [-4.96528176e-01 -8.67994032e-01 6.79198722e-03 2.37562511e+00] [ 1.31592261e-02 2.96629086e-04 9.99913370e-01 -2.60842349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:2.37, Z:-0.26 [[-8.69721057e-01 4.93414656e-01 1.12809767e-02 3.22694779e+02] [-4.93368159e-01 -8.69794152e-01 6.78178766e-03 2.36889584e+00] [ 1.31583610e-02 3.32588805e-04 9.99913370e-01 -2.60553350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:2.37, Z:-0.26 [[-8.70205884e-01 4.92558952e-01 1.12870634e-02 3.22693860e+02] [-4.92512515e-01 -8.70279017e-01 6.77164230e-03 2.36629222e+00] [ 1.31583275e-02 3.33702984e-04 9.99913370e-01 -2.59562632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:2.36, Z:-0.26 [[-8.70433662e-01 4.92156180e-01 1.12931080e-02 3.22692940e+02] [-4.92109840e-01 -8.70506856e-01 6.76154666e-03 2.36179122e+00] [ 1.31584649e-02 3.28028253e-04 9.99913370e-01 -2.60171583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:2.36, Z:-0.26 [[-8.70289981e-01 4.92410081e-01 1.12987241e-02 3.22693354e+02] [-4.92363884e-01 -8.70363266e-01 6.75214894e-03 2.36057698e+00] [ 1.31588206e-02 3.13243883e-04 9.99913370e-01 -2.60389278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:2.36, Z:-0.26 [[-8.70446109e-01 4.92133898e-01 1.13047466e-02 3.22693553e+02] [-4.92087809e-01 -8.70519461e-01 6.74205073e-03 2.35940437e+00] [ 1.31589936e-02 3.05663838e-04 9.99913370e-01 -2.60495234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:2.36, Z:-0.26 [[-8.70317836e-01 4.92360570e-01 1.13107811e-02 3.22694413e+02] [-4.92314632e-01 -8.70391282e-01 6.73191175e-03 2.35835265e+00] [ 1.31593332e-02 2.90439836e-04 9.99913370e-01 -2.60634287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.70, Y:2.35, Z:-0.26 [[-8.69989254e-01 4.92940795e-01 1.13168276e-02 3.22695459e+02] [-4.92895038e-01 -8.70062814e-01 6.72173170e-03 2.35498260e+00] [ 1.31597666e-02 2.69826171e-04 9.99913370e-01 -2.60830765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:2.35, Z:-0.26 [[-8.70473770e-01 4.92084553e-01 1.13228862e-02 3.22694371e+02] [-4.92038857e-01 -8.70547368e-01 6.71151028e-03 2.35208119e+00] [ 1.31597393e-02 2.70893653e-04 9.99913370e-01 -2.60820972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89232058799996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:322.69, Y:2.35, Z:-0.26 [[-8.71786530e-01 4.89754941e-01 1.13289404e-02 3.22690376e+02] [-4.89709180e-01 -8.71860087e-01 6.70127537e-03 2.34743589e+00] [ 1.31592337e-02 2.94195499e-04 9.99913370e-01 -2.61731953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:2.34, Z:-0.26 [[-8.72758821e-01 4.88020053e-01 1.13344082e-02 3.22687356e+02] [-4.87974266e-01 -8.72832362e-01 6.69201436e-03 2.34478577e+00] [ 1.31588755e-02 3.09615030e-04 9.99913370e-01 -2.60439903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:2.34, Z:-0.26 [[-8.73497809e-01 4.86695977e-01 1.13403885e-02 3.22684291e+02] [-4.86650211e-01 -8.73571362e-01 6.68186463e-03 2.34212821e+00] [ 1.31586753e-02 3.17791637e-04 9.99913370e-01 -2.59822752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:2.34, Z:-0.26 [[-8.74365862e-01 4.85134620e-01 1.13463390e-02 3.22680706e+02] [-4.85088853e-01 -8.74439416e-01 6.67174495e-03 2.33722567e+00] [ 1.31583805e-02 3.29563447e-04 9.99913370e-01 -2.60010147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:2.34, Z:-0.26 [[-8.74840087e-01 4.84278793e-01 1.13522553e-02 3.22680828e+02] [-4.84233085e-01 -8.74913677e-01 6.66166292e-03 2.33539773e+00] [ 1.31583455e-02 3.30752173e-04 9.99913371e-01 -2.60928593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:2.33, Z:-0.26 [[-8.75145340e-01 4.83726810e-01 1.13581512e-02 3.22680890e+02] [-4.83681187e-01 -8.75218982e-01 6.65159508e-03 2.33409810e+00] [ 1.31584244e-02 3.27388354e-04 9.99913371e-01 -2.62081824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:2.33, Z:-0.26 [[-8.75752285e-01 4.82626972e-01 1.13640542e-02 3.22680537e+02] [-4.82581387e-01 -8.75825951e-01 6.64149479e-03 2.33224604e+00] [ 1.31582981e-02 3.32223225e-04 9.99913371e-01 -2.63404250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:2.33, Z:-0.26 [[-8.76228683e-01 4.81761372e-01 1.13699572e-02 3.22678303e+02] [-4.81715845e-01 -8.76302385e-01 6.63137365e-03 2.32959059e+00] [ 1.31582603e-02 3.33511268e-04 9.99913371e-01 -2.63972055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:2.33, Z:-0.26 [[-8.77216047e-01 4.79961037e-01 1.13758512e-02 3.22675263e+02] [-4.79915490e-01 -8.77289736e-01 6.62124726e-03 2.32505644e+00] [ 1.31578582e-02 3.48817148e-04 9.99913371e-01 -2.64978031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.67, Y:2.32, Z:-0.27 [[-8.78203350e-01 4.78151997e-01 1.13817181e-02 3.22669977e+02] [-4.78106429e-01 -8.78277027e-01 6.61114685e-03 2.32081251e+00] [ 1.31574346e-02 3.64258730e-04 9.99913371e-01 -2.65229190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.67, Y:2.32, Z:-0.27 [[-8.79181891e-01 4.76350177e-01 1.13890977e-02 3.22666986e+02] [-4.76304623e-01 -8.79255575e-01 6.59840939e-03 2.31741843e+00] [ 1.31570811e-02 3.76522166e-04 9.99913371e-01 -2.65424052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.31, Z:-0.26 [[-8.80725987e-01 4.73489062e-01 1.13948952e-02 3.22663246e+02] [-4.73443398e-01 -8.80799604e-01 6.58838225e-03 2.31198437e+00] [ 1.31561461e-02 4.07721537e-04 9.99913371e-01 -2.64908350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.31, Z:-0.26 [[-8.81658624e-01 4.71750034e-01 1.14006532e-02 3.22662366e+02] [-4.71704354e-01 -8.81732231e-01 6.57840341e-03 2.30922930e+00] [ 1.31556854e-02 4.22168332e-04 9.99913371e-01 -2.64724555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.30, Z:-0.26 [[-8.82603676e-01 4.69979410e-01 1.14063851e-02 3.22658247e+02] [-4.69933710e-01 -8.82677270e-01 6.56844979e-03 2.30474677e+00] [ 1.31551930e-02 4.37093061e-04 9.99913371e-01 -2.64407665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.30, Z:-0.27 [[-8.83565462e-01 4.68168600e-01 1.14120889e-02 3.22655640e+02] [-4.68122878e-01 -8.83639042e-01 6.55852503e-03 2.29819743e+00] [ 1.31546627e-02 4.52626321e-04 9.99913371e-01 -2.65617174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.30, Z:-0.27 [[-8.84162249e-01 4.67040419e-01 1.14177498e-02 3.22654737e+02] [-4.66994730e-01 -8.84235849e-01 6.54865495e-03 2.29528333e+00] [ 1.31544703e-02 4.58044490e-04 9.99913371e-01 -2.66170071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.29, Z:-0.27 [[-8.84177287e-01 4.67011810e-01 1.14233896e-02 3.22654855e+02] [-4.66966246e-01 -8.84250965e-01 6.53880218e-03 2.29175773e+00] [ 1.31548411e-02 4.47123010e-04 9.99913371e-01 -2.65704379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.29, Z:-0.27 [[-8.84265135e-01 4.66845315e-01 1.14290209e-02 3.22655266e+02] [-4.66799864e-01 -8.84338883e-01 6.52894455e-03 2.29070984e+00] [ 1.31551347e-02 4.38252634e-04 9.99913371e-01 -2.66284416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.29, Z:-0.27 [[-8.84495535e-01 4.66408509e-01 1.14346563e-02 3.22653577e+02] [-4.66363149e-01 -8.84569339e-01 6.51905986e-03 2.28808265e+00] [ 1.31552913e-02 4.33377016e-04 9.99913371e-01 -2.65087363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.28, Z:-0.26 [[-8.84792808e-01 4.65844188e-01 1.14402895e-02 3.22655344e+02] [-4.65798909e-01 -8.84866661e-01 6.50915915e-03 2.28346848e+00] [ 1.31553847e-02 4.30382844e-04 9.99913372e-01 -2.64573153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.28, Z:-0.26 [[-8.85261571e-01 4.64952622e-01 1.14459183e-02 3.22654142e+02] [-4.64907397e-01 -8.85335457e-01 6.49924613e-03 2.27961265e+00] [ 1.31553189e-02 4.32240749e-04 9.99913372e-01 -2.64009336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.27, Z:-0.26 [[-8.85517279e-01 4.64465296e-01 1.14515428e-02 3.22654421e+02] [-4.64420158e-01 -8.85591218e-01 6.48932077e-03 2.27461784e+00] [ 1.31554500e-02 4.28078359e-04 9.99913372e-01 -2.64021456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.27, Z:-0.26 [[-8.85627956e-01 4.64254087e-01 1.14571544e-02 3.22655744e+02] [-4.64209060e-01 -8.85701962e-01 6.47939801e-03 2.27397105e+00] [ 1.31557112e-02 4.19821129e-04 9.99913372e-01 -2.62843726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.27, Z:-0.26 [[-8.85320908e-01 4.64839214e-01 1.14627701e-02 3.22654617e+02] [-4.64794364e-01 -8.85395022e-01 6.46944796e-03 2.27097963e+00] [ 1.31563327e-02 3.99706598e-04 9.99913372e-01 -2.63455422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.27, Z:-0.26 [[-8.85224963e-01 4.65021764e-01 1.14683920e-02 3.22655240e+02] [-4.64977059e-01 -8.85299164e-01 6.45946670e-03 2.26888727e+00] [ 1.31567504e-02 3.85541996e-04 9.99913372e-01 -2.63314368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.27, Z:-0.26 [[-8.85034722e-01 4.65383591e-01 1.14740094e-02 3.22657070e+02] [-4.65339046e-01 -8.85109020e-01 6.44947300e-03 2.26709649e+00] [ 1.31572281e-02 3.68702977e-04 9.99913372e-01 -2.63872333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.26, Z:-0.26 [[-8.85144520e-01 4.65174588e-01 1.14796414e-02 3.22657113e+02] [-4.65130155e-01 -8.85218884e-01 6.43943265e-03 2.26472109e+00] [ 1.31574558e-02 3.60301121e-04 9.99913372e-01 -2.64432859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.26, Z:-0.26 [[-8.85162882e-01 4.65139506e-01 1.14852840e-02 3.22660568e+02] [-4.65095201e-01 -8.85237323e-01 6.42935293e-03 2.26281772e+00] [ 1.31577481e-02 3.49274106e-04 9.99913372e-01 -2.64084509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.26, Z:-0.26 [[-8.85640547e-01 4.64229258e-01 1.14898645e-02 3.22659312e+02] [-4.64184982e-01 -8.85715005e-01 6.42115663e-03 2.26003854e+00] [ 1.31576342e-02 3.53414110e-04 9.99913372e-01 -2.64594127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:2.26, Z:-0.27 [[-8.86417661e-01 4.62743540e-01 1.14955298e-02 3.22656733e+02] [-4.62699271e-01 -8.86492123e-01 6.41099826e-03 2.25618606e+00] [ 1.31573446e-02 3.63848823e-04 9.99913372e-01 -2.65878743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.25, Z:-0.27 [[-8.87064514e-01 4.61502189e-01 1.15011753e-02 3.22653490e+02] [-4.61457947e-01 -8.87138993e-01 6.40085436e-03 2.25355838e+00] [ 1.31571493e-02 3.70662037e-04 9.99913372e-01 -2.66079753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.25, Z:-0.27 [[-8.87347137e-01 4.60958407e-01 1.15067925e-02 3.22649520e+02] [-4.60914250e-01 -8.87421665e-01 6.39074035e-03 2.25093294e+00] [ 1.31572424e-02 3.67160526e-04 9.99913372e-01 -2.66234274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.25, Z:-0.27 [[-8.87925524e-01 4.59843157e-01 1.15123774e-02 3.22648942e+02] [-4.59799037e-01 -8.88000075e-01 6.38066372e-03 2.24792002e+00] [ 1.31570965e-02 3.72174146e-04 9.99913372e-01 -2.65509739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.24, Z:-0.27 [[-8.88980403e-01 4.57800372e-01 1.15179450e-02 3.22648220e+02] [-4.57756211e-01 -8.89054929e-01 6.37059751e-03 2.24294883e+00] [ 1.31565477e-02 3.90925472e-04 9.99913372e-01 -2.65525469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:2.24, Z:-0.27 [[-8.89808485e-01 4.56188633e-01 1.15234997e-02 3.22645644e+02] [-4.56144467e-01 -8.89883008e-01 6.36053407e-03 2.23981399e+00] [ 1.31561699e-02 4.03276577e-04 9.99913373e-01 -2.65546016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.64, Y:2.24, Z:-0.27 [[-8.90713054e-01 4.54419781e-01 1.15290350e-02 3.22642060e+02] [-4.54375597e-01 -8.90787566e-01 6.35048485e-03 2.23656338e+00] [ 1.31557070e-02 4.17947586e-04 9.99913373e-01 -2.65628375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.64, Y:2.23, Z:-0.27 [[-8.92848883e-01 4.50208648e-01 1.15345450e-02 3.22635956e+02] [-4.50164242e-01 -8.92923263e-01 6.34046116e-03 2.22947077e+00] [ 1.31539940e-02 4.68633958e-04 9.99913373e-01 -2.66575432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.22, Z:-0.27 [[-8.93751971e-01 4.48413027e-01 1.15400051e-02 3.22632045e+02] [-4.48368600e-01 -8.93826338e-01 6.33050780e-03 2.22470441e+00] [ 1.31534427e-02 4.83727894e-04 9.99913373e-01 -2.66408090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.22, Z:-0.27 [[-8.94143513e-01 4.47631637e-01 1.15454122e-02 3.22630755e+02] [-4.47587272e-01 -8.94217917e-01 6.32063112e-03 2.21931350e+00] [ 1.31534289e-02 4.83971776e-04 9.99913373e-01 -2.65639222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.22, Z:-0.26 [[-8.94911976e-01 4.46093208e-01 1.15500934e-02 3.22627040e+02] [-4.46048825e-01 -8.94986370e-01 6.31206517e-03 2.21571776e+00] [ 1.31529456e-02 4.96837114e-04 9.99913373e-01 -2.64811186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.21, Z:-0.26 [[-8.95348581e-01 4.45216116e-01 1.15554372e-02 3.22626424e+02] [-4.45171787e-01 -8.95423007e-01 6.30226722e-03 2.21302666e+00] [ 1.31528752e-02 4.98571400e-04 9.99913373e-01 -2.63990373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.21, Z:-0.26 [[-8.95984294e-01 4.43935236e-01 1.15607628e-02 3.22627384e+02] [-4.43890926e-01 -8.96058732e-01 6.29248276e-03 2.20999637e+00] [ 1.31525773e-02 5.06248009e-04 9.99913373e-01 -2.62643305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.20, Z:-0.26 [[-8.96779458e-01 4.42326626e-01 1.15653981e-02 3.22627738e+02] [-4.42282293e-01 -8.96853882e-01 6.28395168e-03 2.20283304e+00] [ 1.31520313e-02 5.20147988e-04 9.99913373e-01 -2.63691063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.20, Z:-0.26 [[-8.97557154e-01 4.40746270e-01 1.15707121e-02 3.22624065e+02] [-4.40701932e-01 -8.97631574e-01 6.27415160e-03 2.19810588e+00] [ 1.31515455e-02 5.32174457e-04 9.99913373e-01 -2.62289623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.20, Z:-0.26 [[-8.97945952e-01 4.39953480e-01 1.15760023e-02 3.22622115e+02] [-4.39909202e-01 -8.98020407e-01 6.26437578e-03 2.19549208e+00] [ 1.31515203e-02 5.32680924e-04 9.99913373e-01 -2.60495585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.19, Z:-0.26 [[-8.98391158e-01 4.39043508e-01 1.15812669e-02 3.22621725e+02] [-4.38999279e-01 -8.98465643e-01 6.25462768e-03 2.19240946e+00] [ 1.31514241e-02 5.34934358e-04 9.99913373e-01 -2.59991674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.19, Z:-0.26 [[-8.98932478e-01 4.37933960e-01 1.15865195e-02 3.22620863e+02] [-4.37889765e-01 -8.99006983e-01 6.24488227e-03 2.18833437e+00] [ 1.31512080e-02 5.40109190e-04 9.99913373e-01 -2.59698917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.18, Z:-0.26 [[-8.98981484e-01 4.37833213e-01 1.15917639e-02 3.22624608e+02] [-4.37789135e-01 -8.99056058e-01 6.23513246e-03 2.18457874e+00] [ 1.31515936e-02 5.30520349e-04 9.99913373e-01 -2.61067728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.18, Z:-0.26 [[-8.99351143e-01 4.37073273e-01 1.15963354e-02 3.22622651e+02] [-4.37029242e-01 -8.99425745e-01 6.22661849e-03 2.18346052e+00] [ 1.31515311e-02 5.31978776e-04 9.99913373e-01 -2.61035015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.18, Z:-0.26 [[-8.99469610e-01 4.36829285e-01 1.16015893e-02 3.22622649e+02] [-4.36785359e-01 -8.99544274e-01 6.21681388e-03 2.18163755e+00] [ 1.31518296e-02 5.24430801e-04 9.99913373e-01 -2.60786105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.18, Z:-0.26 [[-8.99019101e-01 4.37755569e-01 1.16068387e-02 3.22624087e+02] [-4.37711847e-01 -8.99093884e-01 6.20699764e-03 2.17832003e+00] [ 1.31527855e-02 4.99758606e-04 9.99913373e-01 -2.61090438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.18, Z:-0.26 [[-8.98542276e-01 4.38733334e-01 1.16120972e-02 3.22625935e+02] [-4.38689820e-01 -8.98617180e-01 6.19714439e-03 2.17796452e+00] [ 1.31537239e-02 4.74287379e-04 9.99913374e-01 -2.60152226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.18, Z:-0.26 [[-8.98482111e-01 4.38856392e-01 1.16173687e-02 3.22624769e+02] [-4.38813016e-01 -8.98557096e-01 6.18724658e-03 2.17675234e+00] [ 1.31541818e-02 4.61277784e-04 9.99913374e-01 -2.61201601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.18, Z:-0.26 [[-8.98120667e-01 4.39595474e-01 1.16226531e-02 3.22627650e+02] [-4.39552289e-01 -8.98195761e-01 6.17730382e-03 2.17774433e+00] [ 1.31549326e-02 4.39200441e-04 9.99913374e-01 -2.60038121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.18, Z:-0.26 [[-8.98335701e-01 4.39155752e-01 1.16272684e-02 3.22628173e+02] [-4.39112642e-01 -8.98410839e-01 6.16860441e-03 2.17616361e+00] [ 1.31550421e-02 4.35797010e-04 9.99913374e-01 -2.60193830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.17, Z:-0.26 [[-8.98502162e-01 4.38814936e-01 1.16325842e-02 3.22627392e+02] [-4.38771928e-01 -8.98577357e-01 6.15856368e-03 2.17189414e+00] [ 1.31552465e-02 4.29431379e-04 9.99913374e-01 -2.61560451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.17, Z:-0.26 [[-8.98786105e-01 4.38232926e-01 1.16378993e-02 3.22627644e+02] [-4.38189999e-01 -8.98861347e-01 6.14850330e-03 2.17065066e+00] [ 1.31553344e-02 4.26578255e-04 9.99913374e-01 -2.61458595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.17, Z:-0.26 [[-8.99474012e-01 4.36819112e-01 1.16432116e-02 3.22625191e+02] [-4.36776197e-01 -8.99549261e-01 6.13842698e-03 2.16627016e+00] [ 1.31550246e-02 4.35877840e-04 9.99913374e-01 -2.61564659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.16, Z:-0.26 [[-8.99492036e-01 4.36781856e-01 1.16485153e-02 3.22625267e+02] [-4.36739068e-01 -8.99567357e-01 6.12834606e-03 2.16478745e+00] [ 1.31553745e-02 4.25036778e-04 9.99913374e-01 -2.61267543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.16, Z:-0.26 [[-8.99573533e-01 4.36613842e-01 1.16538102e-02 3.22626101e+02] [-4.36571170e-01 -8.99648920e-01 6.11826057e-03 2.16318500e+00] [ 1.31556550e-02 4.16107738e-04 9.99913374e-01 -2.60469168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.16, Z:-0.26 [[-8.99390730e-01 4.36990137e-01 1.16591122e-02 3.22627335e+02] [-4.36947628e-01 -8.99466209e-01 6.10814008e-03 2.15899671e+00] [ 1.31561744e-02 3.99183143e-04 9.99913374e-01 -2.58857703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.16, Z:-0.26 [[-8.99576749e-01 4.36606932e-01 1.16644235e-02 3.22625936e+02] [-4.36564523e-01 -8.99652284e-01 6.09798054e-03 2.15617655e+00] [ 1.31563458e-02 3.93328047e-04 9.99913374e-01 -2.57248394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.15, Z:-0.26 [[-8.99685851e-01 4.36381927e-01 1.16697299e-02 3.22624700e+02] [-4.36339631e-01 -8.99761449e-01 6.08780868e-03 2.15336121e+00] [ 1.31565828e-02 3.85149715e-04 9.99913374e-01 -2.57776558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.15, Z:-0.26 [[-8.99536277e-01 4.36690027e-01 1.16750208e-02 3.22626048e+02] [-4.36647888e-01 -8.99611963e-01 6.07764497e-03 2.14813921e+00] [ 1.31570353e-02 3.69188967e-04 9.99913374e-01 -2.58643580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.15, Z:-0.26 [[-8.99488532e-01 4.36788242e-01 1.16796240e-02 3.22627329e+02] [-4.36746226e-01 -8.99564286e-01 6.06878593e-03 2.14560809e+00] [ 1.31573469e-02 3.57771645e-04 9.99913374e-01 -2.58124159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.14, Z:-0.26 [[-8.99697761e-01 4.36356965e-01 1.16849149e-02 3.22628845e+02] [-4.36315046e-01 -8.99773569e-01 6.05858153e-03 2.14455256e+00] [ 1.31574818e-02 3.52588048e-04 9.99913374e-01 -2.57701960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.14, Z:-0.26 [[-8.99215521e-01 4.37349728e-01 1.16902190e-02 3.22631415e+02] [-4.37308026e-01 -8.99291448e-01 6.04832975e-03 2.14426955e+00] [ 1.31581494e-02 3.26525388e-04 9.99913374e-01 -2.56976921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.14, Z:-0.26 [[-8.99208220e-01 4.37364597e-01 1.16955486e-02 3.22626549e+02] [-4.37323029e-01 -8.99284221e-01 6.03800652e-03 2.14056235e+00] [ 1.31584326e-02 3.14692373e-04 9.99913375e-01 -2.56204454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.14, Z:-0.26 [[-8.98567611e-01 4.38679026e-01 1.17030254e-02 3.22629950e+02] [-4.38637759e-01 -8.98643775e-01 6.02347970e-03 2.13862608e+00] [ 1.31592252e-02 2.79114910e-04 9.99913375e-01 -2.56536579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.14, Z:-0.26 [[-8.98477800e-01 4.38862799e-01 1.17083616e-02 3.22630459e+02] [-4.38821683e-01 -8.98554046e-01 6.01308942e-03 2.13788172e+00] [ 1.31595169e-02 2.64744412e-04 9.99913375e-01 -2.55413715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.14, Z:-0.26 [[-8.98430113e-01 4.38960272e-01 1.17137194e-02 3.22632691e+02] [-4.38919301e-01 -8.98506436e-01 6.00263399e-03 2.13912553e+00] [ 1.31597701e-02 2.51569595e-04 9.99913375e-01 -2.55837099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.14, Z:-0.26 [[-8.98678939e-01 4.38450484e-01 1.17190991e-02 3.22630627e+02] [-4.38409606e-01 -8.98755313e-01 5.99211263e-03 2.13732565e+00] [ 1.31598473e-02 2.47219797e-04 9.99913375e-01 -2.55551402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:2.13, Z:-0.26 [[-8.99215391e-01 4.37349078e-01 1.17244882e-02 3.22627108e+02] [-4.37308244e-01 -8.99291788e-01 5.98154938e-03 2.13406482e+00] [ 1.31597611e-02 2.51485907e-04 9.99913375e-01 -2.56023157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.13, Z:-0.26 [[-8.99525068e-01 4.36711647e-01 1.17298594e-02 3.22624666e+02] [-4.36670896e-01 -8.99601509e-01 5.97099779e-03 2.13234479e+00] [ 1.31598035e-02 2.48973955e-04 9.99913375e-01 -2.56852329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.13, Z:-0.26 [[-8.99688864e-01 4.36373960e-01 1.17352066e-02 3.22624248e+02] [-4.36333318e-01 -8.99765363e-01 5.96047017e-03 2.13264091e+00] [ 1.31599264e-02 2.42107022e-04 9.99913375e-01 -2.57101794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.13, Z:-0.26 [[-8.99900789e-01 4.35936613e-01 1.17405484e-02 3.22623124e+02] [-4.35896071e-01 -8.99977341e-01 5.94992955e-03 2.13166466e+00] [ 1.31600197e-02 2.36687381e-04 9.99913375e-01 -2.57712862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.13, Z:-0.26 [[-8.99433143e-01 4.36900510e-01 1.17458953e-02 3.22624510e+02] [-4.36860188e-01 -8.99509811e-01 5.93935528e-03 2.13213243e+00] [ 1.31604554e-02 2.10738953e-04 9.99913375e-01 -2.57868131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.13, Z:-0.26 [[-8.99783952e-01 4.36177428e-01 1.17512515e-02 3.22624265e+02] [-4.36137183e-01 -8.99860660e-01 5.92873885e-03 2.13212304e+00] [ 1.31604710e-02 2.09426343e-04 9.99913375e-01 -2.57893090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.13, Z:-0.26 [[-8.99382867e-01 4.37003708e-01 1.17566255e-02 3.22624423e+02] [-4.36963673e-01 -8.99459685e-01 5.91806316e-03 2.13448832e+00] [ 1.31608262e-02 1.85386364e-04 9.99913375e-01 -2.56782661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.13, Z:-0.26 [[-9.00007882e-01 4.35714893e-01 1.17620173e-02 3.22620253e+02] [-4.35674888e-01 -9.00084716e-01 5.90732757e-03 2.13291963e+00] [ 1.31607226e-02 1.92225819e-04 9.99913375e-01 -2.56660162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:2.13, Z:-0.26 [[-9.00817670e-01 4.34038079e-01 1.17674035e-02 3.22617480e+02] [-4.33998072e-01 -9.00894502e-01 5.89657856e-03 2.13047534e+00] [ 1.31605288e-02 2.04711715e-04 9.99913376e-01 -2.56565674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.61, Y:2.13, Z:-0.26 [[-9.01628513e-01 4.32351046e-01 1.17727673e-02 3.22614662e+02] [-4.32311035e-01 -9.01705343e-01 5.88585015e-03 2.12785639e+00] [ 1.31603206e-02 2.17353119e-04 9.99913376e-01 -2.55816771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.61, Y:2.12, Z:-0.26 [[-9.02896497e-01 4.29696629e-01 1.17781064e-02 3.22609858e+02] [-4.29656531e-01 -9.02973282e-01 5.87514652e-03 2.12317606e+00] [ 1.31598461e-02 2.44108857e-04 9.99913376e-01 -2.55978447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.61, Y:2.12, Z:-0.26 [[-9.03786639e-01 4.27821064e-01 1.17834087e-02 3.22605841e+02] [-4.27780946e-01 -9.03863413e-01 5.86449269e-03 2.12099620e+00] [ 1.31595456e-02 2.59532393e-04 9.99913376e-01 -2.55647607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.26 [[-9.04461724e-01 4.26391858e-01 1.17886746e-02 3.22602133e+02] [-4.26351757e-01 -9.04538507e-01 5.85388819e-03 2.11875911e+00] [ 1.31593604e-02 2.68495677e-04 9.99913376e-01 -2.55659366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.25 [[-9.04918136e-01 4.25422227e-01 1.17939126e-02 3.22599441e+02] [-4.25382182e-01 -9.04994948e-01 5.84331613e-03 2.11656263e+00] [ 1.31593078e-02 2.70802486e-04 9.99913376e-01 -2.54614971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.25 [[-9.04760339e-01 4.25757572e-01 1.17991228e-02 3.22600743e+02] [-4.25717692e-01 -9.04837237e-01 5.83277631e-03 2.11707154e+00] [ 1.31596344e-02 2.54169347e-04 9.99913376e-01 -2.53707498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.25 [[-9.04176161e-01 4.26996637e-01 1.18043378e-02 3.22603160e+02] [-4.26957000e-01 -9.04253185e-01 5.82220313e-03 2.11897147e+00] [ 1.31601712e-02 2.24352628e-04 9.99913376e-01 -2.53347765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.25 [[-9.03883881e-01 4.27614855e-01 1.18095840e-02 3.22602680e+02] [-4.27575410e-01 -9.03961003e-01 5.81154236e-03 2.11966883e+00] [ 1.31605052e-02 2.03471735e-04 9.99913376e-01 -2.53385283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.25 [[-9.03899483e-01 4.27581728e-01 1.18148515e-02 3.22602072e+02] [-4.27542421e-01 -9.03976675e-01 5.80081379e-03 2.11959130e+00] [ 1.31606721e-02 1.92002390e-04 9.99913376e-01 -2.52869329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.25 [[-9.03810186e-01 4.27770304e-01 1.18201279e-02 3.22601032e+02] [-4.27731153e-01 -9.03887458e-01 5.79004222e-03 2.12058139e+00] [ 1.31608735e-02 1.77262205e-04 9.99913376e-01 -2.53174120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.25 [[-9.04050486e-01 4.27262072e-01 1.18254133e-02 3.22599580e+02] [-4.27223020e-01 -9.04127807e-01 5.77922733e-03 2.12071914e+00] [ 1.31609296e-02 1.72624518e-04 9.99913376e-01 -2.52631933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.25 [[-9.04325451e-01 4.26679639e-01 1.18306971e-02 3.22600225e+02] [-4.26640678e-01 -9.04402818e-01 5.76839041e-03 2.12109226e+00] [ 1.31609705e-02 1.69045629e-04 9.99913376e-01 -2.52219147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.25 [[-9.04294432e-01 4.26745229e-01 1.18359899e-02 3.22597421e+02] [-4.26706416e-01 -9.04371874e-01 5.75750971e-03 2.11918127e+00] [ 1.31611262e-02 1.55991137e-04 9.99913376e-01 -2.52971269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:2.12, Z:-0.25 [[-9.04683607e-01 4.25919423e-01 1.18412811e-02 3.22595376e+02] [-4.25880682e-01 -9.04761085e-01 5.74660676e-03 2.11752713e+00] [ 1.31611218e-02 1.55888043e-04 9.99913377e-01 -2.53657177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.59, Y:2.12, Z:-0.25 [[-9.05581779e-01 4.24006251e-01 1.18465581e-02 3.22591526e+02] [-4.23967489e-01 -9.05659246e-01 5.73570766e-03 2.11639437e+00] [ 1.31609208e-02 1.71596839e-04 9.99913377e-01 -2.53100401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.59, Y:2.12, Z:-0.25 [[-9.06136712e-01 4.22818866e-01 1.18518167e-02 3.22588768e+02] [-4.22780145e-01 -9.06214199e-01 5.72482109e-03 2.11517750e+00] [ 1.31608469e-02 1.76757772e-04 9.99913377e-01 -2.51264101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.59, Y:2.12, Z:-0.25 [[-9.06539171e-01 4.21955141e-01 1.18570548e-02 3.22589035e+02] [-4.21916488e-01 -9.06616693e-01 5.71395140e-03 2.11504273e+00] [ 1.31608350e-02 1.77233822e-04 9.99913377e-01 -2.51174569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.58, Y:2.11, Z:-0.25 [[-9.07630421e-01 4.19602556e-01 1.18622872e-02 3.22583131e+02] [-4.19563845e-01 -9.07707913e-01 5.70306825e-03 2.11141392e+00] [ 1.31605139e-02 1.99291431e-04 9.99913377e-01 -2.52302047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.58, Y:2.11, Z:-0.25 [[-9.07942282e-01 4.18927171e-01 1.18675012e-02 3.22582000e+02] [-4.18888544e-01 -9.08019816e-01 5.69219763e-03 2.11164839e+00] [ 1.31605425e-02 1.97026594e-04 9.99913377e-01 -2.51693396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.58, Y:2.11, Z:-0.25 [[-9.08176821e-01 4.18418333e-01 1.18726909e-02 3.22579391e+02] [-4.18379804e-01 -9.08254404e-01 5.68135244e-03 2.11088669e+00] [ 1.31606058e-02 1.92378511e-04 9.99913377e-01 -2.50546508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.58, Y:2.11, Z:-0.25 [[-9.08441125e-01 4.17844036e-01 1.18778768e-02 3.22576838e+02] [-4.17805600e-01 -9.08518754e-01 5.67048957e-03 2.10849929e+00] [ 1.31606541e-02 1.88662476e-04 9.99913377e-01 -2.50436500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.58, Y:2.11, Z:-0.25 [[-9.09136227e-01 4.16329334e-01 1.18830426e-02 3.22575769e+02] [-4.16290910e-01 -9.09213862e-01 5.65964352e-03 2.10677943e+00] [ 1.31605026e-02 1.98584351e-04 9.99913377e-01 -2.50753917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.57, Y:2.10, Z:-0.25 [[-9.10017904e-01 4.14398462e-01 1.18881984e-02 3.22571237e+02] [-4.14360016e-01 -9.10095527e-01 5.64879277e-03 2.10480080e+00] [ 1.31602472e-02 2.14508475e-04 9.99913377e-01 -2.49121612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.57, Y:2.10, Z:-0.25 [[-9.10720908e-01 4.12851033e-01 1.18933362e-02 3.22568366e+02] [-4.12812596e-01 -9.10798536e-01 5.63795448e-03 2.10282911e+00] [ 1.31600686e-02 2.24884026e-04 9.99913377e-01 -2.48722728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:2.10, Z:-0.25 [[-9.11930832e-01 4.10171410e-01 1.18984460e-02 3.22563578e+02] [-4.10132886e-01 -9.12008416e-01 5.62715001e-03 2.09825398e+00] [ 1.31595789e-02 2.51627592e-04 9.99913377e-01 -2.48407413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:2.10, Z:-0.25 [[-9.12693287e-01 4.08471871e-01 1.19035240e-02 3.22559993e+02] [-4.08433343e-01 -9.12770870e-01 5.61638758e-03 2.09599446e+00] [ 1.31593263e-02 2.64243146e-04 9.99913377e-01 -2.48649035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:2.09, Z:-0.25 [[-9.13194302e-01 4.07350405e-01 1.19085666e-02 3.22557541e+02] [-4.07311921e-01 -9.13271907e-01 5.60567523e-03 2.09465281e+00] [ 1.31592334e-02 2.68569554e-04 9.99913377e-01 -2.47957276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:2.09, Z:-0.25 [[-9.13729955e-01 4.06147307e-01 1.19135858e-02 3.22556830e+02] [-4.06108860e-01 -9.13807578e-01 5.59498758e-03 2.08986872e+00] [ 1.31591141e-02 2.74094996e-04 9.99913378e-01 -2.48418582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:2.09, Z:-0.25 [[-9.14012655e-01 4.05510558e-01 1.19185916e-02 3.22558302e+02] [-4.05472197e-01 -9.14090320e-01 5.58430376e-03 2.08898552e+00] [ 1.31591633e-02 2.71466797e-04 9.99913378e-01 -2.48038657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:2.09, Z:-0.25 [[-9.13845024e-01 4.05888038e-01 1.19236014e-02 3.22557425e+02] [-4.05849848e-01 -9.13922773e-01 5.57358625e-03 2.08859221e+00] [ 1.31595029e-02 2.54202240e-04 9.99913378e-01 -2.47079358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:2.09, Z:-0.25 [[-9.14211308e-01 4.05062208e-01 1.19286231e-02 3.22555379e+02] [-4.05024088e-01 -9.14289092e-01 5.56281802e-03 2.08757607e+00] [ 1.31594973e-02 2.54211444e-04 9.99913378e-01 -2.47046185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.09, Z:-0.25 [[-9.14238999e-01 4.04999557e-01 1.19336390e-02 3.22554699e+02] [-4.04961572e-01 -9.14316849e-01 5.55203681e-03 2.08596044e+00] [ 1.31596996e-02 2.43223382e-04 9.99913378e-01 -2.46496212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.08, Z:-0.25 [[-9.14362878e-01 4.04719651e-01 1.19386490e-02 3.22553909e+02] [-4.04681783e-01 -9.14440785e-01 5.54124263e-03 2.08299502e+00] [ 1.31598373e-02 2.35352782e-04 9.99913378e-01 -2.47262520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:2.08, Z:-0.25 [[-9.14479500e-01 4.04455922e-01 1.19436532e-02 3.22555536e+02] [-4.04418173e-01 -9.14557465e-01 5.53043544e-03 2.07836187e+00] [ 1.31599746e-02 2.27239429e-04 9.99913378e-01 -2.48611985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.08, Z:-0.25 [[-9.15113819e-01 4.03018521e-01 1.19486614e-02 3.22553919e+02] [-4.02980791e-01 -9.15191792e-01 5.51959390e-03 2.07556431e+00] [ 1.31598154e-02 2.35975635e-04 9.99913378e-01 -2.47253686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.07, Z:-0.25 [[-9.15533503e-01 4.02064069e-01 1.19536636e-02 3.22551953e+02] [-4.02026399e-01 -9.15611505e-01 5.50873929e-03 2.06986351e+00] [ 1.31597781e-02 2.37747025e-04 9.99913378e-01 -2.46501480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.07, Z:-0.25 [[-9.15894926e-01 4.01239922e-01 1.19586482e-02 3.22551545e+02] [-4.01202324e-01 -9.15972963e-01 5.49789722e-03 2.06697270e+00] [ 1.31597743e-02 2.37658730e-04 9.99913378e-01 -2.46198118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.06, Z:-0.25 [[-9.15273087e-01 4.02656241e-01 1.19636170e-02 3.22554285e+02] [-4.02618906e-01 -9.15351249e-01 5.48706347e-03 2.06362902e+00] [ 1.31603122e-02 2.05383113e-04 9.99913378e-01 -2.46639864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.06, Z:-0.25 [[-9.15434128e-01 4.02289833e-01 1.19685937e-02 3.22553273e+02] [-4.02252608e-01 -9.15512343e-01 5.47618673e-03 2.06028028e+00] [ 1.31604095e-02 1.98690203e-04 9.99913378e-01 -2.46490372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.06, Z:-0.25 [[-9.15679377e-01 4.01731143e-01 1.19735741e-02 3.22551527e+02] [-4.01694013e-01 -9.15757637e-01 5.46527532e-03 2.05629600e+00] [ 1.31604632e-02 1.94726863e-04 9.99913378e-01 -2.47218174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.05, Z:-0.25 [[-9.15688239e-01 4.01710795e-01 1.19785407e-02 3.22552887e+02] [-4.01673806e-01 -9.15766566e-01 5.45436801e-03 2.04986065e+00] [ 1.31606256e-02 1.83034610e-04 9.99913378e-01 -2.47458955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.55, Y:2.05, Z:-0.25 [[-9.16135925e-01 4.00688610e-01 1.19834974e-02 3.22550825e+02] [-4.00651676e-01 -9.16214278e-01 5.44345619e-03 2.04638167e+00] [ 1.31605823e-02 1.85737463e-04 9.99913379e-01 -2.46948894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.04, Z:-0.24 [[-9.16483196e-01 3.99893522e-01 1.19884441e-02 3.22552270e+02] [-3.99856662e-01 -9.16561584e-01 5.43253986e-03 2.04398267e+00] [ 1.31605848e-02 1.85172257e-04 9.99913379e-01 -2.44698688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.04, Z:-0.24 [[-9.16904549e-01 3.98926317e-01 1.19933886e-02 3.22550429e+02] [-3.98889518e-01 -9.16982965e-01 5.42160175e-03 2.04078853e+00] [ 1.31605527e-02 1.87054298e-04 9.99913379e-01 -2.44830770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.04, Z:-0.25 [[-9.17382313e-01 3.97826258e-01 1.19983310e-02 3.22545128e+02] [-3.97789508e-01 -9.17460752e-01 5.41064180e-03 2.03536995e+00] [ 1.31604932e-02 1.90816888e-04 9.99913379e-01 -2.45016903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.03, Z:-0.25 [[-9.17105081e-01 3.98464794e-01 1.20032382e-02 3.22548313e+02] [-3.98428242e-01 -9.17183612e-01 5.39973358e-03 2.03402915e+00] [ 1.31607771e-02 1.69694021e-04 9.99913379e-01 -2.45895464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.03, Z:-0.25 [[-9.16676898e-01 3.99448707e-01 1.20081354e-02 3.22549792e+02] [-3.99412382e-01 -9.16755534e-01 5.38882090e-03 2.03066715e+00] [ 1.31610821e-02 1.43609675e-04 9.99913379e-01 -2.46643728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.03, Z:-0.25 [[-9.16259408e-01 4.00405275e-01 1.20130537e-02 3.22551765e+02] [-4.00369176e-01 -9.16338148e-01 5.37783440e-03 2.02845621e+00] [ 1.31613326e-02 1.17834966e-04 9.99913379e-01 -2.47577635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.75, Y:1.67, Z:1.61 [[-8.75254131e-01 -4.83514002e-01 -1.20173477e-02 3.22752257e+02] [-4.83485478e-01 8.75335921e-01 -5.36822171e-03 1.67272203e+00] [ 1.31148265e-02 1.11165488e-03 -9.99913379e-01 1.60549511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.53, Y:2.03, Z:-0.25 [[-8.81334986e-01 4.72351275e-01 1.15288743e-02 3.22530615e+02] [-4.72309707e-01 -8.81410385e-01 6.26685968e-03 2.03106361e+00] [ 1.31218287e-02 7.80034232e-05 9.99913902e-01 -2.46110527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.53, Y:2.03, Z:-0.25 [[-8.80994190e-01 4.72986457e-01 1.15346765e-02 3.22528747e+02] [-4.72945084e-01 -8.81069696e-01 6.25616208e-03 2.03078221e+00] [ 1.31219338e-02 5.63739028e-05 9.99913902e-01 -2.46720985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.53, Y:2.03, Z:-0.25 [[-8.80871192e-01 4.73215342e-01 1.15404898e-02 3.22531671e+02] [-4.73174129e-01 -8.80946785e-01 6.24542016e-03 2.03325626e+00] [ 1.31219860e-02 4.07495188e-05 9.99913902e-01 -2.47910040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.52, Y:2.03, Z:-0.25 [[-8.81474724e-01 4.72090027e-01 1.15463283e-02 3.22524320e+02] [-4.72048859e-01 -8.81550342e-01 6.23460731e-03 2.02909387e+00] [ 1.31219656e-02 4.52176645e-05 9.99913902e-01 -2.49393756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.52, Y:2.03, Z:-0.25 [[-8.82131402e-01 4.70861715e-01 1.15514001e-02 3.22521029e+02] [-4.70820565e-01 -8.82207029e-01 6.22519624e-03 2.02850953e+00] [ 1.31219329e-02 5.28043921e-05 9.99913902e-01 -2.49105101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.52, Y:2.03, Z:-0.25 [[-8.82429321e-01 4.70303014e-01 1.15571728e-02 3.22515837e+02] [-4.70261957e-01 -8.82504998e-01 6.21446051e-03 2.02731892e+00] [ 1.31219423e-02 4.89234663e-05 9.99913902e-01 -2.49065814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:2.03, Z:-0.25 [[-8.83621334e-01 4.68059534e-01 1.15589716e-02 3.22513624e+02] [-4.68018329e-01 -8.83696931e-01 6.21111304e-03 2.02757444e+00] [ 1.31217984e-02 7.84614477e-05 9.99913902e-01 -2.49153855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:2.03, Z:-0.25 [[-8.84173125e-01 4.67016214e-01 1.15646921e-02 3.22512704e+02] [-4.66975058e-01 -8.84248749e-01 6.20044342e-03 2.02704218e+00] [ 1.31217721e-02 8.18426712e-05 9.99913902e-01 -2.49751087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.50, Y:2.02, Z:-0.25 [[-8.84999479e-01 4.65448222e-01 1.15704119e-02 3.22501652e+02] [-4.65407072e-01 -8.85075106e-01 6.18975142e-03 2.02271194e+00] [ 1.31216924e-02 9.29752454e-05 9.99913903e-01 -2.49811640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.72, Y:1.66, Z:1.61 [[-8.40930474e-01 -5.41019361e-01 -1.15753449e-02 3.22715079e+02] [-5.40985105e-01 8.41009463e-01 -6.18051263e-03 1.66064095e+00] [ 1.30787516e-02 1.06470775e-03 -9.99913903e-01 1.60799120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.47, Y:2.02, Z:-0.23 [[-8.47009781e-01 5.31462412e-01 1.10514878e-02 3.22471756e+02] [-5.31416225e-01 -8.47081874e-01 7.00678101e-03 2.02038737e+00] [ 1.30853558e-02 6.18721016e-05 9.99914381e-01 -2.34442588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.70, Y:1.67, Z:1.61 [[-7.95035698e-01 -6.06461419e-01 -1.10809360e-02 3.22702141e+02] [-6.06422637e-01 7.95112030e-01 -6.96019755e-03 1.67040398e+00] [ 1.30316768e-02 1.18612494e-03 -9.99914381e-01 1.60883439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.42, Y:2.00, Z:-0.25 [[-8.08816374e-01 5.87968344e-01 1.04545962e-02 3.22421830e+02] [-5.87916630e-01 -8.08883922e-01 7.79974127e-03 2.00196832e+00] [ 1.30425557e-02 1.62127498e-04 9.99914929e-01 -2.48705441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.42, Y:2.00, Z:-0.25 [[-8.10049680e-01 5.86267918e-01 1.04615985e-02 3.22417877e+02] [-5.86216183e-01 -8.10117212e-01 7.79033789e-03 1.99831502e+00] [ 1.30423462e-02 1.77802369e-04 9.99914929e-01 -2.49003554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.41, Y:1.99, Z:-0.25 [[-8.11382559e-01 5.84421724e-01 1.04685788e-02 3.22414601e+02] [-5.84369957e-01 -8.11450066e-01 7.78094657e-03 1.99207110e+00] [ 1.30420831e-02 1.95801421e-04 9.99914929e-01 -2.48838126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.41, Y:1.99, Z:-0.25 [[-8.11922626e-01 5.83671082e-01 1.04746119e-02 3.22411995e+02] [-5.83619358e-01 -8.11990165e-01 7.77281633e-03 1.98801979e+00] [ 1.30420500e-02 1.97739175e-04 9.99914929e-01 -2.50538359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.43, Y:1.99, Z:-0.24 [[-8.09022804e-01 5.87683809e-01 1.04805965e-02 3.22425713e+02] [-5.87632524e-01 -8.09090678e-01 7.76473856e-03 1.99398090e+00] [ 1.30429640e-02 1.23111213e-04 9.99914929e-01 -2.36144763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:1.67, Z:1.61 [[-7.50579655e-01 -6.60696096e-01 -1.05285353e-02 3.22661892e+02] [-6.60652275e-01 7.50652573e-01 -7.69974490e-03 1.66700314e+00] [ 1.29904635e-02 1.17642896e-03 -9.99914928e-01 1.61130356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.39, Y:1.98, Z:-0.24 [[-7.65634096e-01 6.43200641e-01 9.86745034e-03 3.22391178e+02] [-6.43144886e-01 -7.65697666e-01 8.46991882e-03 1.98187834e+00] [ 1.30033409e-02 1.38658408e-04 9.99915443e-01 -2.44099230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:1.68, Z:1.60 [[-7.08120516e-01 -7.06022341e-01 -9.88876557e-03 3.22645455e+02] [-7.05972542e-01 7.08188853e-01 -8.44503620e-03 1.67679080e+00] [ 1.29654978e-02 1.00109357e-03 -9.99915443e-01 1.60142928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.33, Y:1.94, Z:-0.24 [[-7.16653940e-01 6.97368390e-01 9.19021671e-03 3.22333731e+02] [-6.97308306e-01 -7.16712847e-01 9.15537923e-03 1.93776671e+00] [ 1.29714185e-02 1.52824152e-04 9.99915856e-01 -2.38680753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.59, Y:1.65, Z:1.62 [[-6.56477492e-01 -7.54288479e-01 -9.28395526e-03 3.22592352e+02] [-7.54234809e-01 6.56542289e-01 -9.05956426e-03 1.64847923e+00] [ 1.29288342e-02 1.05488220e-03 -9.99915863e-01 1.61555675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.28, Y:1.89, Z:-0.25 [[-6.69829888e-01 7.42465033e-01 8.57886717e-03 3.22278969e+02] [-7.42401883e-01 -6.69884812e-01 9.68418389e-03 1.89187198e+00] [ 1.29370207e-02 1.17788669e-04 9.99916306e-01 -2.51701813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.28, Y:1.89, Z:-0.25 [[-6.69615317e-01 7.42658455e-01 8.58750421e-03 3.22280522e+02] [-7.42595419e-01 -6.69670373e-01 9.67651888e-03 1.89068762e+00] [ 1.29371457e-02 1.02503969e-04 9.99916306e-01 -2.52405743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.28, Y:1.89, Z:-0.25 [[-6.69146782e-01 7.43080540e-01 8.59616458e-03 3.22282236e+02] [-7.43017638e-01 -6.69201990e-01 9.66881929e-03 1.88816251e+00] [ 1.29372819e-02 8.27574179e-05 9.99916306e-01 -2.54238436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54232058799994 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:322.27, Y:1.94, Z:-0.26 [[-6.53997035e-01 7.56448183e-01 8.60371728e-03 3.22271866e+02] [-7.56386498e-01 -6.54053599e-01 9.66209391e-03 1.93579453e+00] [ 1.29361656e-02 -1.88754811e-04 9.99916306e-01 -2.62778801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.29, Y:1.89, Z:-0.26 [[-6.66537655e-01 7.45430653e-01 7.79076903e-03 3.22287929e+02] [-7.45359184e-01 -6.66582256e-01 1.03818676e-02 1.88643841e+00] [ 1.29321507e-02 1.11298444e-03 9.99915757e-01 -2.55320954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.29, Y:1.89, Z:-0.25 [[-6.66028247e-01 7.45876834e-01 8.60943446e-03 3.22288713e+02] [-7.45814386e-01 -6.66083890e-01 9.65161178e-03 1.88744954e+00] [ 1.29335192e-02 7.20601157e-06 9.99916359e-01 -2.54957507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.29, Y:1.89, Z:-0.24 [[-6.63151989e-01 7.48435158e-01 8.61706047e-03 3.22288558e+02] [-7.48373013e-01 -6.63207970e-01 9.64479839e-03 1.88576307e+00] [ 1.29334094e-02 -5.28082605e-05 9.99916359e-01 -2.39287235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:1.64, Z:1.61 [[-6.22313214e-01 -7.82720902e-01 -8.61706047e-03 3.22554783e+02] [-7.82661829e-01 6.22372428e-01 -9.64479839e-03 1.63607581e+00] [ 1.29122061e-02 7.42158817e-04 -9.99916359e-01 1.60981074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:1.61, Z:1.62 [[-5.60318721e-01 -8.28233646e-01 -8.48286936e-03 3.22514515e+02] [-8.28177735e-01 5.60380752e-01 -9.74945547e-03 1.61442768e+00] [ 1.28284637e-02 1.56252111e-03 -9.99916491e-01 1.62062356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.20, Y:1.81, Z:-0.24 [[-5.56585860e-01 8.30759207e-01 7.16378146e-03 3.22197819e+02] [-8.30691097e-01 -5.56631960e-01 1.06377856e-02 1.80690980e+00] [ 1.28250280e-02 -3.00484354e-05 9.99917755e-01 -2.39654151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.48, Y:1.59, Z:1.62 [[-5.01181860e-01 -8.65312327e-01 -7.16378146e-03 3.22480153e+02] [-8.65247371e-01 5.01232307e-01 -1.06377856e-02 1.59278886e+00] [ 1.27957257e-02 8.66977896e-04 -9.99917755e-01 1.62273372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.15, Y:1.75, Z:-0.26 [[-5.03208792e-01 8.64141031e-01 6.41797260e-03 3.22152570e+02] [-8.64070121e-01 -5.03249717e-01 1.10701763e-02 1.75347356e+00] [ 1.27960365e-02 2.50316945e-05 9.99918127e-01 -2.55262909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.15, Y:1.75, Z:-0.24 [[-5.02909833e-01 8.64314977e-01 6.42809137e-03 3.22154430e+02] [-8.64244156e-01 -5.02950912e-01 1.10642976e-02 1.75402367e+00] [ 1.27960525e-02 8.90363751e-06 9.99918127e-01 -2.39164419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.44, Y:1.56, Z:1.63 [[-4.40984515e-01 -8.97491692e-01 -6.42809137e-03 3.22444723e+02] [-8.97423930e-01 4.41030466e-01 -1.10642976e-02 1.56285177e+00] [ 1.27650993e-02 8.89539114e-04 -9.99918127e-01 1.62526045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:1.70, Z:-0.26 [[-4.45144036e-01 8.95441134e-01 5.65355204e-03 3.22112614e+02] [-8.95367967e-01 -4.45179934e-01 1.14468448e-02 1.70023387e+00] [ 1.27668236e-02 3.34853030e-05 9.99918500e-01 -2.56983894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:1.70, Z:-0.26 [[-4.46413591e-01 8.94808820e-01 5.66402423e-03 3.22113337e+02] [-8.94735667e-01 -4.46449520e-01 1.14416607e-02 1.69717681e+00] [ 1.27667998e-02 3.99083568e-05 9.99918500e-01 -2.57069121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:1.69, Z:-0.26 [[-4.48028569e-01 8.94001240e-01 5.67314611e-03 3.22111469e+02] [-8.93928080e-01 -4.48064483e-01 1.14371360e-02 1.69043892e+00] [ 1.27667491e-02 5.27790807e-05 9.99918500e-01 -2.57181013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:1.69, Z:-0.26 [[-4.49475762e-01 8.93274446e-01 5.68357213e-03 3.22111558e+02] [-8.93201293e-01 -4.49511691e-01 1.14319526e-02 1.68792196e+00] [ 1.27667032e-02 6.18116193e-05 9.99918500e-01 -2.57220521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.992320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.11, Y:1.68, Z:-0.26 [[-4.51817517e-01 8.92092210e-01 5.69394825e-03 3.22111051e+02] [-8.92019028e-01 -4.51853386e-01 1.14267822e-02 1.68346655e+00] [ 1.27665731e-02 8.37101566e-05 9.99918500e-01 -2.56296094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.12, Y:1.70, Z:-0.24 [[-4.53524810e-01 8.91225405e-01 5.70296681e-03 3.22118482e+02] [-8.91152212e-01 -4.53560655e-01 1.14222793e-02 1.69660299e+00] [ 1.27664669e-02 9.80755753e-05 9.99918501e-01 -2.39397188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:1.68, Z:-0.26 [[-4.55954471e-01 8.89984844e-01 5.70070606e-03 3.22108193e+02] [-8.89911538e-01 -4.55990087e-01 1.14234092e-02 1.67605257e+00] [ 1.27661265e-02 1.35430416e-04 9.99918501e-01 -2.55301481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.11, Y:1.68, Z:-0.24 [[-4.60400280e-01 8.87693032e-01 5.71513005e-03 3.22110340e+02] [-8.87619639e-01 -4.60435714e-01 1.14161884e-02 1.67864641e+00] [ 1.27655208e-02 1.83154640e-04 9.99918501e-01 -2.42871891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:1.67, Z:-0.24 [[-4.64178050e-01 8.85724058e-01 5.62411584e-03 3.22108716e+02] [-8.85649959e-01 -4.64211996e-01 1.14617850e-02 1.67289333e+00] [ 1.27627608e-02 3.39311056e-04 9.99918495e-01 -2.41449694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:1.67, Z:-0.24 [[-4.65007573e-01 8.85288992e-01 5.59983594e-03 3.22107736e+02] [-8.85214714e-01 -4.65041136e-01 1.14739655e-02 1.67074403e+00] [ 1.27619294e-02 3.78423699e-04 9.99918492e-01 -2.41424175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:1.66, Z:-0.24 [[-4.63202991e-01 8.86234459e-01 5.61009264e-03 3.22107395e+02] [-8.86160312e-01 -4.63236837e-01 1.14688080e-02 1.66315208e+00] [ 1.27628545e-02 3.40944732e-04 9.99918493e-01 -2.36455178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.10, Y:1.65, Z:-0.25 [[-4.65990768e-01 8.84771100e-01 5.71881172e-03 3.22104875e+02] [-8.84697511e-01 -4.66025787e-01 1.14140497e-02 1.65248955e+00] [ 1.27639351e-02 2.59423310e-04 9.99918504e-01 -2.51966716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:1.65, Z:-0.25 [[-4.67456206e-01 8.83997538e-01 5.74881836e-03 3.22106347e+02] [-8.83924076e-01 -4.67491489e-01 1.13989165e-02 1.64943640e+00] [ 1.27641378e-02 2.46975291e-04 9.99918505e-01 -2.51129111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:1.64, Z:-0.25 [[-4.68775548e-01 8.83298546e-01 5.75877610e-03 3.22106359e+02] [-8.83225094e-01 -4.68810850e-01 1.13938836e-02 1.64419648e+00] [ 1.27639775e-02 2.54878454e-04 9.99918505e-01 -2.51587925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.13, Y:1.64, Z:-0.25 [[-4.62548949e-01 8.86574978e-01 5.76871437e-03 3.22126629e+02] [-8.86501838e-01 -4.62584894e-01 1.13888496e-02 1.63500929e+00] [ 1.27655892e-02 1.53924524e-04 9.99918505e-01 -2.48557475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.37, Y:1.49, Z:1.61 [[-3.71669546e-01 -9.28346727e-01 -5.83969626e-03 3.22372201e+02] [-9.28278097e-01 3.71713478e-01 -1.13518556e-02 1.49343481e+00] [ 1.27091518e-02 1.20172309e-03 -9.99918513e-01 1.60873523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.34, Y:1.46, Z:1.62 [[-3.10293378e-01 -9.50624720e-01 -5.53720484e-03 3.22339907e+02] [-9.50556915e-01 3.10338118e-01 -1.14805898e-02 1.46338594e+00] [ 1.26321382e-02 1.70107735e-03 -9.99918764e-01 1.62188733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38232058799997 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:322.04, Y:1.59, Z:-0.25 [[-3.51386149e-01 9.36221483e-01 4.13627561e-03 3.22035725e+02] [-9.36145083e-01 -3.51410336e-01 1.19649066e-02 1.59376503e+00] [ 1.26553326e-02 3.32148395e-04 9.99919863e-01 -2.51368941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.05, Y:1.55, Z:-0.24 [[-3.42147983e-01 9.39640808e-01 3.14778236e-03 3.22052200e+02] [-9.39561094e-01 -3.42160173e-01 1.23031105e-02 1.54590900e+00] [ 1.26375505e-02 1.25195061e-03 9.99919359e-01 -2.39429106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.31, Y:1.43, Z:1.62 [[-2.46504151e-01 -9.69133331e-01 -4.03616438e-03 3.22310186e+02] [-9.69059562e-01 2.46535345e-01 -1.19953930e-02 1.43495929e+00] [ 1.26201924e-02 9.54369510e-04 -9.99919907e-01 1.62432637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.02, Y:1.49, Z:-0.25 [[-2.78380575e-01 9.60465155e-01 3.30777732e-03 3.22022245e+02] [-9.60387782e-01 -2.78400141e-01 1.21929972e-02 1.48572991e+00] [ 1.26318347e-02 2.17544653e-04 9.99920192e-01 -2.49871363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.03, Y:1.49, Z:-0.24 [[-2.78553240e-01 9.60415056e-01 3.31862003e-03 3.22026568e+02] [-9.60337714e-01 -2.78572930e-01 1.21900454e-02 1.48548523e+00] [ 1.26319809e-02 2.08580668e-04 9.99920192e-01 -2.37719968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53232058799995 meters Centerline goodness : 0.916519 Centerline is valid? [True, False] Translation: X:322.11, Y:0.79, Z:-0.14 [[ 2.55173469e-01 -9.62204700e-01 9.51242166e-02 3.22107238e+02] [ 9.23887091e-01 2.71655741e-01 2.69510298e-01 7.86111751e-01] [-2.85165115e-01 1.91121580e-02 9.58287839e-01 -1.41460577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:322.03, Y:0.73, Z:-0.12 [[ 2.49024752e-01 -9.54518498e-01 1.63954597e-01 3.22028812e+02] [ 9.21749719e-01 2.85543560e-01 2.62378222e-01 7.32037318e-01] [-2.97261045e-01 8.57864318e-02 9.50934571e-01 -1.21235200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59232058799995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:322.12, Y:0.75, Z:-0.12 [[ 2.51800003e-01 -9.65059593e-01 7.25033804e-02 3.22119299e+02] [ 9.21448095e-01 2.61974240e-01 2.86884829e-01 7.52891432e-01] [-2.95854974e-01 -5.42949905e-03 9.55217438e-01 -1.21974573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.08, Y:1.47, Z:1.61 [[ 1.52715854e-01 9.85606984e-01 -7.25033804e-02 3.22077692e+02] [ 9.43250896e-01 -1.67256816e-01 -2.86884829e-01 1.46606305e+00] [-2.94882376e-01 -2.45770168e-02 -9.55217438e-01 1.60676736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.23, Y:0.92, Z:-0.19 [[ 1.86263253e-01 -9.81198341e-01 5.05550780e-02 3.22225797e+02] [ 9.37105238e-01 1.92881897e-01 2.90912953e-01 9.19618893e-01] [-2.95194466e-01 -6.81096460e-03 9.55412915e-01 -1.89550222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.23, Y:0.96, Z:-0.19 [[ 1.87683463e-01 -9.80798640e-01 5.29994843e-02 3.22229152e+02] [ 9.36812715e-01 1.94962446e-01 2.90467867e-01 9.64439814e-01] [-2.95223398e-01 -4.86542442e-03 9.55415864e-01 -1.88285309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.15, Y:1.67, Z:1.54 [[ 1.17372036e-01 9.91672758e-01 -5.29994843e-02 3.22146034e+02] [ 9.48316754e-01 -1.27764441e-01 -2.90467867e-01 1.67314693e+00] [-2.94820520e-01 -1.61674940e-02 -9.55415864e-01 1.53997203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.22, Y:1.80, Z:1.50 [[ 1.81240779e-02 9.98430054e-01 -5.29994843e-02 3.22219817e+02] [ 9.56323158e-01 -3.27785832e-02 -2.90467867e-01 1.80228640e+00] [-2.91749096e-01 -4.54201719e-02 -9.55415864e-01 1.49934542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.41, Y:1.29, Z:-0.30 [[ 4.75857815e-02 -9.98819027e-01 9.80529401e-03 3.22408473e+02] [ 9.55135898e-01 4.83730321e-02 2.92190804e-01 1.29088786e+00] [-2.92320047e-01 -4.53873946e-03 9.56309777e-01 -3.00917702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.40, Y:1.34, Z:-0.30 [[ 4.73471644e-02 -9.98824171e-01 1.04173613e-02 3.22404374e+02] [ 9.55145046e-01 4.83238605e-02 2.92169036e-01 1.33735625e+00] [-2.92328902e-01 -3.88328431e-03 9.56309957e-01 -3.00230074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.41, Y:1.37, Z:-0.32 [[ 2.83994017e-02 -9.99551071e-01 9.54622881e-03 3.22410477e+02] [ 9.55887603e-01 2.99495069e-02 2.92201844e-01 1.37015862e+00] [-2.92356571e-01 8.26764229e-04 9.56309025e-01 -3.22326939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.41, Y:1.42, Z:-0.33 [[ 5.24849263e-02 -9.98614850e-01 3.70316475e-03 3.22405858e+02] [ 9.54912370e-01 5.12724304e-02 2.92426921e-01 1.42056412e+00] [-2.92211736e-01 -1.18118076e-02 9.56280703e-01 -3.27621558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.24, Y:2.10, Z:1.39 [[-3.70600725e-02 9.99306178e-01 -3.70316475e-03 3.22241747e+02] [ 9.55670452e-01 3.43581496e-02 -2.92426921e-01 2.10243872e+00] [-2.92096795e-01 -1.43763680e-02 -9.56280703e-01 1.38858271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.25, Y:2.16, Z:1.38 [[-1.03414193e-01 9.94631485e-01 -3.70316475e-03 3.22253558e+02] [ 9.51271929e-01 9.78172471e-02 -2.92426921e-01 2.15695418e+00] [-2.90494789e-01 -3.37638107e-02 -9.56280703e-01 1.38490696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:322.50, Y:1.63, Z:-0.39 [[-8.68449346e-02 -9.95809510e-01 -2.86596780e-02 3.22497160e+02] [ 9.52839319e-01 -9.14258144e-02 2.89376143e-01 1.63353479e+00] [-2.90783750e-01 -2.17721586e-03 9.56786324e-01 -3.87751055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.23, Y:2.20, Z:1.37 [[-1.67802535e-01 9.85403944e-01 2.86596780e-02 3.22234872e+02] [ 9.42203263e-01 1.68862246e-01 -2.89376143e-01 2.19847226e+00] [-2.89991930e-01 -2.15548081e-02 -9.56786324e-01 1.36970831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.52, Y:1.69, Z:-0.40 [[-1.54876910e-01 -9.86729861e-01 -4.87578139e-02 3.22518959e+02] [ 9.44370993e-01 -1.62361088e-01 2.86011024e-01 1.69297213e+00] [-2.90131989e-01 -1.74896159e-03 9.56985042e-01 -4.00287144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.22, Y:2.23, Z:1.34 [[-2.28368816e-01 9.72353001e-01 4.87578139e-02 3.22224219e+02] [ 9.29552460e-01 2.32658373e-01 -2.86011024e-01 2.23400695e+00] [-2.89447591e-01 -1.99930530e-02 -9.56985042e-01 1.33811348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.54, Y:1.75, Z:-0.42 [[-2.19553777e-01 -9.73117696e-01 -6.95563676e-02 3.22537302e+02] [ 9.31658808e-01 -2.30287502e-01 2.81032974e-01 1.75423151e+00] [-2.89496123e-01 -3.10095149e-03 9.57174163e-01 -4.15257710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.21, Y:2.30, Z:1.33 [[-2.99255958e-01 9.51634270e-01 6.95563676e-02 3.22205779e+02] [ 9.09429892e-01 3.06525265e-01 -2.81032974e-01 2.29661102e+00] [-2.88761393e-01 -2.08441521e-02 -9.57174163e-01 1.33331791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.54, Y:1.84, Z:-0.46 [[-2.80284619e-01 -9.55915107e-01 -8.75605012e-02 3.22538032e+02] [ 9.15400628e-01 -2.93628114e-01 2.75361983e-01 1.84280708e+00] [-2.88932904e-01 -2.97320926e-03 9.57344733e-01 -4.55184412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:1.81, Z:-0.43 [[-2.82492637e-01 -9.55288885e-01 -8.72986589e-02 3.22545217e+02] [ 9.14719131e-01 -2.95666998e-01 2.75444982e-01 1.81346666e+00] [-2.88940862e-01 -2.04257423e-03 9.57344769e-01 -4.32788412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.192320588 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:322.17, Y:2.31, Z:1.33 [[-3.26077761e-01 9.41303478e-01 8.72986589e-02 3.22170194e+02] [ 9.00171358e-01 3.37374551e-01 -2.75444982e-01 2.31435787e+00] [-2.88729665e-01 -1.12327307e-02 -9.57344769e-01 1.32648679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.18, Y:2.39, Z:1.30 [[-4.22984289e-01 9.01921967e-01 8.72986589e-02 3.22179371e+02] [ 8.59832034e-01 4.29905727e-01 -2.75444982e-01 2.38726912e+00] [-2.85960074e-01 -4.14467164e-02 -9.57344769e-01 1.30229239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:1.96, Z:-0.46 [[-4.15888910e-01 -9.00814865e-01 -1.24775771e-01 3.22557469e+02] [ 8.63208409e-01 -4.34202984e-01 2.57563606e-01 1.95902901e+00] [-2.86195138e-01 -5.89647518e-04 9.58171172e-01 -4.64956751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.14, Y:2.41, Z:1.27 [[-4.78973833e-01 8.68916034e-01 1.24775771e-01 3.22141928e+02] [ 8.30101016e-01 4.94563740e-01 -2.57563606e-01 2.40534326e+00] [-2.85510719e-01 -1.97897333e-02 -9.58171172e-01 1.26993052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.04, Z:-0.50 [[-4.74013359e-01 -8.68890581e-01 -1.42620103e-01 3.22550331e+02] [ 8.32931134e-01 -4.95001838e-01 2.47384126e-01 2.03531193e+00] [-2.85546950e-01 -1.52934356e-03 9.58363501e-01 -5.00421465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:2.04, Z:-0.50 [[-4.73162570e-01 -8.69449261e-01 -1.42039309e-01 3.22546235e+02] [ 8.33414397e-01 -4.94020871e-01 2.47717223e-01 2.03903860e+00] [-2.85547940e-01 -1.16708666e-03 9.58363716e-01 -5.02467535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.54, Y:2.04, Z:-0.50 [[-4.72585203e-01 -8.69812776e-01 -1.41735530e-01 3.22544254e+02] [ 8.33741802e-01 -4.93380879e-01 2.47890934e-01 2.03959966e+00] [-2.85548301e-01 -1.02124875e-03 9.58363775e-01 -5.02749024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.54, Y:2.04, Z:-0.50 [[-4.71479826e-01 -8.70451453e-01 -1.41495727e-01 3.22541963e+02] [ 8.34367557e-01 -4.92252998e-01 2.48027750e-01 2.04331966e+00] [-2.85547811e-01 -1.11936350e-03 9.58363811e-01 -5.04512411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.54, Y:2.04, Z:-0.50 [[-4.72368127e-01 -8.70008662e-01 -1.41256082e-01 3.22543816e+02] [ 8.33864458e-01 -4.93036115e-01 2.48164169e-01 2.03923689e+00] [-2.85549327e-01 -5.63582327e-04 9.58363848e-01 -5.02503888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46232058799995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:322.54, Y:2.04, Z:-0.49 [[-4.72603871e-01 -8.69918548e-01 -1.41022343e-01 3.22544768e+02] [ 8.33730750e-01 -4.93195365e-01 2.48296935e-01 2.03581020e+00] [-2.85549675e-01 -2.28571122e-04 9.58363882e-01 -4.86204248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:2.46, Z:1.27 [[-5.31414448e-01 8.35291197e-01 1.41022343e-01 3.22107880e+02] [ 7.97770723e-01 5.49463834e-01 -2.48296935e-01 2.46158431e+00] [-2.84886921e-01 -1.94450820e-02 -9.58363882e-01 1.26788398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.53, Y:2.11, Z:-0.52 [[-5.28066026e-01 -8.34435863e-01 -1.57680258e-01 3.22533928e+02] [ 7.99984032e-01 -5.51104433e-01 2.37296128e-01 2.11121485e+00] [-2.84906688e-01 -8.33665389e-04 9.58554894e-01 -5.20713840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.54, Y:2.11, Z:-0.50 [[-5.27434367e-01 -8.34890720e-01 -1.57386382e-01 3.22535810e+02] [ 8.00400582e-01 -5.50415279e-01 2.37490902e-01 2.10666552e+00] [-2.84906819e-01 -7.11287812e-04 9.58554953e-01 -5.04510791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.07, Y:2.51, Z:1.25 [[-5.88343988e-01 7.93146190e-01 1.57386382e-01 3.22067335e+02] [ 7.57035308e-01 6.08683508e-01 -2.37490902e-01 2.51224975e+00] [-2.84163499e-01 -2.05792964e-02 -9.58554953e-01 1.24615163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:2.19, Z:-0.54 [[-5.78676981e-01 -7.96938243e-01 -1.73269698e-01 3.22513175e+02] [ 7.64416192e-01 -6.04057326e-01 2.25350021e-01 2.19142036e+00] [-2.84254880e-01 -2.04529304e-03 9.58746567e-01 -5.40028043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.52, Y:2.17, Z:-0.53 [[-5.77054606e-01 -7.98160634e-01 -1.73053702e-01 3.22524183e+02] [ 7.65642613e-01 -6.02440056e-01 2.25515782e-01 2.17498301e+00] [-2.84252302e-01 -2.36236768e-03 9.58746603e-01 -5.27738940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:2.20, Z:-0.54 [[-5.74920186e-01 -7.99708057e-01 -1.73013881e-01 3.22507450e+02] [ 7.67249178e-01 -6.00381192e-01 2.25546276e-01 2.19610262e+00] [-2.84245455e-01 -3.07365122e-03 9.58746616e-01 -5.41706687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.50, Y:2.20, Z:-0.54 [[-5.73771844e-01 -8.00613563e-01 -1.72637752e-01 3.22504019e+02] [ 7.68108271e-01 -5.99173395e-01 2.25833847e-01 2.19988068e+00] [-2.84245589e-01 -3.02738241e-03 9.58746724e-01 -5.43264771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:2.18, Z:-0.52 [[-5.71128365e-01 -8.02547602e-01 -1.72423135e-01 3.22510647e+02] [ 7.70078873e-01 -5.96576579e-01 2.25997600e-01 2.18487845e+00] [-2.84237436e-01 -3.70577380e-03 9.58746759e-01 -5.24521912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.49, Y:2.21, Z:-0.55 [[-5.67989091e-01 -8.04799418e-01 -1.72297099e-01 3.22489777e+02] [ 7.72402455e-01 -5.93528554e-01 2.26093572e-01 2.20964054e+00] [-2.84223223e-01 -4.66402001e-03 9.58746790e-01 -5.46605066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:2.18, Z:-0.52 [[-5.66148802e-01 -8.06154207e-01 -1.72020139e-01 3.22505896e+02] [ 7.73754384e-01 -5.91684543e-01 2.26304118e-01 2.18481720e+00] [-2.84217674e-01 -4.97953169e-03 9.58746848e-01 -5.24411980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.48, Y:2.22, Z:-0.55 [[-5.62494596e-01 -8.08708884e-01 -1.72016771e-01 3.22478097e+02] [ 7.76424213e-01 -5.88175766e-01 2.26306672e-01 2.21936140e+00] [-2.84192313e-01 -6.26170611e-03 9.58746849e-01 -5.50084273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.48, Y:2.20, Z:-0.53 [[-5.61815488e-01 -8.09259908e-01 -1.71644277e-01 3.22483923e+02] [ 7.76914218e-01 -5.87419592e-01 2.26588881e-01 2.20373475e+00] [-2.84196508e-01 -6.05173646e-03 9.58746954e-01 -5.33839442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88232058799997 meters Centerline goodness : 0.985321 Centerline is valid? [True, True] Translation: X:322.03, Y:2.53, Z:1.24 [[-5.66805178e-01 8.05773003e-01 1.71644277e-01 3.22033762e+02] [ 7.73269722e-01 5.92208929e-01 -2.26588881e-01 2.53057797e+00] [-2.84228476e-01 4.29557144e-03 -9.58746954e-01 1.24146376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.46, Y:2.30, Z:-0.57 [[-6.07616659e-01 -7.69377551e-01 -1.97129856e-01 3.22455980e+02] [ 7.41993170e-01 -6.38417482e-01 2.04619780e-01 2.30231033e+00] [-2.83281011e-01 -2.19386198e-02 9.58785985e-01 -5.71347471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.47, Y:2.26, Z:-0.55 [[-6.06803736e-01 -7.73090761e-01 -1.84715731e-01 3.22470590e+02] [ 7.42528801e-01 -6.34262111e-01 2.15319656e-01 2.26046685e+00] [-2.83619826e-01 -6.49997814e-03 9.58914774e-01 -5.54425273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.44, Y:2.29, Z:-0.57 [[-6.07207754e-01 -7.72834821e-01 -1.84458894e-01 3.22440767e+02] [ 7.42194530e-01 -6.34578611e-01 2.15539478e-01 2.29022333e+00] [-2.83630083e-01 -6.02714003e-03 9.58914829e-01 -5.72561561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.44, Y:2.29, Z:-0.57 [[-6.06995249e-01 -7.73042887e-01 -1.84286361e-01 3.22437890e+02] [ 7.42367244e-01 -6.34326442e-01 2.15686903e-01 2.29021557e+00] [-2.83632938e-01 -5.88723280e-03 9.58914854e-01 -5.72933269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.44, Y:2.29, Z:-0.57 [[-6.06316430e-01 -7.73634746e-01 -1.84037133e-01 3.22436081e+02] [ 7.42921312e-01 -6.33605072e-01 2.15899370e-01 2.29176494e+00] [-2.83634115e-01 -5.82177352e-03 9.58914905e-01 -5.73652669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.44, Y:2.29, Z:-0.56 [[-6.07218128e-01 -7.72974195e-01 -1.83839708e-01 3.22435023e+02] [ 7.42180222e-01 -6.34415805e-01 2.16067361e-01 2.28879178e+00] [-2.83645310e-01 -5.24217665e-03 9.58914938e-01 -5.55558758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.96, Y:2.66, Z:1.18 [[-6.83889394e-01 7.06044091e-01 1.83839707e-01 3.21963393e+02] [ 6.72602921e-01 7.07757166e-01 -2.16067361e-01 2.65625347e+00] [-2.82666954e-01 -2.41150528e-02 -9.58914938e-01 1.18468609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.41, Y:2.36, Z:-0.59 [[-6.57388033e-01 -7.27066298e-01 -1.98029222e-01 3.22414734e+02] [ 6.98389699e-01 -6.86546461e-01 2.02251786e-01 2.36033539e+00] [-2.83006719e-01 -5.34366481e-03 9.59103041e-01 -5.88183236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.41, Y:2.36, Z:-0.59 [[-6.57631709e-01 -7.26896817e-01 -1.97842243e-01 3.22409445e+02] [ 6.98157732e-01 -6.86728506e-01 2.02434536e-01 2.36204246e+00] [-2.83012928e-01 -4.99772155e-03 9.59103073e-01 -5.89983351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.43, Y:2.33, Z:-0.56 [[-6.57412272e-01 -7.27145912e-01 -1.97656083e-01 3.22433799e+02] [ 6.98363253e-01 -6.86465921e-01 2.02616152e-01 2.33454081e+00] [-2.83015672e-01 -4.83340026e-03 9.59103106e-01 -5.64650288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.40, Y:2.37, Z:-0.59 [[-6.55700451e-01 -7.29042239e-01 -1.96352569e-01 3.22401401e+02] [ 6.99964076e-01 -6.84458405e-01 2.03879826e-01 2.36722341e+00] [-2.83032172e-01 -3.75565044e-03 9.59103063e-01 -5.90333393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.41, Y:2.36, Z:-0.57 [[-6.57565205e-01 -7.27206386e-01 -1.96923521e-01 3.22410916e+02] [ 6.98213191e-01 -6.86408391e-01 2.03326980e-01 2.35710488e+00] [-2.83030636e-01 -3.79385243e-03 9.59103366e-01 -5.69581583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.93, Y:2.69, Z:1.15 [[-7.22368211e-01 6.62876531e-01 1.96923521e-01 3.21928178e+02] [ 6.31325685e-01 7.48388949e-01 -2.03326980e-01 2.69093644e+00] [-2.82156070e-01 -2.25540702e-02 -9.59103366e-01 1.14975705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.89, Y:2.74, Z:1.15 [[-7.65264614e-01 6.12854956e-01 1.96923521e-01 3.21889183e+02] [ 5.79627459e-01 7.89107184e-01 -2.03326980e-01 2.74272489e+00] [-2.80003713e-01 -4.14566632e-02 -9.59103366e-01 1.14807345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.37, Y:2.48, Z:-0.60 [[-7.52335796e-01 -6.20441997e-01 -2.21455588e-01 3.22372626e+02] [ 5.96093861e-01 -7.84248310e-01 1.72124073e-01 2.47684371e+00] [-2.80469175e-01 -2.51321499e-03 9.59859743e-01 -6.02546946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.83, Y:2.75, Z:1.13 [[-8.01865560e-01 5.54949589e-01 2.21455588e-01 3.21834618e+02] [ 5.28003017e-01 8.31616569e-01 -1.72124073e-01 2.75408999e+00] [-2.79686320e-01 -2.10911477e-02 -9.59859743e-01 1.13163228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.32, Y:2.55, Z:-0.64 [[-7.93145013e-01 -5.62947456e-01 -2.32402992e-01 3.22319238e+02] [ 5.40933457e-01 -8.26490114e-01 1.55900889e-01 2.54957132e+00] [-2.79842784e-01 -2.06254082e-03 9.60043625e-01 -6.41344820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.33, Y:2.54, Z:-0.63 [[-7.93831450e-01 -5.62048165e-01 -2.32235850e-01 3.22331312e+02] [ 5.39923632e-01 -8.27103262e-01 1.56149495e-01 2.53951815e+00] [-2.79846566e-01 -1.43324356e-03 9.60043668e-01 -6.33985284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.80, Y:2.77, Z:1.12 [[-8.33088458e-01 5.02026026e-01 2.32235850e-01 3.21804706e+02] [ 4.77509975e-01 8.64639555e-01 -1.56149495e-01 2.77001252e+00] [-2.79191413e-01 -1.91914074e-02 -9.60043668e-01 1.11870908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.30, Y:2.60, Z:-0.64 [[-8.31986591e-01 -4.99171262e-01 -2.42128817e-01 3.22298021e+02] [ 4.79407972e-01 -8.66503266e-01 1.39068636e-01 2.59974442e+00] [-2.79224477e-01 -3.75244339e-04 9.60225781e-01 -6.37465889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.76, Y:2.79, Z:1.09 [[-8.63201035e-01 4.43009717e-01 2.42128817e-01 3.21759467e+02] [ 4.21005198e-01 8.96333943e-01 -1.39068636e-01 2.78808141e+00] [-2.78637034e-01 -1.81067005e-02 -9.60225781e-01 1.08967507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.24, Y:2.66, Z:-0.67 [[-8.63815887e-01 -4.36992024e-01 -2.50719135e-01 3.22239796e+02] [ 4.19755995e-01 -8.99465340e-01 1.21519572e-01 2.66206244e+00] [-2.78616256e-01 -2.70323188e-04 9.60402472e-01 -6.65710135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.68, Y:2.82, Z:1.06 [[-8.90540043e-01 3.79576536e-01 2.50719135e-01 3.21679586e+02] [ 3.60046459e-01 9.24986238e-01 -1.21519572e-01 2.82186317e+00] [-2.78037728e-01 -1.79475081e-02 -9.60402472e-01 1.06344413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.20, Y:2.72, Z:-0.67 [[-8.90255929e-01 -3.75339760e-01 -2.58000864e-01 3.22196046e+02] [ 3.60768161e-01 -9.26886887e-01 1.03571386e-01 2.71558208e+00] [-2.78012077e-01 -8.73457054e-04 9.60577182e-01 -6.71869594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.62, Y:2.84, Z:1.06 [[-9.15282880e-01 3.09342534e-01 2.58000864e-01 3.21624043e+02] [ 2.92135478e-01 9.50752245e-01 -1.03571386e-01 2.83789813e+00] [-2.77333935e-01 -1.94259106e-02 -9.60577182e-01 1.06092320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.14, Y:2.77, Z:-0.69 [[-9.12420367e-01 -3.12806915e-01 -2.63895637e-01 3.22140158e+02] [ 3.00884151e-01 -9.49815785e-01 8.55494186e-02 2.76672208e+00] [-2.77412691e-01 -1.34498275e-03 9.60749910e-01 -6.92233741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.57, Y:2.85, Z:1.03 [[-9.33221854e-01 2.43836143e-01 2.63895637e-01 3.21569744e+02] [ 2.29155631e-01 9.69623119e-01 -8.55494186e-02 2.84972218e+00] [-2.76739351e-01 -1.93634156e-02 -9.60749910e-01 1.02746234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.09, Y:2.82, Z:-0.71 [[-9.30397567e-01 -2.49186521e-01 -2.68824191e-01 3.22088973e+02] [ 2.40287319e-01 -9.68450483e-01 6.60731822e-02 2.81514979e+00] [-2.76807464e-01 -3.12071631e-03 9.60920334e-01 -7.10152689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.53, Y:2.85, Z:1.02 [[-9.47322644e-01 1.74107327e-01 2.68824191e-01 3.21531902e+02] [ 1.62198359e-01 9.84543563e-01 -6.60731822e-02 2.85433792e+00] [-2.76172952e-01 -1.89897789e-02 -9.60920334e-01 1.01732931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.03, Y:2.85, Z:-0.73 [[-9.44434270e-01 -1.84283644e-01 -2.72182746e-01 3.22033468e+02] [ 1.78092081e-01 -9.82866480e-01 4.75046715e-02 2.85345948e+00] [-2.76273632e-01 -3.60855197e-03 9.61072244e-01 -7.26133223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.44, Y:2.86, Z:0.99 [[-9.56654759e-01 1.03577148e-01 2.72182746e-01 3.21444117e+02] [ 9.41506253e-02 9.94423937e-01 -4.75046715e-02 2.86449467e+00] [-2.75585436e-01 -1.98193943e-02 -9.61072244e-01 9.91651347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.91, Y:2.90, Z:-0.76 [[-9.53890028e-01 -1.21886013e-01 -2.74294759e-01 3.21913750e+02] [ 1.18679273e-01 -9.92528656e-01 2.83213067e-02 2.90009928e+00] [-2.75697380e-01 -5.53769044e-03 9.61228531e-01 -7.61314145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.37, Y:2.87, Z:0.97 [[-9.61125817e-01 3.16156459e-02 2.74294759e-01 3.21372142e+02] [ 2.47884915e-02 9.99291466e-01 -2.83213067e-02 2.86970055e+00] [-2.74995808e-01 -2.04209858e-02 -9.61228531e-01 9.72795168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.87, Y:2.93, Z:-0.78 [[-9.59991107e-01 -5.24040489e-02 -2.75083424e-01 3.21873728e+02] [ 5.20095233e-02 -9.98608399e-01 8.73350898e-03 2.93189846e+00] [-2.75158288e-01 -5.92286676e-03 9.61380693e-01 -7.84805568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.31, Y:2.87, Z:0.96 [[-9.60637116e-01 -3.88000159e-02 2.75083424e-01 3.21308538e+02] [-4.28521207e-02 9.99043253e-01 -8.73350898e-03 2.86758554e+00] [-2.74481378e-01 -2.01776409e-02 -9.61380693e-01 9.56169802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:321.80, Y:2.96, Z:-0.79 [[-9.61407302e-01 1.80167767e-02 -2.74538515e-01 3.21804284e+02] [-1.58333108e-02 -9.99822950e-01 -1.01673392e-02 2.96380428e+00] [-2.74673090e-01 -5.42810056e-03 9.61522350e-01 -7.91396311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.26, Y:2.86, Z:0.94 [[-9.55723487e-01 -1.05930259e-01 2.74538515e-01 3.21257731e+02] [-1.07271801e-01 9.94177744e-01 1.01673392e-02 2.85945335e+00] [-2.74017110e-01 -1.97330761e-02 -9.61522350e-01 9.42144581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.75, Y:2.99, Z:-0.82 [[-9.58035007e-01 8.83350686e-02 -2.72701011e-01 3.21746861e+02] [-8.36212290e-02 -9.96078921e-01 -2.88837770e-02 2.99102199e+00] [-2.74183179e-01 -4.86807581e-03 9.61665163e-01 -8.17599300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.20, Y:2.85, Z:0.93 [[-9.46342614e-01 -1.73406504e-01 2.72701011e-01 3.21203258e+02] [-1.72103630e-01 9.84655304e-01 2.88837770e-02 2.84791422e+00] [-2.73525131e-01 -1.95988848e-02 -9.61665163e-01 9.27284099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.67, Y:3.01, Z:-0.84 [[-9.50052101e-01 1.57303118e-01 -2.69549133e-01 3.21672147e+02] [-1.50000249e-01 -9.87538677e-01 -4.76160346e-02 3.01339785e+00] [-2.73680345e-01 -4.80527643e-03 9.61808701e-01 -8.37411881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:321.13, Y:2.83, Z:0.90 [[-9.31845716e-01 -2.42913206e-01 2.69549133e-01 3.21130047e+02] [-2.39044088e-01 9.69840522e-01 4.76160346e-02 2.82829742e+00] [-2.72986236e-01 -2.00633288e-02 -9.61808701e-01 9.03982115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.59, Y:3.03, Z:-0.84 [[-9.38296842e-01 2.21912748e-01 -2.65242850e-01 3.21594190e+02] [-2.12078078e-01 -9.75052420e-01 -6.55413404e-02 3.02759217e+00] [-2.73170141e-01 -5.24503901e-03 9.61951435e-01 -8.44556790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.07, Y:2.81, Z:0.89 [[-9.12720941e-01 -3.10784033e-01 2.65242850e-01 3.21074169e+02] [-3.04515908e-01 9.50249648e-01 6.55413404e-02 2.80780201e+00] [-2.72416127e-01 -2.09497133e-02 -9.61951435e-01 8.86301243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.53, Y:3.04, Z:-0.87 [[-9.22774879e-01 2.84792892e-01 -2.59575677e-01 3.21528352e+02] [-2.72327973e-01 -9.58567456e-01 -8.35817361e-02 3.04227325e+00] [-2.72624281e-01 -6.43740843e-03 9.62099039e-01 -8.72321703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.02, Y:2.79, Z:0.86 [[-8.88427032e-01 -3.78573476e-01 2.59575677e-01 3.21023960e+02] [-3.69871847e-01 9.25315573e-01 8.35817361e-02 2.78731394e+00] [-2.71831245e-01 -2.17534614e-02 -9.62099039e-01 8.57558699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:321.45, Y:3.04, Z:-0.89 [[-9.03329010e-01 3.46300410e-01 -2.53125907e-01 3.21453597e+02] [-3.31592301e-01 -9.38101477e-01 -1.00060802e-01 3.04410174e+00] [-2.72108885e-01 -6.45322348e-03 9.62244829e-01 -8.94574895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.99, Y:2.77, Z:0.86 [[-8.59262223e-01 -4.44517387e-01 2.53125907e-01 3.20989911e+02] [-4.33763595e-01 8.95453505e-01 1.00060802e-01 2.77274079e+00] [-2.71141247e-01 -2.38183361e-02 -9.62244829e-01 8.62042020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.39, Y:3.04, Z:-0.91 [[-8.80415116e-01 4.06044651e-01 -2.44942779e-01 3.21389222e+02] [-3.88797155e-01 -9.13817366e-01 -1.17365212e-01 3.04488483e+00] [-2.71488482e-01 -8.09705127e-03 9.62407628e-01 -9.10226820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.90, Y:2.73, Z:0.83 [[-8.24803478e-01 -5.09609907e-01 2.44942779e-01 3.20902134e+02] [-4.96531597e-01 8.60047545e-01 1.17365212e-01 2.72683436e+00] [-2.70472911e-01 -2.48185941e-02 -9.62407628e-01 8.30814951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.28, Y:3.02, Z:-0.94 [[-8.52217862e-01 4.66916946e-01 -2.36036610e-01 3.21278666e+02] [-4.47567325e-01 -8.84265683e-01 -1.33257990e-01 3.01815693e+00] [-2.70939488e-01 -7.92256499e-03 9.62563778e-01 -9.39810002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:321.28, Y:3.01, Z:-0.94 [[-8.52097281e-01 4.67040060e-01 -2.36228292e-01 3.21275303e+02] [-4.47789433e-01 -8.84204538e-01 -1.32917113e-01 3.01488509e+00] [-2.70951744e-01 -7.47777794e-03 9.62563886e-01 -9.41515842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.442320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:320.82, Y:2.68, Z:0.79 [[-7.88119045e-01 -5.68387689e-01 2.36228292e-01 3.20820444e+02] [-5.53236168e-01 8.22351982e-01 1.32917113e-01 2.67991980e+00] [-2.69811255e-01 -2.59355267e-02 -9.62563886e-01 7.92346379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.74, Y:2.65, Z:0.78 [[-7.49052295e-01 -6.18964339e-01 2.36228292e-01 3.20744751e+02] [-6.06095845e-01 7.84207159e-01 1.32917113e-01 2.64885237e+00] [-2.67522871e-01 -4.36151173e-02 -9.62563886e-01 7.80450283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.66, Y:2.60, Z:0.74 [[-7.01810329e-01 -6.72055396e-01 2.36228292e-01 3.20659851e+02] [-6.61790704e-01 7.37811700e-01 1.32917113e-01 2.59997755e+00] [-2.63619661e-01 -6.30510846e-02 -9.62563886e-01 7.42926643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.63, Y:2.60, Z:0.75 [[-6.59833117e-01 -7.13313712e-01 2.36228292e-01 3.20630239e+02] [-7.05247560e-01 6.96389920e-01 1.32917113e-01 2.59617618e+00] [-2.59318601e-01 -7.88963132e-02 -9.62563886e-01 7.47950082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.97, Y:2.93, Z:-1.02 [[-6.91768437e-01 6.98644654e-01 -1.82625511e-01 3.20966339e+02] [-6.73328374e-01 -7.15443468e-01 -1.86465937e-01 2.93426250e+00] [-2.60931659e-01 -6.02431181e-03 9.65338478e-01 -1.02418653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.00, Y:2.97, Z:-1.01 [[-6.93884529e-01 6.96487687e-01 -1.82836434e-01 3.20998587e+02] [-6.71152273e-01 -7.17539021e-01 -1.86258905e-01 2.96602202e+00] [-2.60919310e-01 -6.53108461e-03 9.65338520e-01 -1.00874331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.96, Y:2.93, Z:-1.02 [[-6.92003252e-01 6.98460722e-01 -1.82439359e-01 3.20964583e+02] [-6.73089731e-01 -7.15620093e-01 -1.86649662e-01 2.93152274e+00] [-2.60924729e-01 -6.36411390e-03 9.65338171e-01 -1.02367746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.96, Y:2.93, Z:-1.02 [[-6.93125324e-01 6.97134354e-01 -1.83251134e-01 3.20963672e+02] [-6.71929015e-01 -7.16917967e-01 -1.85849475e-01 2.92731374e+00] [-2.60938084e-01 -5.68522380e-03 9.65338798e-01 -1.02381644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.96, Y:2.92, Z:-1.02 [[-6.93335945e-01 6.96868965e-01 -1.83463657e-01 3.20961822e+02] [-6.71710007e-01 -7.17177564e-01 -1.85639459e-01 2.92296784e+00] [-2.60942396e-01 -5.47613524e-03 9.65338841e-01 -1.02497658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.96, Y:2.92, Z:-1.03 [[-6.93886124e-01 6.96259089e-01 -1.83699013e-01 3.20960000e+02] [-6.71140811e-01 -7.17770520e-01 -1.85406291e-01 2.91979271e+00] [-2.60944551e-01 -5.36294844e-03 9.65338894e-01 -1.02601934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.96, Y:2.91, Z:-1.03 [[-6.95424175e-01 6.94666695e-01 -1.83911391e-01 3.20955415e+02] [-6.69549416e-01 -7.19309559e-01 -1.85195402e-01 2.91327035e+00] [-2.60938299e-01 -5.65159539e-03 9.65338937e-01 -1.02880692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.96, Y:2.91, Z:-1.03 [[-6.96750424e-01 6.93280344e-01 -1.84122815e-01 3.20955830e+02] [-6.68171060e-01 -7.20644150e-01 -1.84984980e-01 2.90904617e+00] [-2.60933480e-01 -5.86282660e-03 9.65338980e-01 -1.02823966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.802320588 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:320.67, Y:2.63, Z:-1.13 [[-7.56860639e-01 6.27043179e-01 -1.84333460e-01 3.20668400e+02] [-5.99914835e-01 -7.78434612e-01 -1.84774854e-01 2.63128234e+00] [-2.59353357e-01 -2.92644375e-02 9.65339023e-01 -1.13412887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.99, Y:2.97, Z:-1.00 [[-6.97155118e-01 6.97888672e-01 -1.64091871e-01 3.20988351e+02] [-6.68066642e-01 -7.15448126e-01 -2.04501688e-01 2.97057954e+00] [-2.60118633e-01 -3.29450932e-02 9.65014465e-01 -9.98719009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.862320588 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:320.94, Y:2.89, Z:-1.00 [[-6.97707776e-01 6.92508938e-01 -1.83399101e-01 3.20944952e+02] [-6.67250454e-01 -7.21375114e-01 -1.85458287e-01 2.88663070e+00] [-2.60731069e-01 -7.02255518e-03 9.65385930e-01 -1.00353707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.00, Y:2.94, Z:-1.00 [[-6.98898962e-01 6.91153598e-01 -1.83975390e-01 3.21000055e+02] [-6.65999688e-01 -7.22676947e-01 -1.84884955e-01 2.94069641e+00] [-2.60738675e-01 -6.68835078e-03 9.65386249e-01 -1.00427964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.94, Y:2.88, Z:-1.03 [[-7.00464660e-01 6.89527251e-01 -1.84123409e-01 3.20941817e+02] [-6.64356899e-01 -7.24225151e-01 -1.84737224e-01 2.87906806e+00] [-2.60728154e-01 -7.07823934e-03 9.65386310e-01 -1.02906568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.94, Y:2.88, Z:-1.03 [[-7.01143998e-01 6.88862382e-01 -1.84026390e-01 3.20939486e+02] [-6.63644094e-01 -7.24853680e-01 -1.84834138e-01 2.87683264e+00] [-2.60717491e-01 -7.46731939e-03 9.65386259e-01 -1.02993597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.94, Y:2.87, Z:-1.03 [[-7.00661834e-01 6.89302714e-01 -1.84213903e-01 3.20939136e+02] [-6.64148573e-01 -7.24439339e-01 -1.84646465e-01 2.87232437e+00] [-2.60729108e-01 -7.02933048e-03 9.65386410e-01 -1.03066096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.94, Y:2.87, Z:-1.04 [[-7.01075756e-01 6.88752676e-01 -1.84695791e-01 3.20942562e+02] [-6.63706834e-01 -7.24966985e-01 -1.84163269e-01 2.87282879e+00] [-2.60741296e-01 -6.52854435e-03 9.65386635e-01 -1.03688637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04232058799994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:320.95, Y:2.87, Z:-1.03 [[-7.00281542e-01 6.89503624e-01 -1.84906773e-01 3.20945696e+02] [-6.64539300e-01 -7.24257876e-01 -1.83951209e-01 2.86778409e+00] [-2.60755211e-01 -5.93981896e-03 9.65386678e-01 -1.03093025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.94, Y:2.86, Z:-1.03 [[-7.00238958e-01 6.89527192e-01 -1.84980142e-01 3.20944557e+02] [-6.64583175e-01 -7.24236384e-01 -1.83877307e-01 2.86419630e+00] [-2.60757752e-01 -5.82336420e-03 9.65386701e-01 -1.03132402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10232058799994 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:320.95, Y:2.87, Z:-1.03 [[-6.98511464e-01 6.91245387e-01 -1.85098756e-01 3.20949574e+02] [-6.66392090e-01 -7.22602748e-01 -1.83757587e-01 2.86654834e+00] [-2.60774454e-01 -5.00843445e-03 9.65386762e-01 -1.03413988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13232058799997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:320.96, Y:2.88, Z:-1.02 [[-6.97145020e-01 6.92523101e-01 -1.85473923e-01 3.20960725e+02] [-6.67814734e-01 -7.21384726e-01 -1.83378185e-01 2.87527093e+00] [-2.60791684e-01 -3.97896958e-03 9.65386899e-01 -1.01615480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16232058799994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:320.95, Y:2.86, Z:-1.01 [[-6.97890709e-01 6.91676644e-01 -1.85827817e-01 3.20952473e+02] [-6.67034259e-01 -7.22197464e-01 -1.83019456e-01 2.86269056e+00] [-2.60794661e-01 -3.77405739e-03 9.65386918e-01 -1.00941088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.192320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:320.97, Y:2.88, Z:-1.01 [[-6.94492306e-01 6.95082438e-01 -1.85851665e-01 3.20967651e+02] [-6.70565736e-01 -7.18925822e-01 -1.82995236e-01 2.87625542e+00] [-2.60810336e-01 -2.46302454e-03 9.65386918e-01 -1.01338420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22232058799995 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:320.96, Y:2.86, Z:-1.00 [[-6.95897972e-01 6.93615771e-01 -1.86073035e-01 3.20959777e+02] [-6.69107782e-01 -7.20340160e-01 -1.82769884e-01 2.86310236e+00] [-2.60807954e-01 -2.68627574e-03 9.65386967e-01 -1.00151650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.97, Y:2.87, Z:-1.02 [[-6.94229717e-01 6.95237749e-01 -1.86251366e-01 3.20967623e+02] [-6.70835632e-01 -7.18777560e-01 -1.82587987e-01 2.87233782e+00] [-2.60815364e-01 -1.81395415e-03 9.65386998e-01 -1.02391731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.57, Y:2.52, Z:0.71 [[-6.38212368e-01 -7.46990899e-01 1.86251366e-01 3.20574597e+02] [-7.24566341e-01 6.64578997e-01 1.82587987e-01 2.51983820e+00] [-2.60170311e-01 -1.84215590e-02 -9.65386998e-01 7.10485182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.312320588 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:320.91, Y:2.85, Z:-1.03 [[-6.46332888e-01 7.43344631e-01 -1.72315286e-01 3.20908704e+02] [-7.17310857e-01 -6.68904171e-01 -1.95018833e-01 2.84806781e+00] [-2.60228616e-01 -2.44345997e-03 9.65543938e-01 -1.02990559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.91, Y:2.84, Z:-1.03 [[-6.41676276e-01 7.47217866e-01 -1.72965365e-01 3.20906982e+02] [-7.21475820e-01 -6.64579160e-01 -1.94440686e-01 2.83877345e+00] [-2.60238731e-01 2.23530113e-05 9.65544304e-01 -1.03055566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.372320588 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:320.92, Y:2.84, Z:-1.03 [[-6.41480029e-01 7.46784422e-01 -1.75546004e-01 3.20915117e+02] [-7.21652409e-01 -6.65057331e-01 -1.92136792e-01 2.84241641e+00] [-2.60232920e-01 3.43128136e-03 9.65539773e-01 -1.02887399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40232058799995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:320.91, Y:2.84, Z:-1.03 [[-6.42414572e-01 7.45918355e-01 -1.75810479e-01 3.20913410e+02] [-7.20819322e-01 -6.66028465e-01 -1.91899943e-01 2.83911771e+00] [-2.60236473e-01 3.44827067e-03 9.65538755e-01 -1.02791925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.432320588 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:320.91, Y:2.83, Z:-1.03 [[-6.44393902e-01 7.44259119e-01 -1.75598586e-01 3.20908928e+02] [-7.19047489e-01 -6.67886370e-01 -1.92089837e-01 2.83244064e+00] [-2.60244515e-01 2.48220324e-03 9.65539554e-01 -1.02915044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:320.91, Y:2.83, Z:-1.04 [[-6.41298175e-01 7.47189125e-01 -1.74485138e-01 3.20907073e+02] [-7.21812143e-01 -6.64608100e-01 -1.93088851e-01 2.82725833e+00] [-2.60238125e-01 2.11796412e-03 9.65542144e-01 -1.03517158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.492320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:320.91, Y:2.82, Z:-1.04 [[-6.42134821e-01 7.45649549e-01 -1.77959608e-01 3.20909404e+02] [-7.21074693e-01 -6.66308131e-01 -1.89959898e-01 2.82016700e+00] [-2.60219446e-01 6.34230486e-03 9.65528671e-01 -1.03647800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52232058799996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:320.91, Y:2.81, Z:-1.05 [[-6.43393388e-01 7.44536892e-01 -1.78072356e-01 3.20909924e+02] [-7.19948392e-01 -6.67553908e-01 -1.89858086e-01 2.81327711e+00] [-2.60229247e-01 6.04946893e-03 9.65527909e-01 -1.04523573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.552320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:320.91, Y:2.81, Z:-1.05 [[-6.43085262e-01 7.44713740e-01 -1.78445484e-01 3.20908659e+02] [-7.20225367e-01 -6.67350969e-01 -1.89520726e-01 2.80829714e+00] [-2.60224456e-01 6.64297863e-03 9.65525299e-01 -1.04722331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58232058799996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:320.91, Y:2.81, Z:-1.04 [[-6.43485512e-01 7.44227963e-01 -1.79028306e-01 3.20913021e+02] [-7.19867884e-01 -6.67886212e-01 -1.88992693e-01 2.81003630e+00] [-2.60224184e-01 7.26266844e-03 9.65520910e-01 -1.03513696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.612320588 meters Centerline goodness : 0.967872 Centerline is valid? [True, True] Translation: X:320.14, Y:2.03, Z:0.56 [[-6.78819227e-01 -7.12264707e-01 1.78559356e-01 3.20139514e+02] [-6.86643525e-01 7.01885559e-01 1.89413122e-01 2.03131209e+00] [-2.60240516e-01 5.97064349e-03 -9.65525362e-01 5.62252008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64232058799996 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:320.79, Y:2.78, Z:-1.08 [[-6.01414128e-01 7.85708756e-01 -1.44785350e-01 3.20792475e+02] [-7.55922734e-01 -6.18273577e-01 -2.15217572e-01 2.77537178e+00] [-2.58615287e-01 -1.99883505e-02 9.65773575e-01 -1.08025309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67232058799993 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:320.78, Y:2.70, Z:-1.09 [[-5.96754774e-01 7.83472056e-01 -1.73364575e-01 3.20778697e+02] [-7.59755679e-01 -6.21191855e-01 -1.92072871e-01 2.70466408e+00] [-2.58176389e-01 1.70943174e-02 9.65946549e-01 -1.08579688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70232058799996 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:320.80, Y:2.74, Z:-1.08 [[-6.00777682e-01 7.80897643e-01 -1.71070303e-01 3.20803232e+02] [-7.56540315e-01 -6.24525703e-01 -1.93944316e-01 2.73770321e+00] [-2.58288461e-01 1.29041641e-02 9.65981653e-01 -1.08415944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73232058799994 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:320.80, Y:2.73, Z:-1.08 [[-5.98628886e-01 7.82455874e-01 -1.71482540e-01 3.20797035e+02] [-7.58256682e-01 -6.22545720e-01 -1.93606896e-01 2.73044883e+00] [-2.58244575e-01 1.41291012e-02 9.65976246e-01 -1.07942505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76232058799997 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:320.81, Y:2.75, Z:-1.05 [[-6.05688393e-01 7.77020226e-01 -1.71409273e-01 3.20812687e+02] [-7.52589122e-01 -6.29366907e-01 -1.93667006e-01 2.75255102e+00] [-2.58362505e-01 1.16988968e-02 9.65977201e-01 -1.04822442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79232058799994 meters Centerline goodness : 0.713835 Centerline is valid? [True, False] Translation: X:320.38, Y:2.27, Z:-1.12 [[ 6.36231556e-01 -7.71295300e-01 -1.76909170e-02 3.20380050e+02] [ 7.71303578e-01 6.35388869e-01 3.70374923e-02 2.26713708e+00] [-1.73262319e-02 -3.72094889e-02 9.99157273e-01 -1.12444234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82232058799997 meters Centerline goodness : 0.999113 Centerline is valid? [False, True] Translation: X:320.40, Y:2.29, Z:-1.12 [[ 6.44409863e-01 -7.64290544e-01 -2.44109335e-02 3.20396744e+02] [ 7.64617206e-01 6.43618293e-01 3.34068936e-02 2.28753311e+00] [-9.82124953e-03 -4.01927515e-02 9.99143676e-01 -1.12347174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85232058799994 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:320.50, Y:2.36, Z:0.66 [[ 5.76890238e-01 8.16533067e-01 2.17118280e-02 3.20503012e+02] [ 8.16719393e-01 -5.76193548e-01 -3.11516828e-02 2.36121995e+00] [-1.29261639e-02 3.57035727e-02 -9.99278825e-01 6.61127924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88232058799997 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:320.49, Y:2.38, Z:-1.12 [[ 5.54109486e-01 -8.32410566e-01 7.43827008e-03 3.20494052e+02] [ 8.32344578e-01 5.54159279e-01 1.04880026e-02 2.38061087e+00] [-1.28523105e-02 3.79702062e-04 9.99917334e-01 -1.11619355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91232058799994 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:320.50, Y:2.42, Z:-1.11 [[ 5.85909025e-01 -8.10342661e-01 7.44218359e-03 3.20501741e+02] [ 8.10274831e-01 5.85956277e-01 1.04852248e-02 2.42007550e+00] [-1.28574192e-02 -1.13173807e-04 9.99917334e-01 -1.10932834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.942320588 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:320.52, Y:2.45, Z:-1.11 [[ 5.95535476e-01 -8.03294461e-01 7.45018105e-03 3.20519127e+02] [ 8.03226143e-01 5.95582020e-01 1.04795392e-02 2.44863668e+00] [-1.28553497e-02 -2.56757199e-04 9.99917334e-01 -1.10521692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97232058799995 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:320.54, Y:2.47, Z:-1.11 [[ 5.78217603e-01 -8.15848526e-01 7.45561700e-03 3.20544470e+02] [ 8.15781269e-01 5.78265667e-01 1.04756704e-02 2.47043269e+00] [-1.28578876e-02 2.49356554e-05 9.99917334e-01 -1.10984971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002320588 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:320.56, Y:2.50, Z:-1.11 [[ 5.97931729e-01 -8.01512314e-01 7.46043173e-03 3.20556654e+02] [ 8.01443948e-01 5.97978203e-01 1.04722404e-02 2.50176456e+00] [-1.28548052e-02 -2.82566948e-04 9.99917334e-01 -1.10708176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03232058799995 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:320.61, Y:2.55, Z:-1.12 [[ 5.78672017e-01 -8.15526187e-01 7.46559731e-03 3.20606058e+02] [ 8.15458995e-01 5.78720172e-01 1.04685566e-02 2.54966536e+00] [-1.28578738e-02 3.00277195e-05 9.99917334e-01 -1.12298667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.062320588 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:320.77, Y:2.61, Z:0.65 [[ 5.06118168e-01 8.62431615e-01 -7.49060097e-03 3.20773960e+02] [ 8.62369100e-01 -5.06172242e-01 -1.04497077e-02 2.61070440e+00] [-1.28036926e-02 -1.17087589e-03 -9.99917344e-01 6.54739864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09232058799995 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:320.72, Y:2.66, Z:-1.11 [[ 5.44629081e-01 -8.38650027e-01 6.73027279e-03 3.20717355e+02] [ 8.38579005e-01 5.44670580e-01 1.09183923e-02 2.65817220e+00] [-1.28224916e-02 -3.02608479e-04 9.99917743e-01 -1.11157952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122320588 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:320.74, Y:2.69, Z:-1.11 [[ 5.45241520e-01 -8.38251939e-01 6.73588216e-03 3.20736465e+02] [ 8.38180929e-01 5.45283041e-01 1.09149306e-02 2.68975157e+00] [-1.28224240e-02 -3.05385380e-04 9.99917743e-01 -1.11297765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15232058799995 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:320.93, Y:2.75, Z:0.66 [[ 4.36230901e-01 8.99809551e-01 -6.73588216e-03 3.20927415e+02] [ 8.99744286e-01 -4.36280968e-01 -1.09149306e-02 2.75220318e+00] [-1.27600960e-02 -1.29914148e-03 -9.99917743e-01 6.56335272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.182320588 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:321.01, Y:2.83, Z:0.66 [[ 3.83117288e-01 9.23675144e-01 -6.73588216e-03 3.21008938e+02] [ 9.23612904e-01 -3.83171069e-01 -1.09149306e-02 2.83454413e+00] [-1.26628452e-02 -2.03964908e-03 -9.99917743e-01 6.56238892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21232058799995 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:321.09, Y:2.92, Z:0.66 [[ 3.13659046e-01 9.49511786e-01 -6.73588216e-03 3.21087355e+02] [ 9.49453699e-01 -3.13717289e-01 -1.09149306e-02 2.92272546e+00] [-1.24770179e-02 -2.97184152e-03 -9.99917743e-01 6.55221005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.242320588 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:321.02, Y:2.96, Z:-1.11 [[ 3.69498475e-01 -9.29221553e-01 4.26408733e-03 3.21019478e+02] [ 9.29146560e-01 3.69522859e-01 1.18121229e-02 2.96158623e+00] [-1.25517570e-02 -4.02599329e-04 9.99921143e-01 -1.11465598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27232058799996 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:321.18, Y:3.05, Z:0.66 [[ 2.30177726e-01 9.73139266e-01 -4.26408733e-03 3.21178899e+02] [ 9.73068626e-01 -2.30212776e-01 -1.18121229e-02 3.05353809e+00] [-1.24764880e-02 -1.43036201e-03 -9.99921143e-01 6.58595920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.302320588 meters Centerline goodness : 0.929717 Centerline is valid? [True, False] Translation: X:321.06, Y:2.84, Z:-1.99 [[ 2.49714068e-01 -9.66691427e-01 5.61299255e-02 3.21063385e+02] [ 9.50391073e-01 2.55781319e-01 1.77010525e-01 2.84410062e+00] [-1.85471543e-01 9.14336189e-03 9.82607096e-01 -1.98830190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33232058799996 meters Centerline goodness : 0.998080 Centerline is valid? [False, True] Translation: X:321.05, Y:2.91, Z:-2.00 [[ 2.56128013e-01 -9.62870097e-01 8.53206719e-02 3.21048568e+02] [ 9.52360804e-01 2.66475506e-01 1.48322970e-01 2.91486696e+00] [-1.65551622e-01 4.32663959e-02 9.85251582e-01 -1.99574779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.362320588 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:321.11, Y:2.97, Z:-2.00 [[ 2.68686003e-01 -9.62585415e-01 3.51731567e-02 3.21105743e+02] [ 9.49098090e-01 2.70799666e-01 1.60873727e-01 2.96872104e+00] [-1.64379582e-01 -9.84174284e-03 9.86348059e-01 -1.99846848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39232058799996 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:321.31, Y:3.36, Z:-0.29 [[ 1.41709014e-01 9.89283278e-01 -3.51731567e-02 3.21309707e+02] [ 9.76183476e-01 -1.45552278e-01 -1.60873727e-01 3.36223359e+00] [-1.64269221e-01 -1.15381971e-02 -9.86348059e-01 -2.94099193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42232058799993 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:321.19, Y:3.13, Z:-2.03 [[ 2.01407571e-01 -9.79167552e-01 2.58049450e-02 3.21187328e+02] [ 9.65611975e-01 2.02903229e-01 1.62553971e-01 3.13276169e+00] [-1.64403481e-01 -7.82203658e-03 9.86362160e-01 -2.03267465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45232058799996 meters Centerline goodness : 0.959559 Centerline is valid? [True, True] Translation: X:321.40, Y:3.55, Z:-0.28 [[ 1.08763595e-01 9.93474922e-01 -3.43228787e-02 3.21396058e+02] [ 9.80473646e-01 -1.12902881e-01 -1.61010460e-01 3.55467990e+00] [-1.63835006e-01 -1.61406017e-02 -9.86355702e-01 -2.80554999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48232058799994 meters Centerline goodness : 0.941971 Centerline is valid? [True, False] Translation: X:321.53, Y:4.28, Z:-0.62 [[-1.01169570e-02 -9.74116525e-01 -2.25819934e-01 3.21529363e+02] [-8.65538960e-01 1.21619357e-01 -4.85850842e-01 4.28062674e+00] [ 5.00739409e-01 1.90540619e-01 -8.44366222e-01 -6.16602975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51232058799997 meters Centerline goodness : 0.975480 Centerline is valid? [False, True] Translation: X:321.65, Y:4.31, Z:-0.71 [[ 6.37221265e-03 -9.24784590e-01 -3.80437718e-01 3.21652278e+02] [-8.63958211e-01 1.86475546e-01 -4.67763916e-01 4.31453966e+00] [ 5.03523192e-01 3.31662981e-01 -7.97786978e-01 -7.10192275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54232058799994 meters Centerline goodness : 0.982743 Centerline is valid? [True, True] Translation: X:321.23, Y:4.30, Z:-0.63 [[ 8.50350599e-02 -9.95822023e-01 3.32796829e-02 3.21232322e+02] [-8.71381200e-01 -9.05230509e-02 -4.82182935e-01 4.29546965e+00] [ 4.83180964e-01 1.20031647e-02 -8.75438222e-01 -6.29366877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57232058799997 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:321.17, Y:4.23, Z:-0.62 [[ 1.91336056e-01 -9.78576013e-01 7.60230242e-02 3.21169742e+02] [-8.55507164e-01 -2.04237415e-01 -4.75809386e-01 4.22891823e+00] [ 4.81142398e-01 2.60012495e-02 -8.76256771e-01 -6.17375865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60232058799994 meters Centerline goodness : 0.987975 Centerline is valid? [True, True] Translation: X:321.01, Y:4.14, Z:-0.61 [[ 2.57495949e-01 -9.39709883e-01 2.25035935e-01 3.21008010e+02] [-8.36193245e-01 -3.33410087e-01 -4.35452146e-01 4.13743859e+00] [ 4.84227936e-01 -7.60463652e-02 -8.71630803e-01 -6.05050726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63232058799997 meters Centerline goodness : 0.988378 Centerline is valid? [True, True] Translation: X:320.96, Y:4.08, Z:-0.58 [[ 3.23584630e-01 -9.12721729e-01 2.49463489e-01 3.20956806e+02] [-8.09862935e-01 -4.03498908e-01 -4.25805892e-01 4.07888072e+00] [ 4.89300536e-01 -6.42469911e-02 -8.69745543e-01 -5.84870218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66232058799994 meters Centerline goodness : 0.986867 Centerline is valid? [True, True] Translation: X:320.92, Y:4.01, Z:-0.57 [[ 3.87135417e-01 -8.80141710e-01 2.74730302e-01 3.20916584e+02] [-7.78848711e-01 -4.71640236e-01 -4.13461212e-01 4.01103284e+00] [ 4.93478323e-01 -5.39078632e-02 -8.68085875e-01 -5.67469263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.692320588 meters Centerline goodness : 0.987901 Centerline is valid? [True, True] Translation: X:320.82, Y:3.91, Z:-0.56 [[ 4.65206019e-01 -8.07797223e-01 3.62004154e-01 3.20821506e+02] [-7.29977872e-01 -5.81407070e-01 -3.59302277e-01 3.90658665e+00] [ 5.00715155e-01 -9.71054401e-02 -8.60148166e-01 -5.62879561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6121.20 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%| | 0/12024 [00:00